This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators’ task space...

High stiffness, low inertia, large accelerations, and high precision are desirable properties attributed to parallel kinematics machines (PKM). However, relatively small workspace and the abundance of singularities within the workspace partly annihilate the aforementioned advantages. Redundant actuation and novel redundant kinematics are means to tackle these shortcomings. Redundant parallel ki...

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The workspace analysis is conducted on the bases of prescribed kinetostatic performances. The i...

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is comp...

In this paper the workspace optimization of 3-legged translational UPU and orientational UPS parallel platforms under joint constraints is performed. The workspace of both platforms is parametrized using several design parameters that span a large range of values. In this paper both the unconstrained and the constrained workspaces (i.e., workspace with joint limits) are used. For the workspace ...

In 2001, Kevin Baker adapted the heuristic evaluation methodology to find usability problems in real-time, shared workspace groupware systems [1]. Real-time, shared workspace groupware systems support real-time collaboration between distance-separated people through a shared workspace – “a medium sized flat work surface where people collaborate by manipulating visible tools and task artefacts” ...

This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used: (i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criter...

In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...

In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...