Latest Advances in Robot Kinematics

ISBN-13: 9789400799202 / Angielski / Miękka / 2014 / 460 str.

Jadran Lenarcic; Manfred Husty

Opis

This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained.
In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

Spis treści

Preface

The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles

On the Twist Recovery Methodologies After Failure; Leila Notash

A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy

Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil

Asymptotic Singularities of Planar Parallel 3-RPR Manipulators; Michel Coste

Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio

Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland

Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho'n and Mariusz Janiak

Self-Calibration of Redundantly Actuated PKM Based on Motion
Reversal Points; Andreas Muller and Maurizio Ruggiu

Managing the Redundancy of N-1 Wire-Driven Parallel Robots; J-P. Merlet

Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano

On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé

Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa

Motion Planning for Parallel Robots with Non-holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak, Patrick Grosch and Federico Thomas

Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai

Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schütz, R.J. Ellwood, A. Raatz and J. Hesselbach

Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf

Robotic Fish Kinectics Design Based on a Fuzzy Control; Pei-Jun Lee and Wen-June Wang

Persistent Screw Systems of Dimension Four; Marco Carricato

Simplified Voronoi Diagrams for Motion Planning of Quadratically-
Solvable Gough-Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas

Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra

Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and
Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson

Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara

Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert Jüttler

Influence of Pulley Kinematics on Cable-Driven Parallel Robots;  Andreas Pott

Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert Jüttler and Tino Schulz

Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai

Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker

Bond Theory and Closed 5R Linkages; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker

Design and Control of a Redundant Suspended Cable-Driven Parallel Robot;  Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier

Planning Singularity-Free Force-Feasible Paths on the Stewart Platform;  Oriol Bohigas, Montserrat Manubens and Lluìs Ros

Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu

Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder

Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott

Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez

Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle

Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig

Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib

Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder

Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes

Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu

Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea

Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger

Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma

Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger

Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter

The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari

A Planar Compliant Mechanism with RRP Mobilities Based on the
Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff

Velocity Level Kinematic Analysis of Serial nA-Chains; James D. Robinson and M. John D. Hayes

Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and Sandipan Bandyopadhyay

Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar

Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro

Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky

Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park

Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle

On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli

Author Index 

Subject Index