Computational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics

Front Matter....Pages -
Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism....Pages 1-8
Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators....Pages 9-16
Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device....Pages 17-24
Closed-form Force Distribution for Parallel Wire Robots....Pages 25-34
Computing the Configuration Space for Motion Planning between Assembly Modes....Pages 35-42
Kinematic analysis of a class of analytic planar 3-R P R parallel manipulators....Pages 43-50
Non-singular assembly mode change in 3-RPR-parallel manipulators....Pages 51-60
Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot....Pages 61-68
Forward displacement analysis of a 3- R PR planar parallel manipulator revisited....Pages 69-76
Sensitivity and Dexterity Comparison of 3- R RR planar parallel manipulators....Pages 77-84
Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3- P UP Legs....Pages 85-92
ON NEW CLASS OF PARALLEL-CROSS MECHANISMS....Pages 93-100
Motion Interpolation with Bennett Biarcs....Pages 101-108
Motion Estimation using a Statistical Solid Dynamic Method....Pages 109-116
Spatial Generalization of the Planar Path Generation Problem....Pages 117-124
Motion Planning of Nonholonomic Systems with Dynamics....Pages 125-132
Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)....Pages 133-140
Fast Distance Computation Using Quadratically Supported Surfaces....Pages 141-148
On the Computation of the Home Posture of the McGill Schönflies-Motion Generator....Pages 149-158
Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems....Pages 159-166
Explicit Algebraic Solution of Geometrically Simple Serial Manipulators....Pages 167-174
3R Wrist Positioning - a Classical Problem and its Geometric Background....Pages 175-182
A Geometric Newton-Raphson Method for Gough-Stewart Platforms....Pages 183-190
Aspects of Clifford Algebra for Screw Theory....Pages 191-200
Uncoupled 6-dof Tripods via Group Theory....Pages 201-208
A new approach towards the synthesis of six-bar double dwell mechanisms....Pages 209-216
Application of higher order derivatives in the synthesis of crank and cam mechanisms....Pages 217-224
Interactive design of a robotic gripper system with the geometry program “GECKO”....Pages 225-232
The Axis Constraint Equation and a General 6 R Double-Spherical Overconstrained Mechanism....Pages 233-240
Two methods for force balancing of Bennett linkages....Pages 241-248
Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennett Loops....Pages 249-256
Kinematic analysis of an adjustable slider-crank mechanism....Pages 257-264
Improving marker based inverse kinematics solutions for under-determined spinal models....Pages 265-272
Kinematical Analysis and Design of a New Surgical Parallel Robot....Pages 273-282
Design Improvements on a Carotid Blood Flow Measurement System....Pages 283-290
Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation....Pages 291-298
A New Procedure for the Optimization of a Dielectric Elastomer Actuator....Pages 299-306
Light–Weight High Dynamic Camera Orientation System....Pages 307-314
Dynamic Balancing of Clavel’s Delta Robot....Pages 315-322
Kinematical Solution by Structural Approximation....Pages 323-330
Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator....Pages 331-340
Branching singularities in kinematotropic parallel mechanisms....Pages 341-348
A new approach to the classification of architecturally singular parallel manipulators....Pages 349-358
Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments....Pages 359-366
A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency....Pages 367-374
The Computational Fundamentals of Spatial Cycloidal Gearing....Pages 375-384
Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing....Pages 385-392
Back Matter....Pages -