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...

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given externa...

Striving for greater accuracy and greater performance, some machine manufactures are developing parallel structure for the next generation machine. This necessarties that these machines need to be analyzed for the effects of existing singularities inside or boundary of evaluated workspace of indigenously developed 6-DoF SPS (S: Spherical, P: Prismatic) parallel manipulator here in Bhabha atomic...

let g be a simple connected graph. the generalized polarity wiener index ofg is defined as the number of unordered pairs of vertices of g whosedistance is k. some formulas are obtained for computing the generalizedpolarity wiener index of the cartesian product and the tensor product ofgraphs in this article.

Central Pattern Generator (CPG) plays a significant role in the generation of diverse and stable gaits patterns for animals as well controlling their locomotion. The main contributions this paper are ability to develop Cartesian motor skills coordinating legs quadruped robot gait adaption its nominal characteristics with CPG approach. Primary, predefined relationship between an excitation signa...