This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai’s manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that...

Real time groupware systems often display telepointers (multiple cursors) of all participants in the shared visual workspace. Through the simple mechanism of telepointers, participants can communicate their location, movement, and probable focus of attention within the document, and can gesture over the shared view. Yet telepointers can be improved. First, they can be applied to groupware where...

In this paper, the singularity loci of the Gough-Stewart platform are studied and a graphical representation of these loci in the manipulator’s workspace is obtained. The algorithm presented is based on analytical expressions of the determinant of the Jacobian matrix, using two different approaches, namely, linear decomposition and cofactor expansion. The first approach is used to assess the ef...

This paper presents an approach to on-line path planning for multiple robots in configuration space. On the basis of defining some points in workspace as fmdamental obstacles, we develop an efficient algorithm for mapping a complex Cartesian obstacle by selecting obstacle's critical points. Its computational time for mapping a two-dimensional obstacle is approximately 5ms with a 33Mhz 80486 CPU...

A novel concept of neural force position control in cartesian space NFC was developed and applied The NFC concept for a DOF industrial robot with DOF sensor forces torques is based on a cycle time of only msec NFC features include Sensor and trajectory data processing in cartesian space Learned mapping operations for force kinematics and dynamics with neural networks Singularity robust ness in ...

This paper is based on a path planning approach we reported earlier for industrial robot arms with 6 degrees of freedom in an on-line given 3D environment. It has online capabilities by searching in an implicit and descrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifyi...

This paper presents a new 4-degree-of-freedom parallel mechanism dedicated to handling of heavy parts within a large workspace. These 4 degrees of freedom are 3 translations and 1 rotation about a given axis. Such a mechanism is rare; most of common parallel mechanisms have 3 or 6 degrees of freedom. Firstly, a description of the mechanism is given. Then models are derived regarding velocity an...

This paper has proposed a program analysis method over the current state of workspace an anthropomorphic manipulator using Mathcad software application package (USA). The helped solve following sub-tasks: to calculate limits grip reach, determine presence "dead zones" within workspace, build boundaries workspace. A kinematic scheme typically provides for at least five degrees mobility, which is...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...