Computational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017
This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mech...
| Other Authors: | , , |
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| Format: | eBook |
| Language: | English |
| Published: |
Cham
Springer International Publishing
2018, 2018
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| Edition: | 1st ed. 2018 |
| Series: | Mechanisms and Machine Science
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| Subjects: | |
| Online Access: | |
| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
Table of Contents:
- Kinematics of a 6-RUU Parallel Robots with Reconfigurable Platforms, by Guanglei Wu, Huimin Dong
- On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots, by Jan Brinker, Burkhard Corves, Yukio Takeda
- A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator, by Halil Tetik, Gokhan Kiper
- The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach, by Parnyan Ataei, Mehdi Tale Masouleh, Zolfa Anvari
- A Novel 3T1R Parallel Manipulator 2PaRSS and Its Kinematics, by Huiping Shen, Guowei Shao, Jiaming Deng, Ting-li Yang
- Multi-objective optimization of a tripod parallel mechanism for a robotic leg, by Matteo Russo, Saioa Herrero, Marco Ceccarelli, Oscar Altuzarra
- Robust Optimization of the RAF parallel robot for a prescribed workspace, by Med Amine Laribi, Abdelfattah Mlika, Lotfi Romdhane , Said Zeghloul
- Optimal Design of N-UU Parallel Mechanisms, by Yuanqing Wu, Marco Carricato
- Part I: Applications
- Inherently Balanced Double Bennett Linkage, by Volkert Van der Wijk
- 3D revolute joint with clearance in multibody systems, by Narendra Akhadkar, Vincent Acary, Bernard Brogliato
- Kinematics and Bifurcation of a Twofold-Symmetric 8-bar Linkage, by Zhao Tang, Dimiter Zlatanov, Jian sheng Dai
- A Novel Kinematic Model of Spatial Four-bar Linkage RSPS for Testing Accuracy of Actual R-Pairs with Ball-bar, by Zhi Wang, Delun Wang, Xiaopeng Li, Huimin Dong, Shudong Yu
- Model Reduction Methods for optimal Follow-the-Leader Movements of Binary Actuated, Hyper-Redundant Robots, by Svenja Tappe, Dairong Yu, Jens Kotlarski, Tobias Ortmaier
- Kinematic Design of a Lighting Robotic Arm for Operating Room, by Juan Sebastian Sandoval Arevalo, Laurence Nouaille, Gérard Poisson, Yves Parmantier
- Elastostatic Modelling of a Wooden Parallel Robot, by Lila Kaci, Clément Boudaud, Sébastien Briot, Philippe Martinet
- Optimal Synthesis of Overconstrained 6R Linkages by Curve Evolution, by Tudor-Dan Rad, Hans-Peter Schröcker
- The Instantaneous Screw Axis of Motions in the Kinematic Image Space, by Martin Pfurner, Josef Schadlbauer
- A New Insight into the Coupler Curves of the RCCC Four-Bar Linkage, by Federico Thomas, Alba Perez-Gracia
- A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics, by Sebastian Starke, Norman Hendrich, Jianwei Zhang
- Adaptation of the geometric model of a 6 dof serial robot to the task space, by Jose Gutierrez Tapia, Chanal Hélène, Séverine Durieux, Emmanuel Duc
- Differentiation-free Taylor approximation of finite motion in closed loop kinematics, by Jan De Jong, Andreas Mueller, Johannes van Dijk, Just Herder
- A New Direct Position Analysis Solution for an Over-constrained Gough-Stewart Platform, by Luca Luzi, Nicola Sancisi, Vincenzo Parenti Castelli
- A Cable-Driven Robot for Upper Limb Rehabilitation Inspired by the Mirror Therapy, by Lukas Tappeiner, Erika Ottaviano, Manfred Husty
- Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables, by Jean-Pierre Merlet
- Efficient Computation of the Workspace Boundary, its Properties and Derivatives for Cable-Driven Parallel Robots, by Andreas Pott
- Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots, by Philipp Tempel, Andreas Schmidt, Bernard Haasdonk, Andreas Pott
- Part IV: Cams/Gear
- Evaluating the knot vector to synthesize the cam motion using NURBS, by Thi Thanh Nga Nguyen, Stefan Kurtenbach, Mathias Hüsing, Burkhard Corves
- Kinematics of biplanetary epicyclic gears, by Stanislaw Zawislak
- Part V: Optimization
- Towards an autonomous airborne robotic agent, byDaniel Soto-Guerrero, Gabriel Ramírez Torres, Jean-Pierre Gazeau
- Autonomous March Control For Humanoid Robot Animation In A Virtual Reality Environment, by Victor Andaluz, Santiago Guaman, Jorge Sánchez
- Control Based On Linear Algebra For Mobile Manipulators, by Victor Andaluz, Paola Velasco, Edison Sásig, William Chicaiza
- Modeling And Kinematic Nonlinear Control Of Aerial Mobile Manipulators, by Victor Andaluz, Jessica Ortiz, Franklin Silva, Luis Proaño, José Perez, Alex Erazo, Christian Carvajal
- Path Planning Based On Visual Feedback Between Terrestrial And Aerial Robots Cooperation, by Jessica Ortiz Moreano, Víctor Andaluz, Cristhian Zapata, Alex Vega
