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A method is presented to evaluate the workspace variation of a Stewart platform based machine tool. Three sets of constraints, covering strut lengths, platform and base spherical joint angles, and strut collisions, are formulated using inverse kinematics. Recognizing the need to vary the platform orientation during machining, an algorithm to efficiently calculate the workspace is developed. Computer implementation provides a powerful tool to study the dynamic variation of the workspace as the spindle platform changes orientation. A case study is presented on the workspace variation of a prototype hexapod machine tool as a function of platform orientation. The results demonstrate the shift in size and location of the workspace as the platform orientation changes. The workspace analysis tools presented can be used to maximize the versatility of Stewart platform based machines and avoid violation of workspace constraint conditions.

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In recent years, considerable national attention has been focused upon cases in which police officers used deadly force that resulted in the death of private citizens. The officers often contended that the use of deadly force was justified under the circumstances. Prosecutors then presented these cases to grand juries to determine whether criminal prosecutions were warranted. Some prosecutors have elected to provide full grand jury reviews that include the presentation of exculpatory evidence or at least evidence favorable to the police. Although prosecutors have no constitutional obligation to provide such reviews, those who elect to provide full grand jury reviews to police potentially open the door to the imposition of legal and ethical obligations to provide such reviews to private citizens who have used deadly force that resulted in the death of another person and who, like the police officers, contend that the use of deadly force was justified under the circumstances. 1 Keywords grand jury, deadly force, prosecution, policing 1 The information contained within this article does not provide and should not be relied upon as legal advice or opinion. This article should not be used or relied upon to address any particular facts or circumstances before a lawyer has been consulted. The information and opinions set forth within this article may or may not reflect the views of Edinboro University.