TY - JOUR
T1 - Kinematic and dynamic design and optimization of a parallel rehabilitation robot
AU - Valdez, S. Ivvan
AU - Gutierrez-Carmona, Irandi
AU - Keshtkar, Sajjad
AU - Hernandez, Eusebio E.
N1 - Publisher Copyright:
© 2020, Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2020/7/1
Y1 - 2020/7/1
N2 - In this paper, a method for concurrent optimum design of a complex parallel manipulator is introduced. The manipulator is a three-degree-of-freedom mechanism used as a walking rehabilitation device. The proposal deals with several optimization issues; firstly, the methodology is applied to a system recently designed and, in the best of our knowledge, the control policy, and dynamic model have not been published before, secondly, we propose an objective function which considers dexterity and singular manipulators, as well as energy and position error, and thirdly, we propose an optimization algorithm which successfully approximates the optimum solution, delivering low-cost feasible designs with fewer function evaluations than a comparing Genetic Algorithm. A set of numerical simulations validate the methodology and evidence its robustness since it delivers quite similar designs in several independent executions.
AB - In this paper, a method for concurrent optimum design of a complex parallel manipulator is introduced. The manipulator is a three-degree-of-freedom mechanism used as a walking rehabilitation device. The proposal deals with several optimization issues; firstly, the methodology is applied to a system recently designed and, in the best of our knowledge, the control policy, and dynamic model have not been published before, secondly, we propose an objective function which considers dexterity and singular manipulators, as well as energy and position error, and thirdly, we propose an optimization algorithm which successfully approximates the optimum solution, delivering low-cost feasible designs with fewer function evaluations than a comparing Genetic Algorithm. A set of numerical simulations validate the methodology and evidence its robustness since it delivers quite similar designs in several independent executions.
KW - Concurrent design and optimization
KW - Dimensional synthesis
KW - Evolutionary algorithms
KW - Parallel robots
KW - Rehabilitation device
UR - http://www.scopus.com/inward/record.url?scp=85085078662&partnerID=8YFLogxK
U2 - 10.1007/s11370-020-00319-6
DO - 10.1007/s11370-020-00319-6
M3 - Artículo
AN - SCOPUS:85085078662
SN - 1861-2776
VL - 13
SP - 365
EP - 378
JO - Intelligent Service Robotics
JF - Intelligent Service Robotics
IS - 3
ER -