Ebook: Computational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics
- Tags: Vibration Dynamical Systems Control, Structural Mechanics
- Year: 2009
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
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.
Indexed in Conference Proceedings Citation Index- Science (CPCI-S)
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.
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.
Content:
Front Matter....Pages -
Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism....Pages 1-8
Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators....Pages 9-16
Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device....Pages 17-24
Closed-form Force Distribution for Parallel Wire Robots....Pages 25-34
Computing the Configuration Space for Motion Planning between Assembly Modes....Pages 35-42
Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators....Pages 43-50
Non-singular assembly mode change in 3-RPR-parallel manipulators....Pages 51-60
Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot....Pages 61-68
Forward displacement analysis of a 3-RPR planar parallel manipulator revisited....Pages 69-76
Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators....Pages 77-84
Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs....Pages 85-92
ON NEW CLASS OF PARALLEL-CROSS MECHANISMS....Pages 93-100
Motion Interpolation with Bennett Biarcs....Pages 101-108
Motion Estimation using a Statistical Solid Dynamic Method....Pages 109-116
Spatial Generalization of the Planar Path Generation Problem....Pages 117-124
Motion Planning of Nonholonomic Systems with Dynamics....Pages 125-132
Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)....Pages 133-140
Fast Distance Computation Using Quadratically Supported Surfaces....Pages 141-148
On the Computation of the Home Posture of the McGill Sch?nflies-Motion Generator....Pages 149-158
Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems....Pages 159-166
Explicit Algebraic Solution of Geometrically Simple Serial Manipulators....Pages 167-174
3R Wrist Positioning - a Classical Problem and its Geometric Background....Pages 175-182
A Geometric Newton-Raphson Method for Gough-Stewart Platforms....Pages 183-190
Aspects of Clifford Algebra for Screw Theory....Pages 191-200
Uncoupled 6-dof Tripods via Group Theory....Pages 201-208
A new approach towards the synthesis of six-bar double dwell mechanisms....Pages 209-216
Application of higher order derivatives in the synthesis of crank and cam mechanisms....Pages 217-224
Interactive design of a robotic gripper system with the geometry program “GECKO”....Pages 225-232
The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism....Pages 233-240
Two methods for force balancing of Bennett linkages....Pages 241-248
Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennett Loops....Pages 249-256
Kinematic analysis of an adjustable slider-crank mechanism....Pages 257-264
Improving marker based inverse kinematics solutions for under-determined spinal models....Pages 265-272
Kinematical Analysis and Design of a New Surgical Parallel Robot....Pages 273-282
Design Improvements on a Carotid Blood Flow Measurement System....Pages 283-290
Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation....Pages 291-298
A New Procedure for the Optimization of a Dielectric Elastomer Actuator....Pages 299-306
Light–Weight High Dynamic Camera Orientation System....Pages 307-314
Dynamic Balancing of Clavel’s Delta Robot....Pages 315-322
Kinematical Solution by Structural Approximation....Pages 323-330
Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator....Pages 331-340
Branching singularities in kinematotropic parallel mechanisms....Pages 341-348
A new approach to the classification of architecturally singular parallel manipulators....Pages 349-358
Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments....Pages 359-366
A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency....Pages 367-374
The Computational Fundamentals of Spatial Cycloidal Gearing....Pages 375-384
Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing....Pages 385-392
Back Matter....Pages -
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.
Content:
Front Matter....Pages -
Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism....Pages 1-8
Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators....Pages 9-16
Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device....Pages 17-24
Closed-form Force Distribution for Parallel Wire Robots....Pages 25-34
Computing the Configuration Space for Motion Planning between Assembly Modes....Pages 35-42
Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators....Pages 43-50
Non-singular assembly mode change in 3-RPR-parallel manipulators....Pages 51-60
Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot....Pages 61-68
Forward displacement analysis of a 3-RPR planar parallel manipulator revisited....Pages 69-76
Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators....Pages 77-84
Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs....Pages 85-92
ON NEW CLASS OF PARALLEL-CROSS MECHANISMS....Pages 93-100
Motion Interpolation with Bennett Biarcs....Pages 101-108
Motion Estimation using a Statistical Solid Dynamic Method....Pages 109-116
Spatial Generalization of the Planar Path Generation Problem....Pages 117-124
Motion Planning of Nonholonomic Systems with Dynamics....Pages 125-132
Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)....Pages 133-140
Fast Distance Computation Using Quadratically Supported Surfaces....Pages 141-148
On the Computation of the Home Posture of the McGill Sch?nflies-Motion Generator....Pages 149-158
Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems....Pages 159-166
Explicit Algebraic Solution of Geometrically Simple Serial Manipulators....Pages 167-174
3R Wrist Positioning - a Classical Problem and its Geometric Background....Pages 175-182
A Geometric Newton-Raphson Method for Gough-Stewart Platforms....Pages 183-190
Aspects of Clifford Algebra for Screw Theory....Pages 191-200
Uncoupled 6-dof Tripods via Group Theory....Pages 201-208
A new approach towards the synthesis of six-bar double dwell mechanisms....Pages 209-216
Application of higher order derivatives in the synthesis of crank and cam mechanisms....Pages 217-224
Interactive design of a robotic gripper system with the geometry program “GECKO”....Pages 225-232
The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism....Pages 233-240
Two methods for force balancing of Bennett linkages....Pages 241-248
Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennett Loops....Pages 249-256
Kinematic analysis of an adjustable slider-crank mechanism....Pages 257-264
Improving marker based inverse kinematics solutions for under-determined spinal models....Pages 265-272
Kinematical Analysis and Design of a New Surgical Parallel Robot....Pages 273-282
Design Improvements on a Carotid Blood Flow Measurement System....Pages 283-290
Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation....Pages 291-298
A New Procedure for the Optimization of a Dielectric Elastomer Actuator....Pages 299-306
Light–Weight High Dynamic Camera Orientation System....Pages 307-314
Dynamic Balancing of Clavel’s Delta Robot....Pages 315-322
Kinematical Solution by Structural Approximation....Pages 323-330
Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator....Pages 331-340
Branching singularities in kinematotropic parallel mechanisms....Pages 341-348
A new approach to the classification of architecturally singular parallel manipulators....Pages 349-358
Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments....Pages 359-366
A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency....Pages 367-374
The Computational Fundamentals of Spatial Cycloidal Gearing....Pages 375-384
Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing....Pages 385-392
Back Matter....Pages -
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