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 cable driven redundant parallel manipulators. CONTROLLABLE WORKSPACE is one of the general WORKSPACE in the cable driven redundant parallel manipulators due to the dependency on geometry parameters in the cable driven redundant parallel manipulators. In this paper, a novel tool is presented based on interval analysis for determination of the boundaries and proper assessment of the enclosed region of CONTROLLABLE WORKSPACE of cable-driven redundant parallel manipulators. This algorithm utilizes the fundamental wrench interpretation to analyze the CONTROLLABLE WORKSPACE of cable driven redundant parallel manipulators. Fundamental wrench is the newly definitions that opens new horizons for physical interpretation of CONTROLLABLE WORKSPACE of general cable driven redundant parallel manipulators. Finally, the proposed method is implemented on a spatial cable driven redundant manipulator of interest.

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required WORKSPACE. Since optimization of the links lengths of the robot for the WORKSPACE is usually done, the WORKSPACE computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the WORKSPACE computation are highlighted. This article exerts an improved numerical search method for WORKSPACE generation of a Delta robot. The algorithm is based on a methodology applied to a Hexapod manipulator somewhere else, while the improvement utilized here causes a good increase in its speed and efficiency. The results illustrate that the approach is feasible, practical, and more efficient than initial method for the generation and analysis of the WORKSPACE of the parallel manipulator, however it is done for a Delta here.

Hexapod walking robots can be employed for both walking and manipulation purposes. When manipulating, they have 6 degrees of freedom for top platform, high rigidity, high load capacity, high speed, and accuracy. On the other hand, it is well known that they have limited WORKSPACE when they are fixed in place for manipulation. Designing a hexapod robot resulting in a maximized WORKSPACE can greatly affect the efficiency of the robot when manipulating. Since radially symmetric hexapod walking robots can be modeled as three 2-RPR planar parallel mechanisms, we have used the methods and calculations that are used in this kind of mechanism for designing a radially symmetric hexapod walking robot. In this paper, after a thorough review on existing methods for calculating and improving 2-RPR planar parallel mechanism WORKSPACE, an algorithm is presented that results in a maximized reachable WORKSPACE. The merit of the method is that there is no need to calculate the WORKSPACE volume when maximizing it. Also, following this algorithm is necessary for design of the maximized WORKSPACE robot. In other words, the output of the presented optimization algorithm is a set of robot kinematic parameters, which guarantees the maximized volume of the robot’s reachable WORKSPACE.

In many real systems in which a state variable should be controlled for being in appropriate range, the length of control (review) intervals is taken to be constant. In such systems, when the cost of reviews and out-of-range values of the state variable are considerable, this method may not be optimal. In this paper we let the length of review intervals to be variable during each operating cycle and construct the related mathematical cost model. Then two scheduled review methods, called U2 and U3, are introduced and the relative annual system costs are analyzed. The model is developed for the case of negative exponential variate as the time between successive consumption points. It is shown that the new methods results a significant reduction in the expected annual cost of the system.

In the dynamic manipulation of objects, the aim is to throw an object by a robot to the desired target even outside the reachable WORKSPACE. In this paper, the concept of the throw-able WORKSPACE or dynamic manipulation WORKSPACE is defined as a set of points which the robot is able to throw the object at them. Thus, in order to obtain the maximum dynamic manipulation WORKSPACE which means the farthest points that object can be manipulated, it is necessary to solve the optimal throwing problem. To this end, the optimal throwing problem is defined as the optimal control problem solved using the indirect solution method based on the fundamental theorem of the calculus of variations. By applying the throwing equation as a moving boundary condition, the derived optimality conditions construct a two-point boundary value problem which its solution results in the optimal throwing. Finally, an algorithm is presented to calculate the maximum dynamic manipulation WORKSPACE. Then, simulation results are presented for a single link robot in order to evaluate the defined concept as well as the effectiveness of the proposed method for problem-solving.

The purpose of this study is to understand the employees lived experiences of WORKSPACE. Employees experiences refer to any perception, sense, understanding and interpreting of the WORKSPACE (physical, cultural and technological). Understanding the employees lived experiences plays a main role in aligning organizational efforts with employees values. We took up this study in order to expose the importance of employees experiences at WORKSPACE and shed light on previous studies that have been done on understanding humane lived experiences as well. The research focuses on two questions: what are the employees’ lived experiences? and how they interpret those experiences? We used the Dickelman’ s phenomenological approach in this study. We interviewed 16 employees and middle managers who hold BA and BS degrees and worked at a telecom organization. Findings show that: employees experiences and interpretation at their WORKSPACE can be expressed in 6 main themes: “ precaution” , “ strait” , “ inefficiency” , “ belonging” , “ discouragement” and “ lagging behind of personal life” . These main themes included 22 subthemes which clarify and interpret the employees experiences in details.

Parallel robots are widely used in many industrial and medical applications. Reconfigurable parallel robots could be defined as a group of parallel robots that can have different geometries, thus obtaining different degrees of freedom derived from the basic structure. These robots have some disadvantages like having erratic WORKSPACE and singular points in the WORKSPACE. These limitations should be studied for proper usage of parallel manipulators. This paper presents the kinematics and WORKSPACE analysis of a 3DOF parallel reconfigurable robot. This robot has two different configurations. The first configuration is a Tricept robot (3UPS-PU) and the second is a fully Spherical robot (3UPS-S). The kinematic equations are derived based on the geometry of the system and then Jacobian matrices are determined via velocity loop closure analysis. The kinematic model is verified by the results obtained from robot simulation in ADAMS software. Then, the WORKSPACE of the robot is determined by considering the kinematic constraints.