Title:
Computational kinematics : proceedings of the 6th International Workshop on Computational Kinematics (CK2013)
Series:
Mechanisms and Machine Science, 15
Mechanisms and Machine Science
Publication Information:
New York : Springer, 2014.
Physical Description:
xi, 409 p. : ill. ; 24 cm.
ISBN:
9789400772137
Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
|---|---|---|---|---|---|
Searching... | 33000000010088 | QA841 C66 2014 | Open Access Book | Book | Searching... |
On Order
Summary
Summary
Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities.
The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Table of Contents
| On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel ManipulatorsL. Notash |
| Further Analysis of the 2-2Wire-driven Parallel CraneJ-P. Merlet |
| Some Rational Vehicle MotionsJ. M. Selig |
| Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic MechanismsS. Li and H. Wang and J. Dai and X. Li and Z. Ren and S. Xiu |
| Classification of Singularities in Kinematics of MechanismsS. Piipponen and T. Arponen and J. Tuomela |
| Non-existence of Planar Projective Stewart Gough Platforms with Elliptic Self-motions (Dedicated to Prof. H. Stachel on the occasion of his 70 th birthday)G. Nawratil |
| Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with 5 CablesC. Abbasnejad and M. Carricato |
| Uniform and Efficient Exploration of State Space using Kinodynamic Sampling-based PlannersR. Motwani and M. Motwani and F. C. Harris Jr |
| Shape Modeling of Continuous-Curvature Continuum RobotsS. Bai |
| Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration SpaceM. Urzar and V. Petuya and M. Diez and A. Hernndez |
| Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic LandmarksA. Mller and M. Ruggiu |
| Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval ArithmeticV. Schmidt and B. Mller and A. Pott |
| Three Types of Parallel 6R LinkagesZ. Li and J. Schicho |
| Positioning two Redundant Arms for Cooperative Manipulation of Objects |
| A. Colom and C. Torras |
| A Sufficient Condition for Parameter Identifiability in Robotic CalibrationT. Gayral and D. Daney |
| An improved Force Distribution Algorithm for Over-constrained Cable-driven Parallel RobotsA. Pott |
| An Open-Source Toolbox for Motion Analysis of Closed-chain MechanismsL. Ros and J. M. Porta, O. Bohigas, M. Manibens, C. Rosales and L. Jaillet |
| Spherical Parallel Mechanism with Variable Target PointT. Ikeda and Y. Takeda and D. Matsuura |
| A Blend of Delassus Four-bar LinkagesC.-C. Lee and J. M. Herv |
| On the Symmetric Molecular ConjecturesJ. M. Porta, L. Ros, B. Schulze, A. Sljoka and W. Whiteley |
| Stiffness Modeling of Robotic Manipulator with Gravity CompensatorA. Klimchik and S. Caro and Y. Wu and D. Chablat and B. Furet and A. Pashkevich |
| Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical LinkagesO. Shai and A. Mller |
| Determination of the Safe Working Zone of a Parallel ManipulatorR. A. Srivatsan and S. Bandyopadhyay |
| Certified Calibration of a Cable-Driven Robot Using Interval Contractor ProgrammingJ. A. Sandretto, G. Trombettoni, D. Daney and G. Chabert |
| Framework Comparison Between a Multifingered Hand and a Parallel ManipulatorJ. Borrs and A. M. Dollar |
| A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute JointD. Wang and Z. Wang and H. Dong and S. Yu |
| Obtaining the Maximal Singularity-free Workspace of 6-UPS Parallel Mechanisms via Convex OptimizationA. Karimi and M. T. Masouleh and P. Cardou |
| Type Synthesis of Two DOF Hybrid Translational ManipulatorsL. Nurahmi and S. Caro and S. Briot |
| Robust Dynamic Control of an Arm of a Humanoid using Super Twisting Algorithm and Conformal Geometric AlgebraO. Carbajal-Espinosa, L. Gonzlez-Jimnez, A. Loukianov and E. Bayro-Corrochano |
| Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute JointsC. S. Borcea and I. Streinu |
| Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical TaskA. Chaker and A. Mlika and M. A. Laribi, L. Romdhane and S. Zeghloul |
| Self Dual Topology of Parallel Mechanisms with Configurable PlatformsP. Lambert and J. L. Herder |
| Four-Dimensional Persistent Screw Systems of the General TypeM. Carricato |
| Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric ApproachM. H. F. Kaloorazi, M. T. Masouleh, S. Caro and B. M. Gholamali |
| Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable PlatformsA. G. L. Hoevenaars, P. Lambert and J. L. Herder |
| Single Exponential Motion and its Kinematic GeneratorsG. Liu and Y. Wu and X. Chen |
| Foundations for the Approximate Synthesis of RCCC Motion GeneratorsJ. Angeles |
| The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode ChangesM. Husty and J. Schadlbauer and S. Caro and P. Wenger |
| Exact Workspace Synthesis for RCCR LinkagesB. Batbold and Y. Yihun and J. S. Wolper and A. Perez-Gracia |
| A Closed-Form Solution of Spatial Sliders for Rigid-Body GuidanceC. Huang and W. C. Huang and G. Kiper |
| A Cartesian Cable-Suspended Robot for Aiding MobilityG. Castelli and E. Ottaviano |
| Evaluating the Spatial Compliance of Circularly Curved-Beam FlexuresF. P. Rad, G. Berselli, R. Vertechy and V. Parenti Castelli |
| Kinematic Analysis of Slider-Cranks Derived from the l -MechanismE. Ottaviano and P. Rea and M. Conte |
| Improved Muscle Wrapping Algorithms Using Explicit Path-Error JacobiansA. Scholz and I. Stavness and M. Sherman and S. Delp and A. Kecskemthy |
| Author Index |
| Subject Index |
