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...

The Leap Motion Controller is a sensor for precise hand tracking; it device used human interaction with computer systems via gestures. study presented in this paper evaluates its workspace real-world conditions. An exact replica of operator’s was to measure the sensor’s precision, and therefore determine tracking abilities varying positions above sensor. moved randomly across defined by manufac...

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...

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The workspace analysis is conducted on the bases of prescribed kinetostatic performances. The i...

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 ...

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” ...

This paper proposes a robust hybrid position/force control (HPFC) system for multi-degree of freedom manipulators (MDoFMs) with torque constraints on each joint. General HPFC systems can the interactive contact forces and positions in various environments. In systems, to improve performance MDoFMs, motor saturation should be considered. Thus, that considers by predictive functional (PFC) is pro...

This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (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 criter...

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