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

Damien Chablat; Guillaume Moroz; Vigen Arakelian; Sébastien Briot; Philippe Wenger

hal-00687005, version 1

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

Damien Chablat (, ) ¹, Guillaume Moroz () ², Vigen Arakelian ³, Sébastien Briot ¹, Philippe Wenger () ¹

Advances in Robot Kinematics (2012) 1-8

Abstract: 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.

1: Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
CNRS : UMR6597 – PRES Université Nantes Angers Le Mans [UNAM] – École Centrale de Nantes – École Nationale Supérieure des Mines - Nantes – Ecole Polytechnique de l'Université de Nantes
2: VEGAS (INRIA Nancy - Grand Est / LORIA)
INRIA – CNRS : UMR7503 – Université de Lorraine
3: Département de Génie Mécanique et Automatique (DGMA)
Institut National des Sciences Appliquées (INSA)

hal-00687005, version 1
http://hal.archives-ouvertes.fr/hal-00687005
oai:hal.archives-ouvertes.fr:hal-00687005
From: Damien Chablat <>
Submitted on: Wednesday, 11 April 2012 22:11:59
Updated on: Friday, 26 October 2012 15:21:46

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arXiv: 1204.2637

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