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 contribution

3 Scopus citations

Abstract

© 2018, Springer International Publishing AG. 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 languageAmerican English
Title of host publicationDesign optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes
Pages413-423
Number of pages370
ISBN (Electronic)9783319675664
DOIs
StatePublished - 1 Jan 2018
EventMechanisms and Machine Science -
Duration: 1 Jan 2018 → …

Publication series

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

Conference

ConferenceMechanisms and Machine Science
Period1/01/18 → …

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Cite this

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 Design optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes (pp. 413-423). (Mechanisms and Machine Science; Vol. 54). https://doi.org/10.1007/978-3-319-67567-1_39