Latest Advances in Robot Kinematics

Front Matter....Pages I-XI
The Dual Generalized Inverses and Their Applications in Kinematic Synthesis....Pages 1-10
On the Twist Recovery Methodologies After Failure....Pages 11-18
A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms....Pages 19-26
Self-Motions of Planar Projective Stewart Gough Platforms....Pages 27-34
Asymptotic Singularities of Planar Parallel 3-R P R Manipulators....Pages 35-42
Classification of the Singularity Loci of m-n Fully-Parallel Manipulators....Pages 43-50
Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains....Pages 51-58
Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm....Pages 59-66
Robotic Fish Kinectics Design Based on a Fuzzy Control....Pages 67-74
Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points....Pages 75-82
Trajectory Planning for Systems with Homotopy Class Constraints....Pages 83-90
Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action....Pages 91-98
On the Vertical Darboux Motion....Pages 99-106
Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting....Pages 107-114
Motion Planning for Parallel Robots with Non-holonomic Joints....Pages 115-122
Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs)....Pages 123-130
Type Synthesis of Binary Actuated Parallel Mechanisms....Pages 131-138
Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System....Pages 139-146
Persistent Screw Systems of Dimension Four....Pages 147-156
Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough–Stewart Platforms....Pages 157-164
Dynamic Capabilities of a Parallel Robot Based Routing Machine....Pages 165-172
Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks....Pages 173-180
Inverse Kinematics Solver for Android Faces with Elastic Skin....Pages 181-188
Decomposing Envelopes of Rational Hypersurfaces....Pages 189-196
Influence of Pulley Kinematics on Cable-Driven Parallel Robots....Pages 197-204
Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials....Pages 205-212
Construction of Overconstrained Linkages by Factorization of Rational Motions....Pages 213-220
Bond Theory and Closed 5R Linkages....Pages 221-228
Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry....Pages 229-236
Design and Control of a Redundant Suspended Cable-Driven Parallel Robots....Pages 237-244
Planning Singularity-Free Force-Feasible Paths on the Stewart Platform....Pages 245-252
Orientation Capability of a 3-RPSR Parallel Mechanism for a Movable-Die Drive Mechanism of Pipe Bender....Pages 253-260
Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings....Pages 261-268
Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors....Pages 269-276
Protein Folding Pathways Implementing Dihedral Angle Variable Speed....Pages 277-284
Sufficient Conditions for the Mobility of Overconstrained Mechanisms....Pages 285-292
Some Rigid-Body Constraint Varieties Generated by Linkages....Pages 293-300
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait....Pages 301-308
Inherently Balanced 4R Four-Bar Based Linkages....Pages 309-316
Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms....Pages 317-324
Positional Workspace Boundary for Serial Manipulators with Revolute Joints....Pages 325-332
Kinematics Analysis of a Parallel Surgical Robot....Pages 333-340
Constraint Singularity-Free Design of the IRSBot-2....Pages 341-348
Human Muscle Fatigue Model in Dynamic Motions....Pages 349-356
Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace....Pages 357-364
Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables....Pages 365-372
The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects....Pages 373-380
A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism....Pages 381-388
Velocity Level Kinematic Analysis of Serial n A-Chains....Pages 389-396
Singular Manifold of the General Hexagonal Stewart Platform Manipulator....Pages 397-404
Managing the Redundancy of N −1 Wire-Driven Parallel Robots....Pages 405-412
Dynamics of the Upper Limb with a Detailed Model for the Shoulder....Pages 413-420
Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors....Pages 421-428
Mobile Robot Motion Primitives That Take into Account the Cost of Control....Pages 429-436
Synthesis of Spatial CC Dyads and 4C Mechanisms for Pick & Place Tasks with Guiding Locations....Pages 437-444
On the Role of Passive Structures in the Knee Loaded Motion....Pages 445-452
Back Matter....Pages 453-457