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

This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type size optimization is proposed applied to a cable driven robot, which intended upper-limb rehabilitation exercises. The approach deals with set deterministic non-deterministic parameters within multi-objective genetic algorithm. study aims select suitable architecture having optimal dimensions by considering several optimality criteria such as minimizing tensions achieving smallest footprint. An illustrative application developed LAWEX, robot upper limb rehabilitation. Four different topology solutions have been considered LAWEX robot. It also use an additional safety criterion solution on obtained Pareto front.