In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace v...

− In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume ...

Packet Tracer uses two representation schemes to represent a network: logical workspace and physical workspace. In this paper, our implementation uses these two schemes to build networks and to demonstrate our experiments. Logical workspace is used to build a logical topology and physical workspace is used to arrange devices physically. Packet Tracer as demonstrated in this paper has an operati...

In this paper, evolving takagi-sugeno fuzzy models are applied to model a dynamic system, e.g. a six degrees of freedom robotic manipulator. In recent years the dynamic model was obtained off-line, but when the robot performs tasks away from the modeled workspace, it fails in achieve the goal. Then, the models must evolve when the robot moves to a previously un-modeled workspace. The models wer...

We dispel with “street wisdom” regarding the practical implementation of Strassen’s algorithm for matrix-matrix multiplication (DGEMM). Conventional wisdom: it is only practical for very large matrices. Our implementation is practical for small matrices. Conventional wisdom: the matrices being multiplied should be relatively square. Our implementation is practical for rank-k updates, where k is...

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-times control. To reduce the inertial load, the motors are ...

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...

Two optimization studies on the design of a three degree of freedom translational parallel platform are conducted and the results are compared. The objective function of the rst study maximizes total volume of the manipulator workspace without regard to the quality of the workspace. The second study optimizes the total volume of well conditioned workspace by maximizing a global condition index....

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...

In this paper, we introduce new performance indices to characterize the workspace of reconfigurable hyper-redundant robotic arms. These indices are then used to analyze the workspace of a type of hyper-redundant robotic arm using as modules lower mobility parallel platforms. The modules of the reconfigurable robotic arm are the three-legged translational universal–prismatic–universal (UPU) and ...