Optimal Design of a Cable Driven Parallel Robot for Upper Limb Rehabilitations

Abstract A novel cable driven parallel robot is introduced to assist upper limb in rehabilitation treatments this paper, which has a lightweight structure. This characterized by and flexible end-effector that easy change assembly for different therapies. And it designed desktop usage, so its size not too large. After presenting the structure, kinematic model presented optimal design. Then, minimal singular value considered as velocity transmission index. For rehabilitation, new design problem with index formulated. Last, optimization presents satisfying performances capability size.