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This paper proposes a new design method to determine the feasible set ofparameters of translational or position/orientation decoupled parallel robotsfor a prescribed singularity-free workspace of regular shape. The suggestedmethod uses Groebner bases to define the singularities and the cylindricalalgebraic decomposition to characterize the set of parameters. It makes itpossible to generate all the robot designs. A 3-RRR decoupled robot is used tovalidate the proposed design method.

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