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

International audienceThis 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

Aluminium toxicity in declining forests : a general overview with a seasonal assessment in a silver fir forest in the Vosges mountains (France)

International audienc

Application of morphotronic theory to parallel robots

The main aim of this paper is to demonstrate the connection between parallel robotics and electronic circuits using the Morphotronic geometry. Parallel robotic system can be represented by a non Euclidean geometry which metric is the kinetic energy and the metric tensor is the mass metrics in the configuration space of the join angles. We can also remark that for electrical circuit we can have a similar non Euclidean geometry in the space of the currents or voltages. In this way we establish a morphological connection between the mechanical and electrical devises that we denote as Morphotronic. We present examples for the geometry in the kinetic space and example in the natural biological membrane represented by electrical circuits. © 2012 Springer-Verlag