This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform to counteract any external wrench lying inside a predefined six-dimensional region. In particular, the Jacobian matrix of the manipulator will be full rank along such path, so...

Recem Ocean Drilling Program sampling of the Ctte d'Ivoire-Ghana margin of West Africa provides for the first time the opportunity to study the development of a marginal ridge that formed along a sheared passive margin adjacent to the continent-ocean transition after the end of intmcontinemal wrenching. We model its evolution using a two dimensional flexural backstripping technique. The model i...

In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration...

Cable-suspended robots and haptics interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables cannot push but can only exert tension. Therefore, actuation redundancy is required; even so, certain configurations and wrenches will fail since they would require one or more cables to push. The objective o...

hile customer acquisition is a constant priority for middle market commercial bankers, the quest has assumed high urgency in today’s volatile market. There is a heightened potential for client turnover as institutions work through capital difficulties and wrenching mergers. And the rising priorities of deposit growth and fee revenue generation have commercial bankers knocking on new doors for n...