An improved design algorithm based on interval analysis for spatial parallel manipulator with specified workspace

We propose an algorithm that enable one to determine almost all the geometries of a simplified Gough platform whose workspace must include an arbitrary set of poses. Five design parameters have been identified and we assume that the stroke of the linear actuator is known. This algorithm is based on an interval analysis approach and its result is a set of ranges for the design parameters such that the workspace of any robot whose geometry is defined by values within the ranges will include the specified poses.