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Publication Details
AFRICAN RESEARCH NEXUS
SHINING A SPOTLIGHT ON AFRICAN RESEARCH
chemical engineering
Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks
Mechanism and Machine Theory, Volume 156, Article 104141, Year 2021
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Description
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. © 2020
Authors & Co-Authors
Ben Hamida, Ines
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Tunisia, Sousse
Université de Sousse
Laribi, Med Amine
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Mlika, Abdelfattah
Tunisia, Sousse
Université de Sousse
Zeghloul, Saïd
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Carbone, Giuseppe
Italy, Rende
Università Della Calabria
Statistics
Citations: 56
Authors: 5
Affiliations: 3
Identifiers
Doi:
10.1016/j.mechmachtheory.2020.104141
ISSN:
0094114X
Research Areas
Disability
Genetics And Genomics