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

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferencia

3 Citas (Scopus)

Resumen

© 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.
Idioma originalInglés estadounidense
Título de la publicación alojadaDesign optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes
Páginas413-423
Número de páginas370
ISBN (versión digital)9783319675664
DOI
EstadoPublicada - 1 ene 2018
EventoMechanisms and Machine Science -
Duración: 1 ene 2018 → …

Serie de la publicación

NombreMechanisms and Machine Science
Volumen54
ISSN (versión impresa)2211-0984

Conferencia

ConferenciaMechanisms and Machine Science
Período1/01/18 → …

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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. En 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