This paper presents the design optimization of a mobile welding robot based on the analysis of its workspace. A welding robot has been developed to be used inside the double-hull structure of ships, and it shows good welding functionality. But there is a need to optimize the kinematic variables ensuring that the required welding functions inside the ships are satisfied. The task-oriented worksp...

Construction workspace is regarded as one of the main constraints on construction sites. Construction workspaces are generally difficult to proactively plan and manage due to the dynamic nature of a site where workspace requirements keep changing as time evolves. However, project managers are looking for ways to develop proactive site plan for the workspaces required for construction activities...

The growing interest in the use of parallel manipulators in machining applications requires clear determination of the workspace and dexterity. In this paper, the workspace optimization of a Tricept parallel manipulator under joint constraints is performed. This parallel manipulator has complex degrees of freedom and, therefore, leads to dimensionally inhomogeneous Jacobian matrices. Here, we d...

One-to-one computing environments change and improve classroom dynamics as individual students can bring handheld devices fitted with wireless communication capabilities into the classrooms. However, the screens of handheld devices, being designed for individual-user mobile application, limit promotion of interaction among groups of learners. This study proposes a design of classrooms that inco...

Although autonomous mobile robots have been increasingly popular in a known workspace, but they face the challenging task of operation in an unknown workspace. This paper presents a sensor-based image matching for online cell decomposition to plan coverage path-that provides a mobile robot one of suitable complete coverage of an unknown rectilinear workspace. Authors develop a new method for ce...

This paper presents a detailed analysis of the constant-orientation wrench-closure workspace of planar three-degree-of-freedom parallel mechanisms driven by four cables. The constantorientation wrench-closure workspace is defined as the subset of the plane wherein, for a given orientation of the moving platform, any planar wrench applied on the moving platform can be balanced by the cable-drive...

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the ba...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed a...

There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it ...