Jamwal, PK, Hussain, S and Xie, SQ (2015) Three-Stage Design Analysis and Multicriteria Optimization of a Parallel Ankle Rehabilitation Robot Using Genetic Algorithm. IEEE Transactions on Automation Science and Engineering, 12 (4). pp. 1433-1446. ISSN 1545-5955
Abstract
This paper describes the design analysis and optimization of a novel 3-degrees of freedom (DOF) wearable parallel robot developed for ankle rehabilitation treatments. To address the challenges arising from the use of a parallel mechanism, flexible actuators, and the constraints imposed by the ankle rehabilitation treatment, a complete robot design analysis is performed. Three design stages of the robot, namely, kinematic design, actuation design, and structural design are identified and investigated, and, in the process, six important performance objectives are identified which are vital to achieve design goals. Initially, the optimization is performed by considering only a single objective. Further analysis revealed that some of these objectives are conflicting, and hence these are required to be simultaneously optimized. To investigate a further improvement in the optimal values of design objectives, a preference-based approach and evolutionary-algorithm-based nondominated sorting algorithm (NSGA II) are adapted to the present design optimization problem. Results from NSGA II are compared with the results obtained from the single objective optimization and preference-based optimization approaches. It is found that NSGA II is able to provide better design solutions and is adequate to optimize all of the objective functions concurrently. Finally, a fuzzy-based ranking method has been devised and implemented in order to select the final design solution from the set of nondominated solutions obtained through NSGA II. The proposed design analysis of parallel robots together with the multiobjective optimization and subsequent fuzzy-based ranking can be generalized with modest efforts for the development of all of the classes of parallel robots.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Nondominated genetic algorithm; parallel robots; robot design optimization; wearable ankle rehabilitation robot |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Mar 2019 09:11 |
Last Modified: | 25 Mar 2019 09:11 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TASE.2014.2331241 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:143770 |