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This paper aims to combine and further develop different mathematical models of the workspace representation of 6 degrees of freedom parallel mechanisms and to bring a new point of view to existing workspace analysis methods through using neural networks (NN).

For the orientation workspace of the 6‐3 SPM, discretization method is used which is based on Euler angles and the NN algorithm is applied.

The workspace analysis is carried out in the direction perpendicular to the moving platform which is the most workable direction of 6‐3 Stewart platform mechanisms and NN algorithm has decreased processing time.

The determination of the point, on that direction, at which the workspace is maximum, is outlined. It is the first time that the NN is used for classification of workspace of a parallel manipulator.

Office workspace is more than a place but one of the essential resources in business organizations. In recent years, research in office workspace management has become an increasingly important scholarly focus. However, there is a dearth of bibliometric studies to date on the subject. This study aims to explore a scientometric analysis of office workspace field.

The title/abstract/keyword search method was used to extract related papers from 1990 to 2018. A total of 1,670 papers published in Scopus were obtained and subjected to scientometric data analysis techniques via CiteSpace software.

The results revealed the active research institutions and countries, influential authors, important journals, representative references and research hotspots in this field.

While this study focused on office workspace management, the findings hold useful implications for the built environment in general and facility management in particular, being a sector that encompasses multiple disciplines involving building, office assets, people, processes and technology, which enable effective functioning of the built facilities.

This is probably the most comprehensive scientometric analysis of the office workspace field ever conducted. This study adds to the so far limited knowledge in the field and provides insights for future research.

Construction industrialization is emerging in the construction industry, as a result, buildings with prefabricated assemblies are gaining more and more ground. In most situations, the prefabricated building assemblies are installed by labor crews manually. If some assemblies are ill-designed, clashes between labor crews’ workspaces and them may occur, which will have bad effect on workers’ productivity and even incur hazard. The purpose of this paper is to provide a 4D building information modeling (BIM) based approach to find potential workspace conflicts during the installation process of prefabricated building assemblies in the detailed design process so as to eliminate them in advance.

First, a workspace modeling method is provided; second, three kinds of workspace conflicts are analyzed; third, a 4D-BIM-based approach is established; fourth, a prototype tool based on the approach is developed; and finally, a case study is conducted to test the tool.

The result shows that the proposed tool can detect or precaution workspace conflicts and visualize them in a series of views; in doing so, valuable information can be obtained for improving the design quality of prefabricated assemblies.

The proposed approach and tool only concern the congestions caused by ill-designed prefabricated components; the tool needed to be further optimized for speed; the tests on the tool are limited to a single case study; and more tests are needed to verify its effectiveness.

This research provides a 4D-BIM-based approach and a prototype tool for installation workspace analysis. It can be used to provide support for design optimization of prefabricated building assemblies.

In the Poudre School District of Northern Colorado, USA, Fort Collins High School (FCHS) and Fossil Ridge High School (FRHS) have similar square footages, mechanical systems, and architectural capacities. While FRHS (built 2005) is leadership in energy and environmental design (LEED)‐Silver and Energy Star (2009) certified, FCHS (built 1995) is not. Despite the sustainable features of FRHS, the whole‐building electric use intensities (EUIs) were comparable for the schools. The purpose of this paper is to evaluate electricity consumption and use patterns at these schools.

To investigate whole‐building EUI and identify areas of high consumption, the buildings were divided into workspaces for which workspace‐specific EUIs were calculated and compared. Further, workspace EUIs were partitioned into their heating ventilation and air conditioning (HVAC), lighting, plug load, food service and residual components for analysis.

Significantly, more electricity is used for lighting and HVAC at FCHS (44.04 and 33.16 per cent of total, respectively) compared to FRHS (36.90 and 29.17 per cent of total, respectively). However, plug load consumption accounted for 24.99 per cent of electric use at FRHS but only 16.35 per cent at FCHS. Component EUI analysis identified high‐wattage lighting at FCHS and high computer density at FRHS as areas for possible efficiency improvements.

Whole‐building EUI values are most useful for comparing energy performance of buildings dedicated to a single use. Workspace‐to‐workspace EUI comparisons offer improved energy performance indicators for facility managers. Component EUI analysis identifies specific consumptive activities which should be targeted for potential reduction in electricity use and expenditure.

Workspace and component EUIs provide for more insight than whole‐building EUI when comparing electric consumption of multi‐use facilities.

This paper aims to propose and provide an overview of a model analysis that considers the main spatial design attributes that influence and produce the most relevant salutogenic outcomes. These results are essential for a healthy work experience, especially in shared workspaces.

This study departs from the theoretical contributions of the salutogenic approach, principles from supportive design theory, psychosocial supportive design and the environmental demands and resources model. After a scoping literature review covering different fields of workspace design, environmental psychology and evidence-based design of health-care facilities, a conceptual analysis is done on a proposed understanding of work, health and environmental relations to overview spatial attributes that enhance specific salutogenic and well-being-promoting outcomes needed for a healthy work experience.

The model of analysis, as a theoretical element that helps create methodological tools, combined with the application of a post occupancy evaluation, is thought to assist architects, designers, workspace owners and stakeholders in their new designs or to evaluate existing ones.

Studies on defining spatial attributes and their intended salutogenic outcomes have been formally done in health-care facilities. However, applying this idea to shared workspaces is something new and is expected to contribute to their design and evaluation, especially if the notion of environmental demands and resources is complemented.

This paper aims to examine the implementation of a workspace strategy within Gateshead Metropolitan Borough Council. It identifies the efficiencies that were achieved through the increase in office workspace numbers, as well as the associated advantages of locating more people within the Civic Centre. Equally, this study examines the users’ perspective.

