This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuatio...

In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot over...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces the geometric approach for the unreachable workspace area for the...

This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators’ task space...

K. Abdel-Malek and W. Yu Department of Mechanical Engineering The University of Iowa Iowa City, IA 52242 Tel. 319-335-5676 [email protected] Abstract A rigorous mathematical formulation for ergonomic design based on obtaining and visualizing the workspace of human limbs is herein presented. The methodology and formulation presented in this paper are aimed at placing the human with re...

In this paper the workspace optimization of 3-legged translational UPU and orientational UPS parallel platforms under joint constraints is performed. The workspace of both platforms is parametrized using several design parameters that span a large range of values. In this paper both the unconstrained and the constrained workspaces (i.e., workspace with joint limits) are used. For the workspace ...

Pose accuracy is one of the most important problems in application parallel robots. In order to adhere strict pose error bounds, a new kinematic calibration method proposed, which includes model with 60 parameters and different parameter identification algorithm based on L-infinity estimation. Parameter errors are identified by using linear programming minimize maximum difference between predic...

It has been nearly 60 years since the introduction of Gough–Stewart manipulator (GSM). With advantages superior load capacity and high precision, GSM still plays an important role in many fields. However, limitations such as a small workspace complex singularities. To overcome these problems, novel kinematically redundant parallel robot is designed with three actuators added on basis GSM. First...

In 2001, Kevin Baker adapted the heuristic evaluation methodology to find usability problems in real-time, shared workspace groupware systems [1]. Real-time, shared workspace groupware systems support real-time collaboration between distance-separated people through a shared workspace – “a medium sized flat work surface where people collaborate by manipulating visible tools and task artefacts” ...