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.

中文翻译：

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并联康复机器人的运动学和动态设计与优化

本文介绍了一种用于并行并联机械手同时优化设计的方法。该机械手是一种三自由度机构，用作步行康复设备。该提案涉及几个优化问题。首先，该方法应用于最近设计的系统，据我们所知，控制策略和动态模型尚未发布，其次，我们提出了一个考虑灵巧性和奇异操纵器的目标函数，以及能量和位置误差，其次，我们提出了一种优化算法，该算法成功地逼近了最优解，与比较遗传算法相比，提供了功能评估更少的低成本可行设计。