A parallel mechanism of the shoulder - application to multi-body optimisation Aimad El Habachi, Sonia Duprey, Laurence Cheze, Raphaël Dumas To cite this version: Aimad El Habachi, Sonia Duprey, Laurence Cheze, Raphaël Dumas. A parallel mechanism of the shoulder - application to multi-body optimisation. Multibody System Dynamics, Springer Verlag, 2015, 33 (4), pp. 439-451. 10.1007/s11044-014-9418-7. hal-01129014v2 HAL Id: hal-01129014 https://hal.archives-ouvertes.fr/hal-01129014v2 Submitted on 20 May 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Multibody System Dynamics April 2015, Volume 33, Issue 4, pp 439‐451 A parallel mechanism of the shoulder – application to multi-body optimisation Aimad El Habachi, Sonia Duprey, Laurence Cheze and Raphaël Dumas Corresponding author:
[email protected] Université de Lyon, F‐69622, France IFSTTAR, LBMC, UMR_T9406, Bron Université Lyon 1, Villeurbanne, France 1 Abstract: This paper describes and evaluates a parallel mechanism of the shoulder girdle. This mechanism was a closed kinematic chain composed of three segments (humerus, scapula and thorax) and three kinematic constraints. The clavicle was modelled as a constant length constraint between the sternoclavicular and acromioclavicular joint centres.