Abstract
This paper presents an optimized design of a cable driven parallel manipulator which is intended in rehabilitation or exercise of patients with shoulder problems like illness, traumatic events or for the elderly who need to exercise their limbs. Cable based parallel manipulators have characteristics that make them suitable for rehabilitation-exercise purposes like large workspace, re-configurable architecture, portability and low cost. From these purposes, upper-limb movements are analyzed and different prescribed workspaces are defined. After kinematic and wrench analysis, the Jacobian matrix of the cable driven manipulator is derived, which is used as a quantitative representation of dexterity along the workspace. An optimization model is presented to simultaneously fulfill the prescribed workspace and to improve dexterity by selecting proper length cables and other structural parameters. Numerical examples delineate effectiveness of an Estimation of Distribution Algorithm (EDA), where correlation among variables are inserted in the optimization process.
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Acknowledgements
First and second authors are grateful to CONACYT and SIP-IPN, for grants AEM-Conacyt 262887 and SIP20162113, and for supporting a research stay at the Laboratory of Robotics and Mechatronics, University of Cassino, Italy.
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Hernandez, E., Valdez, S.I., Carbone, G., Ceccarelli, M. (2018). Design Optimization of a Cable-Driven Parallel Robot in Upper Arm Training-Rehabilitation Processes. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_39
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DOI: https://doi.org/10.1007/978-3-319-67567-1_39
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