Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace
This work addresses robot design optimization for engineers, but it is incremental as it applies existing mathematical methods to a specific robotic system.
The paper tackles the problem of designing feasible parameter sets for decoupled parallel robots with a prescribed singularity-free workspace, using Groebner bases and cylindrical algebraic decomposition to generate all possible robot designs, validated on a 3-RRR decoupled robot.
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.