The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...

Relatively few studies have been reported that document how proprioception varies across the workspace of the human arm. Here we examined proprioceptive function across a horizontal planar workspace, using a new method that avoids active movement and interactions with other sensory modalities. We systematically mapped both proprioceptive acuity (sensitivity to hand position change) and bias (pe...

The apparent mass of haptic device end-effector depends on its position inside the workspace. This paper presents a recursive algorithm to detect effective direction of gravity force, and to automatically estimate the apparent mass of the end-effector when placed at the vertices of a cubic grid contained into the device workspace. Then an on-line technique is proposed to actively compensate gra...

The apparent gravity force acting on the end-effector of an haptic device depends on its position inside the workspace. This thesis presents an offline recursive algorithm to automatically estimate the required gravity compensation terms to be applied to the end-effector at a given set of positions, corresponding to the vertices of a cubic grid contained into the device workspace. Online gravit...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spheri...

By using the topological structure synthesis theory and method based on POC (Position and Orientation Characteristic) equations,a novel 4-DOF 3T1R parallel manipulator (PM) with low coupling degree, 2PaRSS, is presented.First,the modeling and numerical solutions for forward and inverse position of the PM is established. Then, the workspace and rotation capacity of the PM are analyzed based on i...

The workspace of manipulator can be defined as the operational area of the end effector. Because the moving platform of the parallel manipulator with six degree-of-freedom have six independence degree-offreedoms, it means the workspace has six-dimensional, the six-dimensional workspace is difficult to be directly calculated and unable to do graphic description. For the project of this article-3...

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is comp...

A neural network solution is proposed for solving path planning problems faced by mobile robots. The proposed network is a two-dimensional sheet of neurons forming a distributed representation of the robot's workspace. Lateral interconnections between neurons are "cooperative", so that the network exhibits oscillatory behaviour. These oscillations are used to generate solutions of Bellman's dyn...