Adaptive Multi-Objective Optimization of Bionic Shoulder Joint Based on Particle Swarm Optimization

  • Kai Liu (刘凯)
  • Yang Wu (吴阳)
  • Zhishang Ge (葛志尚)
  • Yangwei Wang (王扬威)
  • Jiaqi Xu (许嘉琪)
  • Yonghua Lu (陆永华)
  • Dongbiao Zhao (赵东标)


To get the movement mode and driving mechanism similar to human shoulder joint, a six degrees of freedom (DOF) serial-parallel bionic shoulder joint mechanism driven by pneumatic muscle actuators (PMAs) was designed. However, the structural parameters of the shoulder joint will affect various performances of the mechanism. To obtain the optimal structure parameters, the particle swarm optimization (PSO) was used. Besides, the mathematical expressions of indexes of rotation ranges, maximum bearing torque, discrete dexterity and muscle shrinkage of the bionic shoulder joint were established respectively to represent its many-sided characteristics. And the multi-objective optimization problem was transformed into a single-objective optimization problem by using the weighted-sum method. The normalization method and adaptive-weight method were used to determine each optimization index’s weight coefficient; then the particle swarm optimization was used to optimize the integrated objective function of the bionic shoulder joint and the optimal solution was obtained. Compared with the average optimization generations and the optimal target values of many experiments, using adaptive-weight method to adjust weights of integrated objective function is better than using normalization method, which validates superiority of the adaptive-weight method.

Key words

multi-objective optimization particle swarm optimization (PSO) pneumatic muscle actuator (PMA) bionic shoulder joint mechanism 

CLC number

TP 242 Q 811 

Document code


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Copyright information

© Shanghai Jiaotong University and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Kai Liu (刘凯)
    • 1
  • Yang Wu (吴阳)
    • 1
  • Zhishang Ge (葛志尚)
    • 1
  • Yangwei Wang (王扬威)
    • 1
  • Jiaqi Xu (许嘉琪)
    • 1
  • Yonghua Lu (陆永华)
    • 1
  • Dongbiao Zhao (赵东标)
    • 1
  1. 1.College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

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