Evolutionary approach to optimal design of 3 DOF translation exoskeleton and medical parallel robots

2008 Conference on Human System Interactions Pub Date : 2008-05-25 DOI:10.1109/HSI.2008.4581530

S. Stan, M. Manic, V. Maties, R. Balan

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引用次数: 45

Abstract

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents a multi-objective optimum design procedure to 3 degrees of freedom (DOF) parallel robots with regards to four optimality criteria: workspace boundary, transmission quality index, stiffness. A kinematic optimization was performed to maximize the workspace of the parallel robot. In order to perform an optimal design of 3 DOF parallel robots, an objective function was developed first, and then Genetic Algorithms applied in order to optimize the objective function. The experimental results demonstrate the advantages of the presented optimization procedure in design of 3 DOF parallel robots, specifically TRIGLIDE and DELTA robots. These advantages are reflected in a presented framework for robust, precise, and dynamically calculated workspace boundaries. Therefore, the performances of the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

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三自由度平移外骨骼与医用并联机器人优化设计的进化方法

并联机器人在人机交互、医疗机器人、康复、外骨骼等领域有很多应用。这些应用程序的特点是许多要求，以鲁棒精度和动态工作空间计算为两个终极要求。提出了一种基于工作空间边界、传动质量指标、刚度四项优化准则的三自由度并联机器人多目标优化设计方法。为了使并联机器人的工作空间最大化，进行了运动学优化。为了对三自由度并联机器人进行优化设计，首先建立了目标函数，然后应用遗传算法对目标函数进行优化。实验结果表明，所提出的优化方法在三自由度并联机器人，特别是TRIGLIDE和DELTA机器人的设计中具有优势。这些优点反映在鲁棒的、精确的、动态计算的工作空间边界的框架中。因此，三自由度平移并联机器人的性能为其在人机交互领域的实际应用提供了巨大的潜力和良好的前景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2008 Conference on Human System Interactions

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