Advances in Robot Kinematics: Analysis and Design

✍ Scribed by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

• Publisher: Springer Netherlands
• Year: 2008
• Tongue: English
• Leaves: 457
• Edition: 1
• Category: Library

✦ Synopsis

This book presents the most recent research advances in the theory, design, control and application of robot 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 48 independently reviewed papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The papers have been subdivided into the following sections: Singularity analysis of parallel manipulators, Design of robots and mechanisms, Motion planning and mobility, Performance and properties of mechanisms, Measure and calibration, Kinematic analysis and workspace.

Indexed in Conference Proceedings Citation Index- Science (CPCI-S)

✦ Table of Contents

Front Matter....Pages i-xi
A New Assessment of Singularities of Parallel Kinematic Chains....Pages 3-12
Singularity Analysis through Static Analysis....Pages 13-20
Constraint Singularities and the Structural Parameters of Parallel Robots....Pages 21-28
Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator....Pages 29-38
Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility....Pages 39-48
SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra....Pages 49-58
Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra....Pages 59-68
On the Design of Fully Constrained Parallel Cable-Driven Robots....Pages 71-78
Synthesis of Part Orienting Devices for Spatial Assembly Tasks....Pages 79-87
Minimum Energy Manipulator Design....Pages 89-99
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator....Pages 101-110
A Nonholonomic 3-DOF Parallel Robot....Pages 111-118
4-DOF Parallel Architecture for Laparoscopic Surgery....Pages 119-126
Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control....Pages 127-134
Extended Jacobian Inverse Kinematics and Approximation of Distributions....Pages 138-146
A Screw Syzygy with Applications to Robot Singularity Computation....Pages 147-154
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators....Pages 155-164
Robots Based on Assur Group A (3.5)....Pages 165-175
Kinematics of Free-Floating Systems through Optimal Control Theory....Pages 177-184
Genericity Conditions for Serial Manipulators....Pages 185-192
Alternative Forms for Displacement Screws and Their Pitches....Pages 193-202
Time-Invariant Strategies in Coordination of Human Reaching....Pages 205-214
Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms....Pages 215-224
Optimization of a Test Trajectory for SCARA Systems....Pages 225-234
Singularity Free Path Planning for Parallel Robots....Pages 235-242
A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators....Pages 243-252
Trajectory Planning of Parallel Manipulators for Global Performance Optimization....Pages 253-261
Human Motion Reconstruction by Direct Control of Marker Trajectories....Pages 263-272
New Self-Motions of Parallel Manipulators....Pages 275-282
Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions....Pages 283-290
A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator....Pages 291-299
Transitions between Multiple Solutions of the Direct Kinematic Problem....Pages 301-310
Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation....Pages 311-320
Results on Planar Parallel Manipulators with Cylindrical Singularity Surface....Pages 321-330
Stiffness Matrix of Compliant Parallel Mechanisms....Pages 331-341
A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors....Pages 345-352
Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field....Pages 353-360
A Novel Point of View to Define the Distance between Two Rigid-Body Poses....Pages 361-369
Parallel Robot Calibration by Working Mode Change....Pages 371-380
Augmented Model of the 3-PRS Manipulator for Kinematic Calibration....Pages 381-390
The Calibration of a Parallel Manipulator with Binary Actuation....Pages 391-398
Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius....Pages 399-407
A Geometrical Characterization of Workspace Singularities in 3R Manipulators....Pages 411-418
Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs....Pages 419-427
Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points....Pages 429-438
On the Delassus Parallelogram....Pages 439-449
Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications....Pages 451-458
Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery....Pages 459-468
Back Matter....Pages 469-472

✦ Subjects

Control, Robotics, Mechatronics; Theoretical and Applied Mechanics; Engineering Design; Industrial and Production Engineering