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DEMOCRAT: A DEsignMethOdology for the Conception of Robots with parallel ArchiTecture

Published online by Cambridge University Press:  01 July 1997

J-P. Merlet
J-P. Merlet
Affiliation:
INRIA Sophia-Antipolis, BP 93, 06902 Sophia-Antipolis Cedex, France
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Abstract

This paper presents a design methodology for parallel robots having tosatisfy a set of performance constraints. Some of these constraints are used tocompute a closed region in the parameters space (in which a point define anunique robot geometry) which define all the robot geometries fulfilling theseconstraints. Then a grid is created over this region and for each node of thisgrid the requirements, expressed in a high level language, are evaluated. Thenode leading to the robot best fulfilling the constraints is the designsolution.

Keywords

DEMOCRATParallel architectureDesign
Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 367 - 373
Copyright
© 1997 Cambridge University Press

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