Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics

Front Matter ....Pages i-xiii
 Busker Robot: A Robotic Painting System for Rendering Images into Watercolour Artworks  (Lorenzo Scalera, Stefano Seriani, Alessandro Gasparetto, Paolo Gallina)....Pages 1-8
 A Simple and General Closed-Form Method for Direct Kinematics of Mechanism Based on SOC Modeling  (Huiping Shen, Ke Xu, Guanglei Wu, Ting-li Yang)....Pages 9-16
 Development of LARMbot 2, A Novel Humanoid Robot with Parallel Architectures  (Matteo Russo, Daniele Cafolla, Marco Ceccarelli)....Pages 17-24
 A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms  (A. Cammarata, R. Sinatra, P. D. Maddio)....Pages 25-32
 A Variable Stiffness Robotic Arm Using Linearly Actuated Compliant Parallel Guided Mechanism  (R. Hu, V. Venkiteswaran, H.-J. Su)....Pages 33-40
 Development of a Sensing System for Zero Gravity Simulation Using a Robot Manipulator to Test Antenna Reflector Unfolding in Satellites  (S. D’Attanasio, J. Charron)....Pages 41-48
 Underactuated Finger Behavior Correlation Between Vision System Based Experimental Tests and Multibody Simulations  (Chiara Cosenza, Vincenzo Niola, Sergio Savino)....Pages 49-56
 Unified Pose Parametrization for 1T2R Parallel Manipulators  (Yuanqing Wu, Marco Carricato)....Pages 57-68
 Synthesis of Cartesian Manipulator of a Class RoboMech  (Zh. Baigunchekov, S. Ibrayev, M. Izmambetov, T. Baigunchekov, B. Naurushev, A. Mustafa)....Pages 69-76
 A Modular Cable-Driven Surgical Robot with a Safe Joint Design  (Carl A. Nelson)....Pages 77-84
 A Novel Kinematic Model of Spatial Five-Bar Linkage PPSPS for Testing Accuracy of Two-Axis Moving Table with Ball-Bar  (Xiaopeng Li, Zhi Wang, Huimin Dong, Shudong Yu, Delun Wang)....Pages 85-92
 Dynamic Modeling of Flexural Beams with Combined Loads in Compliant Mechanisms  (Y. Yu, Q. Xu)....Pages 93-100
 Kinematic Analysis of a 3-RRR Spherical Parallel Mechanism with Configurable Base  (T. Essomba, M. A. Laribi, Y. Hsu, S. Zeghloul)....Pages 101-109
 Workspace and Cuspidality Analysis of a 2-X Planar Manipulator  (Matthieu Furet, Philippe Wenger)....Pages 110-117
 A Gripper Mechanism to Automate Overload Process for Fuel Elements  (S. Kaimov, Ab. T. Kaimov, A. T. Kaimov, M. Ceccarelli, T. Kaiym, G. Kaimova et al.)....Pages 118-128
 Preloaded Structures for Space Exploration Vehicles  (S. Seriani, L. Scalera, A. Gasparetto, P. Gallina)....Pages 129-137
 A Tooth Profile Design Method for Harmonic Drive Without Tip Interference  (H. Dong, J. Zhang, D. Wang)....Pages 138-146
 Design of V2SOM: The Safety Mechanism for Cobot’s Rotary Joints  (Y. Ayoubi, M. A. Laribi, S. Zeghloul, M. Arsicault)....Pages 147-157
 Redesign and Construction of a Low-Cost CaPaMan Prototype  (O. Arslan, S. B. Karaahmet, Ö. Selvi, D. Cafolla, M. Ceccarelli)....Pages 158-165
 A Novel SMA Driven Compliant Rotary Actuator Based on Double Helical Structure  (Rasheed Kittinanthapanya, Yusuke Sugahara, Daisuke Matsuura, Yukio Takeda)....Pages 166-173
 Real Time Redundancy-Based Approach to Robot-Patient Safe Enhancement: Application to Doppler Sonography  (C. Préault, M. A. Laribi, M. Arsicault, S. Zeghloul)....Pages 174-183
 Geometric Loci for the Kinematic Analysis of Planar Mechanisms via the Instantaneous Geometric Invariants  (G. Figliolini, C. Lanni)....Pages 184-192
 Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms  (Divya Shah, Giorgio Metta, Alberto Parmiggiani)....Pages 193-201
 A Proposed Software Framework for Studying the Grasp Stability of Underactuated Fingers  (Giovanni Antonio Zappatore, Giulio Reina, Arcangelo Messina)....Pages 202-210
 Workspace Analysis and Dimensional Synthesis of the PRRS-RRC Shoenflies-Motion Generator  (H. Simas, R. Di Gregorio)....Pages 211-218
 Homogenization of the Jacobian Matrix of Manipulators by Using Inertial Parameters  (J. A. Pamanes, H. A. Moreno)....Pages 219-226
 Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot  (Raymundo Ramos Alvarado, Eduardo Castillo Castañeda)....Pages 227-234
