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Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

Published online by Cambridge University Press:  22 November 2019

Houssein Lamine Open the ORCID record for Houssein Lamine [Opens in a new window] ,
Lotfi Romdhane ,
Houssem Saafi Open the ORCID record for Houssem Saafi [Opens in a new window]  and
Sami Bennour
Houssein Lamine*
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia
Lotfi Romdhane
Affiliation:
Mechanical Engineering Department, American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates
Houssem Saafi
Affiliation:
Preparatory Institute for Engineering Studies of Gafsa, University of Gafsa, Gafsa 2000, Tunisia
Sami Bennour
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia
*
*Corresponding author. E-mail: [email protected]
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Summary

This 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.

Keywords

Cable-driven parallel manipulator (CDPM)Interval analysisContinuous designCable to end-effector collisionWrench feasibilityGait training machine.
Type
Articles
Information
Robotica , Volume 38 , Issue 9 , September 2020 , pp. 1703 - 1714
Copyright
© Cambridge University Press 2019

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