Design optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes

Eusebio Hernandez, S. Ivvan Valdez, Giuseppe Carbone, Marco Ceccarelli

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

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.

Original languageEnglish
Title of host publicationMultibody Mechatronic Systems - Proceedings of the MUSME Conference
EditorsDaniel Martins, Henrique Simas, Roberto Simoni, Joao Carlos Mendes Carvalho
PublisherSpringer Netherlands
Pages413-423
Number of pages11
ISBN (Print)9783319675664
DOIs
StatePublished - 2018
Event6th International Symposium on Multibody Systems and Mechatronics, MuSMe 2017 - Florianopolis, Brazil
Duration: 24 Oct 201728 Oct 2017

Publication series

NameMechanisms and Machine Science
Volume54
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference6th International Symposium on Multibody Systems and Mechatronics, MuSMe 2017
Country/TerritoryBrazil
CityFlorianopolis
Period24/10/1728/10/17

Keywords

  • Assistive robotics
  • Cable-based system
  • Exercise and rehabilitation
  • Optimized design
  • Upper limb

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