  This 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.
