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.
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Acknowledgements
The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Program 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
The video tracking research is supported by ROBOTEX, the French national network of robotics platforms (N° ANR-10-EQPX-44-01) and by the French National Research Agency (ANR-14-CE27-0016).
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Laribi, M.A., Carbone, G., Zeghloul, S. (2019). Optimal Design of Cable Driven Robot for Rehabilitation with Prescribed Workspace. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_31
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DOI: https://doi.org/10.1007/978-3-030-00329-6_31
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