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DEMOCRAT: A DEsignMethOdology for the Conception of Robots with parallel ArchiTecture
J-P. Merlet
Journal:

Robotica / Volume 15 / Issue 4 / July 1997

Published online by Cambridge University Press:

01 July 1997, pp. 367-373
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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.