In this paper, three translational parallel manipulators, i.e., the RAF, the 3UPU and the Delta, are analyzed for dexterity and workspace. First, the geometric models for these three robots were investigated to determine their respective workspaces. The kinematic models are also derived to calculate the global dexterity of each robot. A multi-objective optimization, where the global dexterity i...

A minimal hypothesis is proposed concerning the brain processes underlying effortful tasks. It distinguishes two main computational spaces: a unique global workspace composed of distributed and heavily interconnected neurons with long-range axons, and a set of specialized and modular perceptual, motor, memory, evaluative, and attentional processors. Workspace neurons are mobilized in effortful ...

We present a method for designing optimal parallel manipulators of the Gough platform type, according to design constraints like a specified workspace, best accuracy over the workspace, minimum articular forces for a given load, etc.... A reduced set of design parameters is defined and the workspace constraints are used to compute the zone of the parameters space which define all the robots who...

This paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. This aim is approached upon proceeding single- and multi-objective optimization procedures. Kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

This paper presents a novel method to solve the inverse kinematics of redundant manipulators with active Spherical ball joint. The workspace density function is built combining the Fourier transform, convolution theorem and particular form of the workspace density of a single link, which can accurately generate the size of workspace. The approach of inverse kinematics selects a solution from am...

An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...

This introductory chapter attempts to clarify the philosophical, empirical, and theoretical bases on which a cognitive neuroscience approach to consciousness can be founded. We isolate three major empirical observations that any theory of consciousness should incorporate, namely (1) a considerable amount of processing is possible without consciousness, (2) attention is a prerequisite of conscio...

MOTIVATION Homology models of proteins are of great interest for planning and analysing biological experiments when no experimental three-dimensional structures are available. Building homology models requires specialized programs and up-to-date sequence and structural databases. Integrating all required tools, programs and databases into a single web-based workspace facilitates access to homol...

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 an optimisation scheme based on the geometric approach for the wo...