Advances in Robot Kinematics 2016

1. Front Matter

   Pages i-xii

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2. Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms

   • Volkert van der Wijk

   Pages 1-10

3. Compliant Serial 3R Chain with Spherical Flexures

   • Farid Parvari Rad, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti-Castelli

   Pages 11-21

4. Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots

   • Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud

   Pages 23-31

5. A Screw-Based Dynamic Balancing Approach, Applied to a 5-Bar Mechanism

   • Jan de Jong, Johannes van Dijk, Just Herder

   Pages 33-41

6. A Novel S-C-U Dual Four-Bar Linkage

   • Pierre Larochelle, Sida Du

   Pages 43-50

7. Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks

   • Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Nicolas Andreff

   Pages 51-59

8. Structural Synthesis of Hands for Grasping and Manipulation Tasks

   • Ali Tamimi, Alba Perez-Gracia, Martin Pucheta

   Pages 61-70

9. Generalized Construction of Bundle-Folding Linkages

   • Shengnan Lu, Dimiter Zlatanov, Matteo Zoppi, Xilun Ding

   Pages 71-79

10. A Complete Analysis of Singularities of a Parallel Medical Robot

    • Josef Schadlbauer, Calin Vaida, Paul Tucan, Doina Pisla, Manfred Husty, Nicolae Plitea

    Pages 81-89

11. Workspace Analysis of a 3-PSP Motion Platform

    • Luc Baron

    Pages 91-100

12. Posture Optimization of a Functionally Redundant Parallel Robot

    • David Corinaldi, Jorge Angeles, Massimo Callegari

    Pages 101-108

13. Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters

    • Joshua K. Pickard, Juan A. Carretero, Jean-Pierre Merlet

    Pages 109-118

14. A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots

    • Jan Brinker, Philipp Ingenlath, Burkhard Corves

    Pages 119-128

15. Hidden Cusps

    • Michel Coste, Philippe Wenger, Damien Chablat

    Pages 129-138

16. Some Mobile Overconstrained Parallel Mechanisms

    • J. M. Selig

    Pages 139-147

17. On the Line-Symmetry of Self-motions of Linear Pentapods

    • Georg Nawratil

    Pages 149-159

18. On Some Notable Singularities of \({3{\text {-}}{} { R\underline{P}}R}\) and \({3{\text {-}}{} { \underline{R}RR}}\) PPRMs

    • Khaled Assad Arrouk, Belhassen Chedli Bouzgarrou, Grigore Gogu

    Pages 161-170

19. Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist

    • Mouna Souissi, Vincent Hugel, Samir Garbaya, John Nassour

    Pages 171-180

20. Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device

    • Margot Vulliez, Said Zeghloul, Oussama Khatib

    Pages 181-189

This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.

• Robotics
• Robot Control
• Mechatronics
• ARK
• Design of humanoid robots
• Human body motion modeling

• Jožef Stefan Institute , Ljubljana-Vic-Rudnik, Slovenia

  Jadran Lenarčič

• INRIA Sophia Antipolis , Sophia Antipolis Cedex, France

  Jean-Pierre Merlet

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