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Kinematic and dynamic design and optimization of a parallel rehabilitation robot

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Abstract

In this paper, a method for concurrent optimum design of a complex parallel manipulator is introduced. The manipulator is a three-degree-of-freedom mechanism used as a walking rehabilitation device. The proposal deals with several optimization issues; firstly, the methodology is applied to a system recently designed and, in the best of our knowledge, the control policy, and dynamic model have not been published before, secondly, we propose an objective function which considers dexterity and singular manipulators, as well as energy and position error, and thirdly, we propose an optimization algorithm which successfully approximates the optimum solution, delivering low-cost feasible designs with fewer function evaluations than a comparing Genetic Algorithm. A set of numerical simulations validate the methodology and evidence its robustness since it delivers quite similar designs in several independent executions.

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Acknowledgements

The authors acknowledge Conacyt-Mexico for supporting part of this work through project AEM-Conacyt 262887. The fourth author was supported in part by SIP-IPN (Grants 20181422, 20196498). S. Ivvan Valdez is supported by Cátedras CONACYT No. 7795.

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Authors and Affiliations

  1. CONACYT-Center for Research in Geospatial Information Science, CENTROGEO, Camino a los Olvera 44, Los Olvera, 76904, El Pueblito, Qro, Mexico

    S. Ivvan Valdez

  2. School of Engineering and Science, Tecnologico de Monterrey, Boul. Petrocel 1.3, Altamira, 89600, Mexico

    Irandi Gutierrez-Carmona & Sajjad Keshtkar

  3. ESIME Ticoman, Instituto Politecnico Nacional, Av. Ticoman 600, 07340, San Jose Ticoman, Ciudad de Mexico, Mexico

    Eusebio E. Hernandez

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  1. S. Ivvan Valdez
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  2. Irandi Gutierrez-Carmona
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  3. Sajjad Keshtkar
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  4. Eusebio E. Hernandez
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Correspondence to Eusebio E. Hernandez.

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Valdez, S.I., Gutierrez-Carmona, I., Keshtkar, S. et al. Kinematic and dynamic design and optimization of a parallel rehabilitation robot. Intel Serv Robotics 13, 365–378 (2020). https://doi.org/10.1007/s11370-020-00319-6

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  • DOI: https://doi.org/10.1007/s11370-020-00319-6

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