Evolutionary approach to optimal design of 3 DOF translation exoskeleton and medical parallel robots

摘要

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents a multi-objective optimum design procedure to 3 degrees of freedom (DOF) parallel robots with regards to four optimality criteria: workspace boundary, transmission quality index, stiffness. A kinematic optimization was performed to maximize the workspace of the parallel robot. In order to perform an optimal design of 3 DOF parallel robots, an objective function was developed first, and then Genetic Algorithms applied in order to optimize the objective function. The experimental results demonstrate the advantages of the presented optimization procedure in design of 3 DOF parallel robots, specifically TRIGLIDE and DELTA robots. These advantages are reflected in a presented framework for robust, precise, and dynamically calculated workspace boundaries. Therefore, the performances of the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.