SUMMARYThis paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.

中文翻译：

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用于腿部训练机的电缆机器人的设计到工作空间综合

摘要本文讨论了用于步态训练机的平面电缆机器人的连续设计任务，称为电缆驱动的腿部训练器。电缆机器人的设计需要满足两个约束条件，即电缆中的张力必须保持非负，并且应避免电缆干扰。承载设计方法基于区间分析，这是获得认证结果的最有效方法之一。使用区间分析工具解决了非负张力和电缆对末端执行器干扰的约束。通过动态模拟，电缆机器人到达的工作空间和生产的扳手被评估为一组区间向量。然后设计一种优化算法来优化步态训练机的电缆机器人结构。