 A Look-Ahead Trajectory Planning Algorithm for Spray Painting Robots with Non-spherical Wrists  (Giulio Trigatti, Paolo Boscariol, Lorenzo Scalera, Daniele Pillan, Alessandro Gasparetto)....Pages 235-242
 Performance Evaluation of an LQG Controller of a Robotic Link with Fractional Dampers Based on Their Integer–Order Approximation  (Daniele Casagrande, Wiesław Krajewski, Stefano Miani, Umberto Viaro)....Pages 243-250
 Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle  (Walter Franco, Daniela Maffiodo, Carlo De Benedictis, Carlo Ferraresi)....Pages 251-259
 Preliminary Investigation of Static and Dynamic Properties of SLM Lattice Structures for Robotic Applications  (M. Sortino, G. Totis, F. Scalzo, E. Vaglio)....Pages 260-267
 Energy Saving in Redundant Robotic Cells: Optimal Trajectory Planning  (Paolo Boscariol, Dario Richiedei)....Pages 268-275
 A Novel Approach for Antiresonance Assignment in Undamped Vibrating Systems  (R. Belotti, D. Richiedei, I. Tamellin)....Pages 276-283
 Chopstick-type Gripper Mechanism for Meal-Assistance Robot Capable of Adapting to Size and Elasticity of Foods  (T. Oka, D. Matsuura, Y. Sugahara, J. Solis, A. L. Lindborg, Y. Takeda)....Pages 284-292
 A Novel Collision Avoidance Method for Serial Robots  (Matteo Bottin, Giovanni Boschetti, Giulio Rosati)....Pages 293-301
 Functional Design of a Biomimetic Flapper  (D. Costa, G. Palmieri, D. Scaradozzi, M. Callegari)....Pages 302-309
 Design Process of a New Lighting Robotic Arm for Operating Room  (Juan Sandoval, Laurence Nouaille, Gérard Poisson, Yves Parmantier, Benoit Magnain)....Pages 310-317
 Hun Yi - A Spherical Pointing and Measuring Instrument Invented in Ancient China  (Yingwei Guo, Zhijiang Xie, Shaoping Bai)....Pages 318-326
 Dynamic Study of an Adaptive Intelligent Cervical Brace Model Under Actuation  (E.-Ch. Lovasz, C. M. Gruescu, A. M. Vutan, D. T. Margineanu)....Pages 327-334
 Towards a Safe Physical Human-Robot Interaction for Tele-Operated System: Application to Doppler Sonography  (Juan Sandoval, Med Amine Laribi, Said Zeghloul, Marc Arsicault)....Pages 335-343
 Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes  (Taher Deemyad, Neda Hassanzadeh, Alba Perez-Gracia)....Pages 344-352
 Design and Dynamic Modeling of a Novel Single-Wheel Pendulum Robot  (Mario E. Herrera-Cordero, Manuel Arias-Montiel, Esther Lugo-González)....Pages 353-360
 Intuitive Hand Guidance of a Force-Controlled Sensitive Mobile Manipulator  (Matthias Weyrer, Mathias Brandstötter, Damir Mirkovic)....Pages 361-368
 Social Humanoid Robot SARA: Development and Realization of the Shrug Mechanism  (M. Penčić, M. Čavić, B. Borovac, Z. Lu)....Pages 369-377
 Development of Hand Exoskeleton Prototype for Assisted Rehabilitation  (B. A. De la Cruz-Sánchez, M. Arias-Montiel, E. Lugo-González)....Pages 378-385
 Application of a Parametric Modal Analysis Approach to Flexible-Multibody Systems  (Ilaria Palomba, Renato Vidoni, Erich Wehrle)....Pages 386-394
 In-Operation Structural Modification of Planetary Gear Sets Using Design Optimization Methods  (Erich Wehrle, Ilaria Palomba, Renato Vidoni)....Pages 395-405
 A Robot for Welding Inspection in Offshore Mooring Chains  (A. Hernandez, O. Altuzarra, V. Petuya, Ch. Pinto, E. Amezua)....Pages 406-412
 Agri_q: Agriculture UGV for Monitoring and Drone Landing  (G. Quaglia, P. Cavallone, C. Visconte)....Pages 413-423
 A Fail-Safe Operation Strategy for LAWEX (LARM Wire Driven EXercising Device)  (G. Boschetti, G. Carbone, C. Passarini)....Pages 424-431
 Underactuated Elements Design Criterion for Envelop Gripper Mechanism  (Shuangji Yao, Marco Ceccarelli, Zhen Lu)....Pages 432-442
 AXO-SUIT - A Modular Full-Body Exoskeleton for Physical Assistance  (Simon Christensen, Shaoping Bai, Sajid Rafique, Magnus Isaksson, Leonard O’Sullivan, Valerie Power et al.)....Pages 443-450
 Correction to: Unified Pose Parametrization for 1T2R Parallel Manipulators  (Yuanqing Wu, Marco Carricato)....Pages E1-E1
Back Matter ....Pages 451-453