in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...

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 work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

We study the problem of k-visibility in the memoryconstrained model. In this model, the input resides in a randomly accessible read-only memory of O(n) words with O(log n) bits each. An algorithm can read and write O(s) additional words of workspace during its execution, and it writes its output to write-only memory. In a given polygon P , for a given point q ∈ P , we say a point p is inside th...

The robustness of robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. The present paper proposes an algorithm based on a constrained optimization method which allows one to choose an set of measurement configurations. It works by selecting iteratively one pose after another inside the workspace, and after a few steps a set of N ...