Advances in Robot Kinematics: Analysis and Design

Front Matter....Pages i-xi
A New Assessment of Singularities of Parallel Kinematic Chains....Pages 3-12
Singularity Analysis through Static Analysis....Pages 13-20
Constraint Singularities and the Structural Parameters of Parallel Robots....Pages 21-28
Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator....Pages 29-38
Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility....Pages 39-48
SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra....Pages 49-58
Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra....Pages 59-68
On the Design of Fully Constrained Parallel Cable-Driven Robots....Pages 71-78
Synthesis of Part Orienting Devices for Spatial Assembly Tasks....Pages 79-87
Minimum Energy Manipulator Design....Pages 89-99
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator....Pages 101-110
A Nonholonomic 3-DOF Parallel Robot....Pages 111-118
4-DOF Parallel Architecture for Laparoscopic Surgery....Pages 119-126
Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control....Pages 127-134
Extended Jacobian Inverse Kinematics and Approximation of Distributions....Pages 138-146
A Screw Syzygy with Applications to Robot Singularity Computation....Pages 147-154
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators....Pages 155-164
Robots Based on Assur Group A (3.5)....Pages 165-175
Kinematics of Free-Floating Systems through Optimal Control Theory....Pages 177-184
Genericity Conditions for Serial Manipulators....Pages 185-192
Alternative Forms for Displacement Screws and Their Pitches....Pages 193-202
Time-Invariant Strategies in Coordination of Human Reaching....Pages 205-214
Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms....Pages 215-224
Optimization of a Test Trajectory for SCARA Systems....Pages 225-234
Singularity Free Path Planning for Parallel Robots....Pages 235-242
A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators....Pages 243-252
Trajectory Planning of Parallel Manipulators for Global Performance Optimization....Pages 253-261
Human Motion Reconstruction by Direct Control of Marker Trajectories....Pages 263-272
New Self-Motions of Parallel Manipulators....Pages 275-282
Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions....Pages 283-290
A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator....Pages 291-299
Transitions between Multiple Solutions of the Direct Kinematic Problem....Pages 301-310
Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation....Pages 311-320
Results on Planar Parallel Manipulators with Cylindrical Singularity Surface....Pages 321-330
Stiffness Matrix of Compliant Parallel Mechanisms....Pages 331-341
A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors....Pages 345-352
Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field....Pages 353-360
A Novel Point of View to Define the Distance between Two Rigid-Body Poses....Pages 361-369
Parallel Robot Calibration by Working Mode Change....Pages 371-380
Augmented Model of the 3-PRS Manipulator for Kinematic Calibration....Pages 381-390
The Calibration of a Parallel Manipulator with Binary Actuation....Pages 391-398
Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius....Pages 399-407
A Geometrical Characterization of Workspace Singularities in 3R Manipulators....Pages 411-418
Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs....Pages 419-427
Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points....Pages 429-438
On the Delassus Parallelogram....Pages 439-449
Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications....Pages 451-458
Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery....Pages 459-468
Back Matter....Pages 469-472