The paper addresses the optimal design of parallel manipulators based on multi-objective optimization. The objective functions used are: Global Conditioning Index (GCI), Global Payload Index (GPI), and Global Gradient Index (GGI). These indices are evaluated over a required workspace which is contained in the complete workspace of the parallel manipulator. The objective functions are optimized ...

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform moves in the Cartesian x−y−z space with fixed orientation. The workspace analysis is con...

Perhaps the most common configuration for planar manipulandums used in motor control studies is the serial five -bar linkage, but this design suffers from strongly directional inertia and force production characteristics. An alternative parallel-link design whose properties are less direction-sensitive across the workspace has been used in wrist-motion studies, but has never been scaled up for ...

We present an algorithm to determine all the possible geometries of Gough-type 6 d.o.f. parallel manipulators whose workspace has to include a desired workspace. This desired workspace is described as a set of geometric objects, limited here to points and segments, which describe the desired locations of the center of the moving platform. It is assumed that the orientation of the platform is fi...

Designing usable real-time, distributed collaboration tools is a complex but important task. Workspace awareness can potentially help in making realtime, distributed collaboration tools more usable through a communication of who is in the shared workspace and what they are doing. We present qualitative evaluations of the workspace awareness features of a gesturebased diagramming tool, Distribut...

This paper describes our design and implementation of an augmented table interface for small group meetings. The system was designed to be used by multiple users in the ubiquitous environment, where people do not need to bring their laptop PCs. With effective use of the advantage of computer vision, we implemented the concept of ubiquitous desktop as personal workspace and virtual Chinese table...

This paper presents a new discretization method for the computation of the orientation workspace of 6DOF parallel manipulators, de®ned as the set of all attainable orientations of the mobile platform about a ®xed point. The method is based on the use of a modi®ed set of Euler angles and a particular representation of the orientation workspace. In addition, the projected orientation workspace is...

In this paper, we propose an application programming interface (API) for designing of a robot workspace. The interface is realized inside a SolidWorks computer aided design environment. Via API, the builder of the robot system can check if: a) the current robot mechanism can perform the desired work movements, b) the robot can avoid singularity, and c) the points of the robot trajectory are wit...

An office ergonomics intervention incorporating a macroergonomics design approach was conducted to investigate the effects of a flexible workspace design and ergonomics training on musculoskeletal health, psychosocial environment and performance in a computer-based office setting. This longitudinal, field intervention study included three data collection periods (one preand two post-interventio...