A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to ...

This paper presents kinematic analysis of B class of parallel manipulators, namely, Hexaslides, for machine tool applications. Hexaslides have constant-length legs. The inverse and direct kinematics solutioos, to study the workspace properties of hexaslides are presented. Various kinematic performance indices, namely, workspace volume, workspace volume index i.e., the ratio of workspace volume ...

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the...

We present a fast algorithm for solving the problem of the verification of a trajectory for a 6-DOF parallel manipulator with respect to its workspace: i.e., given two different postures for the end-effector, is the straight line joining these two postures in the parameters space fully inside the workspace ? This algorithm is based on the analysis of the algebraic inequalities describing the co...

Distributed software modeling is common today, although geographically separated designers need to overcome several communication challenges. Software designers typically use version control systems (VCSs) to integrate their work. However, existing VCSs do not continuously inform all designers of new design decisions and conflicts. Designers often introduce conflicts precisely because they are ...

This paper presents a computer model of cortical broadcast and competition based on spiking neurons and inspired by the hypothesis of a global neuronal workspace underlying conscious information processing in the human brain. In the model, the hypothesised workspace is realised by a collection of recurrently interconnected regions capable of sustaining and disseminating a reverberating spatial ...

A fundamental feature of a manipulator is the capacity of its workspace because it influences on the manipulator design, in the manipulator position in the work environment and in the its dexterity. In the case of 3R manipulators, it is represented by a revolution solid. Thus, in this paper the workspace volume is calculated based on the area of its radial section. An optimization problem is fo...

This paper presents the design optimization of a mobile welding robot based on the analysis of its workspace. A welding robot has been developed to be used inside the double-hull structure of ships, and it shows good welding functionality. But there is a need to optimize the kinematic variables ensuring that the required welding functions inside the ships are satisfied. The task-oriented worksp...

Construction workspace is regarded as one of the main constraints on construction sites. Construction workspaces are generally difficult to proactively plan and manage due to the dynamic nature of a site where workspace requirements keep changing as time evolves. However, project managers are looking for ways to develop proactive site plan for the workspaces required for construction activities...

One-to-one computing environments change and improve classroom dynamics as individual students can bring handheld devices fitted with wireless communication capabilities into the classrooms. However, the screens of handheld devices, being designed for individual-user mobile application, limit promotion of interaction among groups of learners. This study proposes a design of classrooms that inco...