This e-book provides fifty three independently reviewed papers which include the most recent advances within the conception, layout, keep an eye on and alertness of robot structures, that are meant for a number of reasons reminiscent of manipulation, production, automation, surgical procedure, locomotion and biomechanics. tools used contain line geometry, quaternion algebra, screw algebra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom platforms. The participants are recognized specialists in robotic kinematics.
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Extra info for Advances in Robot Kinematics: Mechanisms and Motion
Daniel, R. Dunlop a geometric interpretation of 3-3 mechanism singularities 285 Workspace and function J. A. Carretero, G. T. Pond Quantitative dexterous workspace comparisons 297 E. Ottaviano, M. Husty, M. Ceccarelli Level-set procedure for workspace research of serial manipulators 307 M. Gouttefarde, J . -P. Merlet, D. Daney selection of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms 315 G. Gogu Fully-isotropic hexapods 323 P. final, J. Hesselbach a brand new calibration stategy for a category of parallel mechanisms 331 M. Krefft, J. Hesselbach The dynamic optimization of PKM 339 x J. A. Snyman On non-assembly within the optimum synthesis of serial manipulators acting prescribed projects Contents 349 layout of Mechanisms W. A. Khan, S. Caro, D. Pasini, J. Angeles Complexity research for the conceptual layout of robot structure 359 D. V. Lee, S. A. Velinsky powerful 3-dimensional non-contacting angular movement sensor 369 okay. Brunnthaler, H. -P. Schr¨ ocker, M. Husty Synthesis of round four-bar mechanisms utilizing round kinematic mapping 377 R. Vertechy, V. Parenti-Castelli Synthesis of 2-DOF round totally parallel mechanisms 385 G. S. Soh, J. M. McCarthy Constraint synthesis for planar n-R robots 395 T. Bruckmann, A. Pott, M. Hiller Calculating strength distributions for redundantly actuated tendon-based Stewart structures 403 P. Boning, S. Dubowsky A learn of minimum sensor topologies for area robots 413 M. Callegari, M. -C. Palpacelli Kinematics and optimization of the translating 3-CCR/3-RCC parallel mechanisms 423 movement Synthesis and Mobility C. -C. Lee, J. M. Herv´e Pseudo-planar movement turbines 435 S. Krut, F. Pierrot, O. corporation On PKM with articulated travelling-plate and big tilting angles 445 C. R. Diez-Mart´ınez, J. M. Rico, J. J. Cervantes-S´ anchez, J. Gallardo Mobility and connectivity in multiloop linkages 455 ok. Tcho´ n, J. Jakubiak Jacobian inverse kinematics algorithms with variable steplength for cellular manipulators 465 Contents xi J. Zamora-Esquivel, E. Bayro-Corrochano Kinematics and greedy utilizing conformal geometric algebra 473 R. Subramanian, okay. Kazerounian software of kinematics instruments within the research of inner mobility of protein molecules 481 O. Altuzarra, C. Pinto, V. Petuya, A. Hernandez movement development singularity in reduce mobility parallel manipulators 489 writer Index 497 Methods in Kinematics J. Andrade-Cetto, F. Thomas Wire-based monitoring utilizing mutual info three G. Nawratil The regulate quantity as index for Stewart Gough systems 15 C. Innocenti, D. Paganelli picking out the 3×3 rotation matrices that fulfill 3 linear equations within the path cosines 23 P. M. Larochelle A polar decomposition established displacement metric for a finite quarter of SE(n) 33 J. -P. Merlet, P. Donelan at the regularity of the inverse Jacobian of parallel robots forty-one P. Fanghella, C. Galletti, E. Giannotti Parallel robots that modify their team of movement forty nine A. P. Murray, B. M. Korte, J. P. Schmiedeler Approximating planar, morphing curves with rigid-body linkages fifty seven M.