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Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace

This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses Groebner bases to define the singularities and the cylindrical algebraic decomposition to characterize the set of parameters. It makes it possible to generate all the robot designs. A 3-RRR decoupled robot is used to validate the proposed design method.

preprint2012arXivOpen access
Damien ChablatGuillaume MorozVigen ArakelianSébastien BriotPhilippe Wenger
Robotics
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Open access5 authors1 topic
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
Citations: 0Reviews: 0Saves: 0Code: not linkedDataset: not linkedInstitutions: 0

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Damien ChablatGuillaume MorozVigen ArakelianSébastien BriotPhilippe Wenger

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