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

• Corporate Author: SpringerLink (Online service)
• Other Authors: Kecskeméthy, Andrés (Editor), Müller, Andreas (Editor)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009.
• Subjects: Engineering.; Structural mechanics.; Vibration.; Dynamical systems.; Dynamics.; Mechanical engineering.; Mechanical Engineering.; Vibration, Dynamical Systems, Control.; Structural Mechanics.

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational...

Table of Contents:

• Cable-Driven Parallel Manipulators
• Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism
• Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators
• Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device
• Closed-form Force Distribution for Parallel Wire Robots
• Parallel Manipulators (1)
• Computing the Configuration Space for Motion Planning between Assembly Modes
• Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators
• Non-singular assembly mode change in 3-RPR-parallel manipulators
• Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot
• Parallel Manipulators (2)
• Forward displacement analysis of a 3-RPR planar parallel manipulator revisited
• Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators
• Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs
• ON NEW CLASS OF PARALLEL-CROSS MECHANISMS
• Motion Planning
• Motion Interpolation with Bennett Biarcs
• Motion Estimation using a Statistical Solid Dynamic Method
• Spatial Generalization of the Planar Path Generation Problem
• Motion Planning of Nonholonomic Systems with Dynamics
• Numerical Methods
• Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)
• Fast Distance Computation Using Quadratically Supported Surfaces
• On the Computation of the Home Posture of the McGill Schönflies-Motion Generator
• Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems
• Geometrical Methods
• Explicit Algebraic Solution of Geometrically Simple Serial Manipulators
• 3R Wrist Positioning - a Classical Problem and its Geometric Background
• A Geometric Newton-Raphson Method for Gough-Stewart Platforms
• Aspects of Clifford Algebra for Screw Theory
• Synthesis (1)
• Uncoupled 6-dof Tripods via Group Theory
• A new approach towards the synthesis of six-bar double dwell mechanisms
• Application of higher order derivatives in the synthesis of crank and cam mechanisms
• Interactive design of a robotic gripper system with the geometry program “GECKO”
• Synthesis (2)
• The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism
• Two methods for force balancing of Bennett linkages
• Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennett Loops
• Kinematic analysis of an adjustable slider-crank mechanism
• Biomechanics
• Improving marker based inverse kinematics solutions for under-determined spinal models
• Kinematical Analysis and Design of a New Surgical Parallel Robot
• Design Improvements on a Carotid Blood Flow Measurement System
• Design Issues
• Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation
• A New Procedure for the Optimization of a Dielectric Elastomer Actuator
• Light–Weight High Dynamic Camera Orientation System
• Dynamic Balancing of Clavel’s Delta Robot
• Kinematical Solution by Structural Approximation
• Singularities
• Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator
• Branching singularities in kinematotropic parallel mechanisms
• A new approach to the classification of architecturally singular parallel manipulators
• Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments
• Gears
• A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency
• The Computational Fundamentals of Spatial Cycloidal Gearing
• Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing.