Optimización De La Síntesis De Un Mecanismo De 6 Barras Stephenson I Para Una Protesis De Rodilla Mediante Algoritmos Genéticos Y Matlab

• Autor: Ramos Flores, Mirko Edwin
• Formato: tesis de grado
• Fecha de Publicación: 2018
• Institución: Universidad Nacional de Trujillo
• Repositorio: UNITRU-Tesis
• Lenguaje: español
• OAI Identifier: oai:dspace.unitru.edu.pe:20.500.14414/10141
• Enlace del recurso: https://hdl.handle.net/20.500.14414/10141
• Nivel de acceso: acceso abierto
• Materia: Mecanismo de 6 barras Stephenson I, Protesis de Rodilla

This paper entitled "Optimization of the synthesis of a 6-bar Stephenson I mechanism for a knee prosthesis using genetic algorithms and Matlab grip", was developed using the method of genetic algorithms to design of articulated four bar mechanisms applied to this system of six bars. To optimize the mechanism five corresponding prescribed positions defined five positions of the femur, of these positions ten points precision five belonging to the mechanism 1, and five belonging to the mechanism 2. Stephenson I, mechanism was taken as the composition of two mechanisms articulated four separate bars each other, thus applying the programming code optimization synthesis by genetic algorithms for four-bar linkage developed in Matlab, each; with a randomly created population, based on the domain of each variable (length of the links and angle of movement) of eight thousand individuals, and encoded (binary system), intended to facilitate the use of genetic operators (selection, crossover and mutation), the development of a function based on Freudenstein equations for the evaluation of individuals; with a stop condition for a maximum of a thousand generations or an error of 0.001; then attach these mechanisms thus obtaining the desired Stephenson I mechanism. The optimization method of synthesis by genetic algorithms applied to the generation of movement for five positions of coupling points of a Stephenson I mechanism, allowed to find the representative lengths of the links of a knee prosthesis, with an error of 0.001, was finally carried out the design and simulation of mechanism obtained by Geogebra Software where it was found that the mechanism achieves a position in the prescribed points.