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

中文翻译：

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用于康复任务的电缆驱动并联机器人多目标优化设计

摘要 本文讨论了电缆驱动并联机器人的拓扑和维度综合。提出了一种类型和尺寸优化的组合方法，并将其应用于用于上肢康复锻炼的电缆驱动并联机器人。所提出的方法处理多目标遗传算法中的一组确定性和非确定性参数。拟议的研究旨在通过考虑几个优化标准（例如最小化电缆张力和实现最小占地面积）来选择具有最佳尺寸的合适架构。所提出的综合方法的一个说明性应用是为 LAWEX 开发的，LAWEX 是一种用于上肢康复的电缆驱动并联机器人。LAWEX 机器人已经考虑了四种不同的拓扑解决方案。