Advances in Robot Kinematics 2016

Front Matter ....Pages i-xii
 Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms  (Volkert van der Wijk)....Pages 1-10
 Compliant Serial 3R Chain with Spherical Flexures  (Farid Parvari Rad, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti-Castelli)....Pages 11-21
 Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots  (Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud)....Pages 23-31
 A Screw-Based Dynamic Balancing Approach, Applied to a 5-Bar Mechanism  (Jan de Jong, Johannes van Dijk, Just Herder)....Pages 33-41
 A Novel S-C-U Dual Four-Bar Linkage  (Pierre Larochelle, Sida Du)....Pages 43-50
 Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks  (Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Nicolas Andreff)....Pages 51-59
 Structural Synthesis of Hands for Grasping and Manipulation Tasks  (Ali Tamimi, Alba Perez-Gracia, Martin Pucheta)....Pages 61-70
 Generalized Construction of Bundle-Folding Linkages  (Shengnan Lu, Dimiter Zlatanov, Matteo Zoppi, Xilun Ding)....Pages 71-79
 A Complete Analysis of Singularities of a Parallel Medical Robot  (Josef Schadlbauer, Calin Vaida, Paul Tucan, Doina Pisla, Manfred Husty, Nicolae Plitea)....Pages 81-89
 Workspace Analysis of a 3-PSP Motion Platform  (Luc Baron)....Pages 91-100
 Posture Optimization of a Functionally Redundant Parallel Robot  (David Corinaldi, Jorge Angeles, Massimo Callegari)....Pages 101-108
 Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters  (Joshua K. Pickard, Juan A. Carretero, Jean-Pierre Merlet)....Pages 109-118
 A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots  (Jan Brinker, Philipp Ingenlath, Burkhard Corves)....Pages 119-128
 Hidden Cusps  (Michel Coste, Philippe Wenger, Damien Chablat)....Pages 129-138
 Some Mobile Overconstrained Parallel Mechanisms  (J. M. Selig)....Pages 139-147
 On the Line-Symmetry of Self-motions of Linear Pentapods  (Georg Nawratil)....Pages 149-159
 On Some Notable Singularities of \\({3{\\text {-}}{} { R\\underline{P}}R}\\) and \\({3{\\text {-}}{} { \\underline{R}RR}}\\) PPRMs   (Khaled Assad Arrouk, Belhassen Chedli Bouzgarrou, Grigore Gogu)....Pages 161-170
 Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist  (Mouna Souissi, Vincent Hugel, Samir Garbaya, John Nassour)....Pages 171-180
 Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device  (Margot Vulliez, Said Zeghloul, Oussama Khatib)....Pages 181-189
 A Family of Non-overconstrained 3-DoF Reconfigurable Parallel Manipulators  (Matteo-Claudio Palpacelli, Luca Carbonari, Giacomo Palmieri, Massimo Callegari)....Pages 191-200
 Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator: A 3RPR Magnetic Parallel Kinematics Manipulator  (Baptiste Véron, Arnaud Hubert, Joel Abadie, Nicolas Andreff)....Pages 201-208
 A New Generic Approach for the Inverse Kinematics of Cable-Driven Parallel Robot with 6 Deformable Cables  (Jean-Pierre Merlet)....Pages 209-216
 Rolling Contact in Kinematics of Multifingered Robotic Hands  (Lei Cui, Jian S. Dai)....Pages 217-224
 Synergies Evaluation of the SCHUNK S5FH for Grasping Control  (Fanny Ficuciello, Alba Federico, Vincenzo Lippiello, Bruno Siciliano)....Pages 225-233
 In-Hand Manipulative Synthesis Using Velocity Subspaces  (Neda Hassanzadeh, Shramana Ghosh, Nina Robson)....Pages 235-244
 Synthesis of Linkages to Trace Plane Curves  (Yang Liu, J. Michael McCarthy)....Pages 245-253
 Subject-Specific Model of Knee Natural Motion: A Non-invasive Approach  (Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli)....Pages 255-264
 An Approach for Bone Pose Estimation via Three External Ellipsoid Pressure Points  (Nikolas Bufe, Ansgar Heinemann, Peter Köhler, Andrés Kecskeméthy)....Pages 265-273
 Robot Dynamics Constraint for Inverse Kinematics  (Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell)....Pages 275-283
 Path Planning in Kinematic Image Space Without the Study Condition  (Martin Pfurner, Hans-Peter Schröcker, Manfred Husty)....Pages 285-292
 The 2D Orientation Interpolation Problem: A Symmetric Space Approach  (Yuanqing Wu, Andreas Müller, Marco Carricato)....Pages 293-302
 Closure Polynomials for Strips of Tetrahedra  (Federico Thomas, Josep M. Porta)....Pages 303-312
 Robust Design of Parameter Identification  (Aurélien Massein, David Daney, Yves Papegay)....Pages 313-320
 Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot  (Angelos Platis, Tahir Rasheed, Philippe Cardou, Stéphane Caro)....Pages 321-330
 Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure  (Alessandro Berti, Marc Gouttefarde, Marco Carricato)....Pages 331-339
 Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis  (Andreas Pott, Philipp Miermeister)....Pages 341-350
 Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots  (Erika Ottaviano, Vincenzo Gattulli, Francesco Potenza)....Pages 351-359
 Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots  (Lorenzo Gagliardini, Marc Gouttefarde, Stephane Caro)....Pages 361-370
 Adaptive Human Robot Cooperation Scheme for Bimanual Robots  (Bojan Nemec, Nejc Likar, Andrej Gams, Aleš Ude)....Pages 371-380
 Influence of the Wind Load in the Trolley-Payload System with a Flexible Hoist Rope  (Jianjie Zhang, Gabriel Abba)....Pages 381-391
 Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-holonomic Platforms  (Andreas Müller, Peter Donelan)....Pages 393-401
 Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach  (Krzysztof Tchoń)....Pages 403-411
 A Taylor-Based Continuation Method for the Determination and Classification of Robot Singularities  (Gauthier Hentz, Isabelle Charpentier, Lennart Rubbert, Pierre Renaud)....Pages 413-420
 Identifying Singularity-Free Spheres in the Position Workspace of Semi-regular Stewart Platform Manipulators  (Anirban Nag, Vikranth Reddy, Saurav Agarwal, Sandipan Bandyopadhyay)....Pages 421-430
 Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot  (Tanio K. Tanev)....Pages 431-440
 Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator  (S. Vahid Amirinezhad, Peter Donelan)....Pages 441-449
Back Matter ....Pages 451-453