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)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 VEGAS - Effective Geometric Algorithms for Surfaces and Visibility
3 DGMA - Département de Génie Mécanique et Automatique

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.

Mots clés: Parallel robot; Design; Singularities; Groebner basis; Discriminant varieties; Cylindrical algebraic decomposition

Domaines: Robotique [cs.RO]

Damien Chablat, Guillaume Moroz, Vigen Arakelian, Sébastien Briot, Philippe Wenger. Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace. Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0. ⟨hal-00687005⟩