- Part II: Biomechanics
- Dynamic analysis and control of a Hybrid serial/Cable driven robot for lower-limb rehabilitation, by Mourad Ismail Samir, Lahouar and Lotfi Romdhane
- Motion Interpolation in Lie Subgroups and Symmetric Subspaces, by Jon Selig, Yuanqing Wu, Marco Carricato
- Intrusion, Proximity & Stationary Distance, by Paul Zsombor-Murray
- A novel geometric analysis of the kinematics of the 3-RPS manipulator, by Teja Krishna Mamidi, Aravind Baskar, Sandipan Bandyopadhyay
- Constraint equations of inverted kinematic chains, by Manfred Husty, Thomas Stigger
- Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator, by Abhilash Nayak, Stéphane Caro, Philippe Wenger
- Application of Intersection Theory to Singularity and Motion Mode Analysis of Mechanisms, by Samuli Piipponen, Andreas Mueller, Eero Hyry, Jukka Tuomela
- Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it, by Arvin Rasoulzadeh, Georg Nawratil
- Inverse Kinematics of Anthropomorphic Arms Yielding Eight Coinciding Circles, by Bertold Bongardt
- Dynamic synthesis of a multibody system: a comparative study between genetic algorithm and particle swarm optimization techniques, by Mohamed Amine Ben Abdallah, Imed Khemili, Med Amine Laribi, Nizar Aifaoui
- Robust Design Methodology of Topologically optimized components under the effect of uncertainties, by Joshua Amrith Raj, Arshad Javed
- < Part VI: Parallel robots
- Kinematic and dynamic modeling and base inertial parameters determination of the Quadrupteron parallel manipulator, by Behzad Danaei, Alaleh Arian, Mehdi Tale Masouleh, Ahmad Kalhor
- Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation, by Federico Thomas, Nicolas Rojas
- Parallel manipulators in terms of dual Cayley-Klein parameters, by Georg Nawratil
- An Approach for Type Synthesis of Overconstrained 1T2R Parallel Mechanisms, by Chenglin Dong, Haitao Liu, Qi Liu, Tao Sun, Tian Huang, Derek Chetwynd
- Transmission Quality Evaluation for a Class of Four-limb Parallel Schoenflies-motion Generators with Articulated Platforms, by Guanglei Wu, Shaoping Bai, Stéphane Caro
- Study of Redundantly Actuated DELTA-Type Parallel Kinematic Mechanisms, by Burkhard Corves, Seyed Amirreza Shahidi, Michael Lorenz, Sami Charaf Eddine, Mathias Hüsing
- 3-RRR Spherical parallel robot optimization with minimum of singularities, by Abdelbadia Chaker, Asma Jlassi, Abdelfattah Mlika
- 4haptic : A dexterous 4 d.o.fs haptic device based on Delta architecture, by Celestin Preault, Houssem Saafi, Med Amine Laribi, Said Zeghloul
- Error Modelling and Sensitivity Analysis of a Planar 3-PRP Parallel Manipulator, by Jayant Mohanta, Santhakumar Mohan, Mathias Hüsing, Burkhard Corves
- Determination of workspace volume of parallel manipulators using Monte Carlo method, by Arkadeep Narayan Chaudhury, Ashitava Ghosal
- Kinematic analysis of Active Ankle using computational algebraic geometry, by Shivesh Kumar, Abhilash Nayak, Bertold Bongardt, Andreas Mueller, Frank Kirchner
- Optimization of a Redundant Serial Spherical Mechanism for Robotic Minimally Invasive Surgery, by Carl Nelson, Med Amine Laribi, Said Zeghloul
- Kinematic Analysis for a Prostate Biopsy Parallel Robot using Study parameters, by Doina Pisla, Iosif Birlescu, Bogdan Gherman, Paul Tucan, Calin Vaida, Nicolae Plitea, Nicolae Crisan, Corina Radu
- Optimum Walking of the Bioloid Humanoid Robot on a Rectilinear Path, by Alfonso Pamanes, Gabriela Reyes, Jesus Fierro, Victor Nunez
- A new experimental set-up for training multi-parameter gaits, by Sami Bennour, Houssein LAMINE, Lotfi Romdhane
- Part III: Cable Robots
- Comprehensive dynamic study of an unloaded walking within a cable-based gait trainer, by Houssein Lamine, Sami Bennour, Lotfi Romdhane
- A Study On Constraints Violation In Dynamic Analysis Of Spatial Mechanisms, by Paulo Flores.
- Robust multi-objective design optimization of the 3-UPU TPM based on the GA-Krawczyk method, by El hraiech Safa, Chebbi Ahmed, Affi zouhaier, Romdhane Lotfi
- Part VII: Planar Robots
- Topology Optimization of a Reactionless Four-bar Linkage, by Sébastien Briot, Alexandre Goldsztejn
- Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism, by Philippe Wenger, Damien Chablat
- Design Optimization and Accuracy Analysis ofa Planar 2PRP-PRR Parallel Manipulator, by Santhakumar Mohan, Burkhard Corves, Philippe Wenger
- Operation modes of the planar 3-RRR manipulator, by Aravind Baskar, Sandipan Bandyopadhyay
- The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator, by Joao Vitor Fontes, Hiparco Vieira, Maíra da Silva
- Holistic modular multilayer synthesis of planar linkages using parameterized mass properties, by Stefan Heinrich, Maik Berger
- Part VIII: Theoretical Kinematics