PROJECT TITLE :

Three-Stage Design Analysis and Multicriteria Optimization of a Parallel Ankle Rehabilitation Robot Using Genetic Algorithm

ABSTRACT:

This paper describes the design analysis and optimization of a unique three-degrees of freedom (DOF) wearable parallel robot developed for ankle rehabilitation treatments. To address the challenges arising from the utilization of a parallel mechanism, flexible actuators, and therefore the constraints imposed by the ankle rehabilitation treatment, a whole robot design analysis is performed. Three style stages of the robot, specifically, kinematic design, actuation design, and structural design are identified and investigated, and, in the process, six necessary performance objectives are identified which are very important to realize style goals. Initially, the optimization is performed by considering only a single objective. Additional analysis revealed that some of these objectives are conflicting, and hence these are needed to be simultaneously optimized. To investigate a additional improvement within the optimal values of style objectives, a preference-primarily based approach and evolutionary-algorithm-primarily based nondominated sorting algorithm (NSGA II) are custom-made to this style optimization downside. Results from NSGA II are compared with the results obtained from the single objective optimization and preference-based mostly optimization approaches. It's found that NSGA II is ready to produce better style solutions and is adequate to optimize all of the objective functions concurrently. Finally, a fuzzy-based mostly ranking methodology has been devised and implemented so as to pick out the ultimate style solution from the set of nondominated solutions obtained through NSGA II. The proposed design analysis of parallel robots along with the multiobjective optimization and subsequent fuzzy-primarily based ranking can be generalized with modest efforts for the event of all of the classes of parallel robots.