This paper proposes a methodology for the development of cable-driven parallel robots (CDPRs) for functional rehabilitation purposes, starting from the requirements identification to the experimental validation of the designed prototype. A study of the task to be assisted by the robot is first presented, followed by the formulation of an optimization problem leading to the selection of the optimal robot structure. Later, once the prototype is designed, its control design constitutes the final step of the development. This methodology has been experimentally validated on two types of CDPRs, namely, a fully constrained planar robot and an under-constrained spatial robot. This approach can be extended to incorporate other fields of application other than functional rehabilitation.
Development Methodology of Cable-Driven Parallel Robots Intended for Functional Rehabilitation
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
03.06.2023
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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