This paper deals with an optimized design of a cable driven parallel manipulator for a prescribed workspace. The cable driven robots have characteristics that make them suitable for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and low-cost. The proposed cable robot in this work, LAWEX, is intended for rehabilitation or exercising of upper limbs. For these purposes, a motion capture system is used to identify the range of motion of the upper limb. An optimal design method of the LAWEX robot is presented aiming to find the smallest robot sizes to achieve a prescribed workspace for upper limb exercising. The proposed objective function is based on a mathematical formulation of the power of a point with respect to a bounding surfaces. © Springer Nature Switzerland AG 2019.
Optimal design of cable driven robot for rehabilitation with prescribed workspace
Carbone Giuseppe;
2019-01-01
Abstract
This paper deals with an optimized design of a cable driven parallel manipulator for a prescribed workspace. The cable driven robots have characteristics that make them suitable for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and low-cost. The proposed cable robot in this work, LAWEX, is intended for rehabilitation or exercising of upper limbs. For these purposes, a motion capture system is used to identify the range of motion of the upper limb. An optimal design method of the LAWEX robot is presented aiming to find the smallest robot sizes to achieve a prescribed workspace for upper limb exercising. The proposed objective function is based on a mathematical formulation of the power of a point with respect to a bounding surfaces. © Springer Nature Switzerland AG 2019.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
