Chapitre D'ouvrage Année : 2012

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

Résumé

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.

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DOI

Cite 10.1007/978-94-007-4620-6_45 Autre Chablat, D., Moroz, G., Arakelian, V., Briot, S., & Wenger, P. (2012). Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace. In Latest Advances in Robot Kinematics (pp. 357–364). Springer Netherlands. https://doi.org/10.1007/978-94-007-4620-6_45

Dates et versions

hal-00687005 , version 1 (11-04-2012)

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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⟩
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