Advances in Robot Kinematics

Front Matter....Pages i-xii
Computing Cusps of 3R Robots Using Distance Geometry....Pages 1-9
Kinematic Mapping of SE(4) and the Hypersphere Condition....Pages 11-19
Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator....Pages 21-29
The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design....Pages 31-39
Impact of Perturbation on Wire Tension Vector....Pages 41-49
A Deployable Parallel Wrist with Simple Kinematics....Pages 51-58
Geometric Derivation of 6R Linkages with Circular Translation....Pages 59-67
Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation....Pages 69-76
Some Remarks on the RRR Linkage....Pages 77-85
Force Capability Polytope of a 4 R RR Redundant Planar Parallel Manipulator....Pages 87-94
Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach....Pages 95-103
Nonsingular Change of Assembly Mode Without any Cusp....Pages 105-112
The Influence of Discrete-Time Control on the Kinematico-Static Behavior of Cable-Driven Parallel Robot with Elastic Cables....Pages 113-121
Derivatives of Screw Systems in Body-Fixed Representation....Pages 123-130
Sharp Linkages....Pages 131-138
Solvable Multi-Fingered Hands for Exact Kinematic Synthesis....Pages 139-147
Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-R P S Parallel Robot....Pages 149-159
Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms....Pages 161-169
Human Motion Kinematics Assessment Using Wearable Sensors....Pages 171-180
Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and Its Homogenization....Pages 181-191
Human Motion Mapping to a Robot Arm with Redundancy Resolution....Pages 193-201
Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy....Pages 203-211
Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys....Pages 213-221
Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots....Pages 223-231
Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement....Pages 233-241
On the Limitations on the Lower and Upper Tensions for Cable-Driven Parallel Robots....Pages 243-251
Characterization of the Subsystems in the General Three-System of Screws....Pages 253-261
Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators....Pages 263-271
Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom....Pages 273-284
Points, Lines, Screws and Planes in Dual Quaternions Kinematics....Pages 285-293
Recovering Dual Euler Parameters From Feature-Based Representation of Motion....Pages 295-305
Kinematics and Dynamics of a 3- RP SR Parallel Robot Used as a Pipe-Bending Machine....Pages 307-316
Kinematic Synthesis of a Watt I Six-Bar Linkage for Body Guidance....Pages 317-325
Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis....Pages 327-334
Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications....Pages 335-344
Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints....Pages 345-353
The Kinematics of Containment....Pages 355-364
The Dimensional Synthesis of 3-R P R Parallel Mechanisms for a Prescribed Singularity-Free Constant-Orientation Workspace....Pages 365-373
Approximating Constrained Hand Paths Via Kinematic Synthesis with Contact Specifications....Pages 375-384
Investigation of Error Propagation in Multi-backbone Continuum Robots....Pages 385-394
Kinematics of Expansive Planar Periodic Mechanisms....Pages 395-407
From Inverse Kinematics to Optimal Control....Pages 409-418
New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators....Pages 419-427
Analysis of Constraint Equations and Their Singularities....Pages 429-436
Shape Optimized Heliostats for Kinematic Sun Tracking....Pages 437-445
Efficient Resolution of Hyper-Redundancy Using Splines....Pages 447-456
Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-endoscopy....Pages 457-465
Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator....Pages 467-474
On the Kinematics of an Innovative Parallel Robot for Brachytherapy....Pages 475-483
Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint....Pages 485-495
Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines....Pages 497-504
Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program....Pages 505-516
Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units....Pages 517-525
Motion Capability of the 3-RPS Cube Parallel Manipulator....Pages 527-535
Coupling of Trajectories for Human–Robot Cooperative Tasks....Pages 537-544
Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator....Pages 545-553
Back Matter....Pages 555-561