Abstract
This paper deals with the synthesis of a cable driven parallel robot intended for rehabilitation tasks. The objective is essentially to enhance the safety of patients using rehabilitation robotic devices. A novel safety criterion is proposed. It consists in maximizing the distance between the robot’s cables and the user. A dimensional synthesis of LAWEX robot considering the proposed safety criterion is carried out and optimal solutions are provided.
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Ben Hamida, I., Laribi, M. A., Mlika, A., Romdhane, L., Zeghloul, S., & Carbone, G. (2020). Novel Safety Criterion for Synthesis of Cable Driven Parallel Robots. In Mechanisms and Machine Science (Vol. 84, pp. 112–120). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-48989-2_13
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