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 Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism…mehr
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 Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
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 ClassicalProblem 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.- TheComputational Fundamentals of Spatial Cycloidal Gearing.- Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing.
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 ClassicalProblem 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.- TheComputational Fundamentals of Spatial Cycloidal Gearing.- Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing.
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