• Failure and Workspace Analysis of Parallel Robot Manipulators 

      Nazari, Vahid (2014-03-10)
      A failure recovery methodology based on decomposing the platform task space into the major and secondary subtasks is proposed which enables the manipulator to minimize the least-squares error of the major subtasks and to ...
    • Workspace Generation for Wire-Actuated Parallel Manipulators 

      McColl, Derek (2009-10-20)
      This thesis focuses on the methods and results of the workspace formulation of wire-actuated parallel manipulators. Four methods of workspace generation are studied. The null space method, based on the calculation of wire ...