Articular velocities of parallel manipulators. II. Finding all the robots with fixed extremal articular velocity for performing a fixed cartesian velocity over a whole workspace

This paper presents an algorithm for finding all the possible parallel robot geometries such that the end effector may perform a given translation velocity for any location of the end-effector in a given workspace, the constraint being that the actuator velocities should be always lower than a given bound. All these possible geometries are defined by a region in a particular design parameters space. This algorithm should be useful for the optimal design of parallel robots