A survey was carried out in 2013, with Property and Design Services as a sample Council Department, to identify employees’ level of satisfaction with the implementation of the strategy. A paper-based questionnaire was handed to all participants. The primary comparison was their experience before and after changes to the workplace.

The results show that government targets for office space utilisation have been exceeded, thus supporting more efficient property asset management. The research has also established that the employees are generally satisfied with their new workspace.

The issues are whether the reduced space per person can be mitigated by the design, and whether efficiency gains can be introduced without adversely affecting the users’ perception of their workplace.

The findings can guide future trends within the Council, as well as informing the implementation of similar workspace strategies in other organisations.

The originality of the study lies in a workspace strategy where the responses of users were taken seriously. Despite some concerns about distractions and lack of privacy, the employees responded that their overall satisfaction, and perceived productivity were unaffected by the strategy and reduced space per person.

The coupling impact of hybrid uncertain errors on the machine precision is complex, as a result of which the designing method with multiple independent error sources under uncertainties remains a challenge. For the purpose of precision improvement, this paper focuses on the robot design and aims to present an assembly precision design method based on uncertain hybrid tolerance allocation (UHTA), to improve the positioning precision of the mechanized robot, as well as realize high precision positioning within the workspace.

The fundamentals of the parallel mechanism are introduced first to implement concept design of a 3-R(4S) &3-SS parallel robot. The kinematic modeling of the robot is carried out, and the performance indexes of the robot are calculated via Jacobian matrix, on the basis of which, the 3D spatial overall workspace can be quantified and visualized, under the constraints of limited rod, to avoid the singular position. The error of the robot is described, and a probabilistic error model is hereby developed to classify the hybrid error sensitivity of each independent uncertain error source by Monte Carlo stochastic method. Most innovatively, a methodology called UHTA is proposed to optimize the robot precision, and the tolerance allocation approach is conducted to reduce the overall error amplitude and improve the robotized positioning precision, on the premise of not increasing assembly cost.

The proposed approach is validated by digital simulation of medical puncture robot. The experiment highlights the mathematical findings that the horizontal plane positioning error of the parallel robotic mechanism can be effectively reduced after using UHTA, and the average precision can be improved by up to 39.54%.

The originality lies in UHTA-based precision design method for parallel robots. The proposed method has widely expanding application scenarios in industrial robots, biomedical robots and other assembly automation fields.

The purpose of this paper is to propose two simple tools for the kinematic characterization of hexapods. The paper also aims to share the experience of converting a popular commercial motion base (Stewart‐Gough platform, hexapod) to an industrial robot for use in heavy duty aerospace manufacturing processes.

The complete workspace of a hexapod is a six‐dimensional entity that is impossible to visualize. Thus, nearly all hexapod manufacturers simply state the extrema of each of the six dimensions, which is very misleading. As a compromise, a special 3D subset of the complete workspace is proposed, an approximation of which can be readily obtained using a computer‐aided design (CAD)/computer‐aided manufacturing (CAM) software suite, such as computer‐aided 3D interactive application (CATIA). While calibration techniques for serial robots are readily available, there is still no generally agreed procedure for calibrating hexapods. The paper proposes a simple calibration method that relies on the use of a laser tracker and requires no programming at all. Instead, the design parameters of the hexapod are directly and individually measured and the few computations involved are performed in a CAD/CAM software such as CATIA.

The conventional octahedral hexapod design has a very limited workspace, though free of singularities. There are important deviations between the actual and the specified kinematic model in a commercial motion base.

A commercial motion base can be used as a precision positioning device with its controller retrofitted with state‐of‐the‐art motion control technology with accurate workspace and geometric characteristics.

A novel geometric approach for obtaining meaningful measures of the workspace is proposed. A novel, systematic procedure for the calibration of a hexapod is outlined. Finally, experimental results are presented and discussed.

This paper aims to introduce a novel design of the biomimetic quadruped robot, including its body structure, three structural modes and respective workspace.

By taking a metamorphic 8-bar linkage as the body of a quadruped robot, the authors propose a reconfigurable walking robot that can imitate three kinds of animals: mammals (e.g. dog), arthropods (e.g. stick insect) and reptiles (e.g. lizard). Furthermore, to analyze the three structural modes of this quadruped robot, the workspace is calculated and studied.

Based on experimental data analyses, it is revealed that the metamorphic quadruped robot can walk in all its three structural modes and adapt to different terrains.

Because the body of the quadruped robot is deformable and reconfigurable, the location of payload is not considered in the current stage.

The relative positions and postures of legs of the metamorphic robot can be rearranged during its body reconfiguration in such a way to combine all the features of locomotion of the three kinds of animals into one robot. So, the metamorphic quadruped robot is capable of maintaining wider stability margins than conventional rigid-body quadruped robots and conducting operations in different environments, particularly the extreme and restricted occasions due to the changeable and adaptable trunk.

The main contribution is the development of a reconfigurable biomimetic quadruped robot, which uses the metamorphic 8-bar linkage. This robot can easily reshape to three different structural modes and mimic the walking patterns of all mammals, arthropods and reptiles.

This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot.

The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used to analyze the mapping relationship between the bending deformation and the applied forces/torques. To improve the control accuracy of the robot, a model-based controller is put forward.

Results of the experiments verify the feasibility of the proposed continuum structure and the correctness of the established model and the control method. The force deviation between the theoretical value and the actual value is relatively small, and the mean value of the deviation between the driving forces is only 0.46 N, which verify the established statics model and the controller.

The proposed model and motion controller can realize its accurate bending control with a few deviations, which can be used as the reference for the motion planning and dynamic model of the continuum robot.