workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The controllable workspace of a tendon-based Stewart Platform is the set of postures where forces and torques at the end-eeector can be controlled. A necessary and suucient condition is given for those postures where forces can be controlled; thus, a superset of the controllable workspace can be calculated easily. External forces are modeled as an additional tendon xed at iniinity by introducin...

Article history: Received 29 April 2015 Received in revised form 23 August 2015 Accepted 30 August 2015 Available online 14 September 2015 Snake-like flexible manipulators are widely used in minimally invasive surgery (MIS), which require adequate dexterity in confined workspace. Typically, the design mechanisms of these manipulators include tendon-driven mechanism and concentric tube mechanism...

Parallel manipulators are an interesting alternative to serial robots given the important mechanical and kinematic advantages offered. Nevertheless, they often present more complex and smaller workspaces with internal singularities (Altuzarra et al., 2004; Gosselin & Angeles, 1990). Thus, the workspace size, shape and quality are considered some of the main design criteria of these robots (Merl...

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...

Large horizontal displays provide new opportunities to support individual and collaborative activities such as creativity and organizational tasks. We present Interface Currents, a fluid interaction technique designed to support face-to-face collaboration by improving access to and sharing of workspace items. Interface Currents are flexible containers that provide a controllable flow of interfa...

We present an optimization procedure that uses the Taguchi method to maximize the mean stiffness and workspace of a redundantly actuated parallel mechanism at the same time. The Taguchi method is used to separate the more influential and controllable variables from the less influential ones among kinematic parameters in workspace analysis and stiffness analysis. In the first stage of optimizati...

A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via SPS legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis (which in fact is an axial spindle). In this paper we present a rational parametrization of the singula...