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

TL;DR

This paper introduces a novel method using algebraic tools to identify feasible parameters for designing singularity-free, decoupled parallel robots with prescribed workspaces, validated on a 3-RRR robot.

Contribution

It presents a new algebraic approach combining Groebner bases and cylindrical algebraic decomposition for robot parameter design.

Findings

Successfully characterizes the parameter space for a 3-RRR robot.

Enables generation of all feasible robot designs within the specified workspace.

Provides a systematic method for singularity-free robot design.

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.