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

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.