DEMOCRAT: A DEsign MethOdology for the Conception of Robots with parallel ArchiTecture
- 1 July 1997
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 15 (4) , 367-373
- https://doi.org/10.1017/s0263574797000453
Abstract
This paper presents a design methodology for parallel robots having to satisfy a set of performance constraints. Some of these constraints are used to compute a closed region in the parameters space (in which a point define an unique robot geometry) which define all the robot geometries fulfilling these constraints. Then a grid is created over this region and for each node of this grid the requirements, expressed in a high level language, are evaluated. The node leading to the robot best fulfilling the constraints is the design solution.Keywords
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