This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and then solved using the multi-objective genetic algorithm method. In more details, the LAWEX robot is optimised to perform a specific rehabilitation exercise of upper arm in terms of compactness, safety and energy comsuption.
On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising
Carbone G.
2021-01-01
Abstract
This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and then solved using the multi-objective genetic algorithm method. In more details, the LAWEX robot is optimised to perform a specific rehabilitation exercise of upper arm in terms of compactness, safety and energy comsuption.File in questo prodotto:
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