Abstract
Inthis study, we address the problem of singularities of a hybrid serial-cabledriven planar robot. Based on an analytical kinetostatic analysis three typesof singularities are determined, i.e., serial, parallel, and combinedsingularities. In addition, cable tensions should be positive, otherwise, therobot will be uncontrollable. The serial singularity corresponds to positionswhere the serial port of the robot is fully extended or fully folded. Theparallel singularity corresponds to aligned cables and combined singularitiescorrespond to both cases. Cable tensions distribution, within the workspace, isdetermined, which allowed the identification of regions where the cabletensions exceed an allowable value. The influence of physical parameters on theworkspace of the robot and its singular configurations is also studied. Anexample of a gait rehabilitation system using this type of robot is shown.Based on the kinetostatic analysis, multi-objective optimization of thedexterity and the cable tensions is performed, which yielded solutionsrepresented by a Pareto front. The results have been extended to the case of 3degrees of freedom hybrid robot.
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