Study on controlling factors of accommodation space for terrestrial rifted lake basin;

Research on the accommodation space transformation system in the Es_3~z member of the Gu nan sag;

Effects of volcanic activities on the distribution of accommodation space during the development of volcanic sequence in Xinyang Depression;

Genesis and evolution of accommodation transformation systems in 2nd member of Upper Triassic Xujiahe Formation,Chuanxi foreland basin;

Simulation experiment on the changed characteristics of the accommodation in faulted lacustrine basins;

Influenced by tectonic movements,the accommodation,the center of sedimentation and the formation thickness changed in the Silurian of Tarim Basin.

The paper carried out the quantitive study of the workspace of a spatial 4R redundant manipulator and explored its fault tolerant workspace.

First,the calculation method of fault tolerant workspace is given,and the centrality index which indicates the relative positional relationship between the end motion of manipulators and fault tolerant workspace is formulated.

Then the calculation process for fault tolerant workspace of spatial 4R mainpulator is explained, the factors that affect the fault tolerant workspace are analyzed and a few new structures are proposed.