Advances in Robot Kinematics: Analysis and Design

✍ Scribed by Jadran Lenarcic

• Year: 2008
• Tongue: English
• Leaves: 465
• Edition: 1
• Category: Library

✦ Synopsis

This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The book includes about 50 reviewed (by two independent reviewers) papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.

✦ Table of Contents

Table of Contents......Page 5
Preface......Page 10
SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS......Page 11
A New Assessment of Singularities of Parallel Kinematic Chains......Page 12
Singularity Analysis through Static Analysis......Page 22
Constraint Singularities and the Structural Parameters of Parallel Robots......Page 30
Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator......Page 38
Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility......Page 48
SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra......Page 58
Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra......Page 68
DESIGN OF ROBOTS AND MECHANISMS......Page 78
On the Design of Fully Constrained Parallel Cable-Driven Robots......Page 79
Synthesis of Part Orienting Devices for Spatial Assembly Tasks......Page 87
Minimum Energy Manipulator Design......Page 96
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator......Page 107
A Nonholonomic 3-DOF Parallel Robot......Page 117
4DOF Parallel Architecture for Laparoscopic Surgery......Page 125
Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control......Page 133
Extended Jacobian Inverse Kinematics and Approximation of Distributions......Page 142
A Screw Syzygy with Applications to Robot Singularity Computation......Page 152
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators......Page 160
Robots Based on Assur Group A (3.5)......Page 170
Kinematics of Free-Floating Systems through Optimal Control Theory......Page 181
Genericity Conditions for Serial Manipulators......Page 189
Alternative Forms for Displacement Screws and Their Pitches......Page 197
MOTION PLANNING AND MOBILITY......Page 207
Time-Invariant Strategies in Coordination of Human Reaching......Page 208
Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms......Page 218
Optimization of a Test Trajectory for SCARA Systems......Page 228
Singularity Free Path Planning for Parallel Robots......Page 238
A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators......Page 246
Trajectory Planning of Parallel Manipulators for Global Performance Optimization......Page 256
Human Motion Reconstruction by Direct Control of Marker Trajectories......Page 265
PERFORMANCE AND PROPERTIES OF MECHANISMS......Page 275
New Self-Motions of Parallel Manipulators......Page 276
Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions......Page 284
A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator......Page 292
Transitions between Multiple Solutions of the Direct Kinematic Problem......Page 301
Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation......Page 311
Results on Planar Parallel Manipulators with Cylindrical Singularity Surface......Page 321
Stiffness Matrix of Compliant Parallel Mechanisms......Page 331
MEASURE AND CALIBRATION......Page 342
A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors......Page 343
Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field......Page 351
A Novel Point of View to Define the Distance between Two Rigid-Body Poses......Page 359
Parallel Robot Calibration by Working Mode Change......Page 368
Augmented Model of the 3-PRS Manipulator for Kinematic Calibration......Page 378
The Calibration of a Parallel Manipulator with Binary Actuation......Page 388
Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius......Page 396
KINEMATIC ANALYSIS AND WORKSPACE......Page 405
A Geometrical Characterization of Workspace Singularities in 3R Manipulators......Page 406
Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs......Page 414
Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points......Page 423
On the Delassus Parallelogram......Page 433
Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications......Page 444
Kinematic Modeling and Workspace Generation for a New Paralell Robot Used in Minimally Invasive Surgery......Page 452
P......Page 462
Z......Page 463
M......Page 464
W......Page 465