Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks

被引：89

作者：

Ben Hamida, Ines ^{[1
,2
]}

Laribi, Med Amine ^{[1
]}

Mlika, Abdelfattah ^{[2
]}

Romdhane, Lotfi ^{[2
,3
]}

Zeghloul, Said ^{[1
]}

Carbone, Giuseppe ^{[4
]}

机构：

[1] Univ Poitiers, CNRS, Pprime Inst, Dept GMSC,ENSMA,UPR 3346, Poitiers, France

[2] Univ Sousse, Natl Engn Sch Sousse, Mech Lab Sousse LMS, Sousse 4000, Tunisia

[3] Amer Univ Sharjah, Dept Mech Engn, POB 26666, Sharjah, U Arab Emirates

[4] Univ Calabria, Dept Mech Energy & Management Engn, I-87036 Arcavacata Di Rende, Italy

来源：

MECHANISM AND MACHINE THEORY | 2021年 / 156卷

关键词：

Cables driven parallel robots; Dimensional synthesis; Topological synthesis; Performance criteria; Optimization approaches; DIMENSIONAL SYNTHESIS; OPTIMIZATION; WORKSPACE; MECHANISM; SYSTEM; DEVICE; SERIAL;

D O I：

10.1016/j.mechmachtheory.2020.104141

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type and size optimization is proposed and applied to a cable driven parallel robot, which is intended for upper-limb rehabilitation exercises. The proposed approach deals with a set of deterministic and non-deterministic parameters within a multi-objective genetic algorithm. The proposed study aims to select a suitable architecture having optimal dimensions by considering several optimality criteria such as minimizing the cable tensions and achieving the smallest footprint. An illustrative application of the proposed synthesis approach is developed for LAWEX, a cable driven parallel robot for upper limb rehabilitation. Four different topology solutions have been considered for LAWEX robot. It is also proposed to use an additional safety criterion to select a solution on the obtained Pareto front. (C) 2020 Elsevier Ltd. All rights reserved.

引用

页数：24

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