Computational Kinematics: Proceedings of the 6th International Workshop on Computational Kinematics (CK2013) (Mechanisms and Machine Science Book 15)

"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 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, construction of novel mechanical devices, as well as detection and treatment of singularities. 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." -- Font no determinada Front Matter....Pages i-xi On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators....Pages 1-9 Further Analysis of the 2-2 Wire-Driven Parallel Crane....Pages 11-19 Some Rational Vehicle Motions....Pages 21-29 Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms....Pages 31-39 Classification of Singularities in Kinematics of Mechanisms....Pages 41-48 Non-existence of Planar Projective Stewart Gough Platforms with Elliptic Self-Motions....Pages 49-57 Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables....Pages 59-66 Uniform and Efficient Exploration of State Space Using Kinodynamic Sampling-Based Planners....Pages 67-74 Shape Modeling of Continuous-Curvature Continuum Robots....Pages 75-83 Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space....Pages 85-92 Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks....Pages 93-102 Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic....Pages 103-110 Three Types of Parallel 6R Linkages....Pages 111-119 Positioning Two Redundant Arms for Cooperative Manipulation of Objects....Pages 121-129 A Sufficient Condition for Parameter Identifiability in Robotic Calibration....Pages 131-138 An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots....Pages 139-146 An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms....Pages 147-154 Spherical Parallel Mechanism with Variable Target Point....Pages 155-163 A Blend of Delassus Four-Bar Linkages....Pages 165-173 On the Symmetric Molecular Conjectures....Pages 175-184 Stiffness Modeling of Robotic Manipulator with Gravity Compensator....Pages 185-192 Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical Linkages....Pages 193-200 Determination of the Safe Working Zone of a Parallel Manipulator....Pages 201-208 Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming....Pages 209-217 Framework Comparison Between a Multifingered Hand and a Parallel Manipulator....Pages 219-227 A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint....Pages 229-237 Obtaining the Maximal Singularity-Free Workspace of 6-U P S Parallel Mechanisms via Convex Optimization....Pages 239-247 Type Synthesis of Two DOF Hybrid Translational Manipulators....Pages 249-259 Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra....Pages 261-269 Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute Joints....Pages 271-279 Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task....Pages 281-289 Self Dual Topology of Parallel Mechanisms with Configurable Platforms....Pages 291-298 Four-Dimensional Persistent Screw Systems of the General Type....Pages 299-306 Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach....Pages 307-314 Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms....Pages 315-322 Single Exponential Motion and Its Kinematic Generators....Pages 323-330 Foundations for the Approximate Synthesis of RCCC Motion Generators....Pages 331-338 The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes....Pages 339-348 Exact Workspace Synthesis for RCCR Linkages....Pages 349-357 A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance....Pages 359-367 A Cartesian Cable-Suspended Robot for Aiding Mobility....Pages 369-376 Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures....Pages 377-386 Improved Muscle Wrapping Algorithms Using Explicit Path-Error Jacobians....Pages 387-394 Erratum to: Computational Kinematics....Pages 395-403 Back Matter....Pages E1-E1 ....Pages 405-409 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 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, construction of novel mechanical devices, as well as detection and treatment of singularities. 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