Optimal Design and Experimental Validation of a Cable-Driven Parallel Robot for Movement Training of the Head–Neck Joint

The optimal design and the experimental validation of a cable-driven parallel robot is discussed in this paper. This novel device intended for assisting therapists rehabilitation head–neck joint. First, motion joint was recorded by means Qualisys motion-capture system. collected data then analyzed order to obtain range head identify some prescribed trajectories. A end-effector proposed reduce degrees freedom needed perform desired motion. best found through an optimization problem where cable tensions are minimized dexterity maximized within its workspace. objective find actuator positions while satisfying set constraints. prototype tests were conducted validate performance. In particular, comparison between actual trajectories ones performed. test showed promising results.