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Stewart Platform Modified Into A Bio-Inspirational Device of The Human Shoulder
This research is geared towards shaping, simulating, designing and developing a locomotor system, which is based on the principles of the Stewart platform. From the point of view of mobility, it is considered a modified Stewart plat-form so that as mobility increases, the positions of the static and movable points of the platform change until a form compatible with the human shoul-der is reached. On the basis of modelling and simulation, the operation of the modified platform and its compatibility with the human shoulder shall be jus-tified. To make the real model, are used accessible materials, technically and economically, to obtain a low-cost product. Unlike the classic Stewart plat-form, the approach covered by this paper is to simplify (horizontal optimiza-tion) the motion system so that it can synthesize the movement of the shoulder joint, with degrees of freedom similar to the human shoulder, while simulta-neously maintaining a reliable force ratio. The main purpose of this work is to reproduce, first by design, then by calculation, a physical model of the biolog-ical mechanism of the shoulder. The model we designed replaces the muscles with wires and actuators. In this process, the selection and arrangement of components was simplified in positioning and as number, favoring anatomical mimicry. We studied and constructed the mechanism according to the ana-tomical descriptions, which were described from a medical point of view, and we noticed that by applying technical mechanics, we can have the same kind of resulting movement, but not necessarily the same type of joint.