Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks

Ines Ben Hamida (1, 2) , Med Amine Laribi (1) , Abdelfattah Mlika (2) , Lotfi Romdhane (2, 3) , Saïd Zeghloul (4) , Giuseppe Carbone

1 PPrime [Poitiers] - Institut Pprime [UPR 3346]
2 ENISo - National Engineering School of Sousse / Ecole Nationale d'Ingénieurs de Sousse
3 Department of Mechanical Engineering
4 TriboLub - Mécanique des interfaces lubrifiées [Institut Pprime]

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.

Domaines: Sciences de l'ingénieur [physics]

Ines Ben Hamida, Med Amine Laribi, Abdelfattah Mlika, Lotfi Romdhane, Saïd Zeghloul, et al.. Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks. Mechanism and Machine Theory, 2021, 156, pp.104141 -. ⟨10.1016/j.mechmachtheory.2020.104141⟩. ⟨hal-03493259⟩