Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017 (Mechanisms and Machine Science Book 50)

This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book 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. Read more... Abstract: This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book 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 Front Matter....Pages i-xiii Front Matter....Pages 1-1 Inherently Balanced Double Bennett Linkage....Pages 3-10 3D Revolute Joint with Clearance in Multibody Systems....Pages 11-18 Kinematics and Bifurcation of a Twofold-Symmetric Eight-Bar Linkage....Pages 19-26 A Novel Kinematic Model of Spatial Four-bar Linkage RSPS for Testing Accuracy of Actual R-Pairs with Ball-bar....Pages 27-34 Model Reduction Methods for Optimal Follow-the-Leader Movements of Binary Actuated, Hyper-redundant Robots....Pages 35-43 Kinematic Design of a Lighting Robotic Arm for Operating Room....Pages 44-52 Elastostatic Modelling of a Wooden Parallel Robot....Pages 53-61 Towards an Autonomous Airborne Robotic Agent....Pages 62-69 Autonomous March Control for Humanoid Robot Animation in a Virtual Reality Environment....Pages 70-78 Control Based on Linear Algebra for Mobile Manipulators....Pages 79-86 Modeling and Kinematic Nonlinear Control of Aerial Mobile Manipulators....Pages 87-95 Path Planning Based on Visual Feedback Between Terrestrial and Aerial Robots Cooperation....Pages 96-105 Front Matter....Pages 107-107 Dynamic Analysis and Control of a Hybrid Serial/Cable Driven Robot for Lower-Limb Rehabilitation....Pages 109-116 Kinematic Analysis of Active Ankle Using Computational Algebraic Geometry....Pages 117-125 Optimization of a Redundant Serial Spherical Mechanism for Robotic Minimally Invasive Surgery....Pages 126-134 Kinematic Analysis for a Prostate Biopsy Parallel Robot Using Study Parameters....Pages 135-142 Optimum Walking of the Bioloid Humanoid Robot on a Rectilinear Path....Pages 143-151 A New Experimental Set-up for Training Multi-parameter Gaits....Pages 152-162 Front Matter....Pages 163-163 Comprehensive Dynamic Study of an Unloaded Walking Within a Cable-Based Gait Trainer....Pages 165-173 A Cable-Driven Robot for Upper Limb Rehabilitation Inspired by the Mirror Therapy....Pages 174-181 Front Matter....Pages 163-163 Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables....Pages 182-189 Efficient Computation of the Workspace Boundary, Its Properties and Derivatives for Cable-Driven Parallel Robots....Pages 190-197 Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots....Pages 198-205 Front Matter....Pages 207-207 Evaluating the Knot Vector to Synthesize the Cam Motion Using NURBS....Pages 209-216 Kinematics of Biplanetary Epicyclic Gears....Pages 217-224 Front Matter....Pages 225-225 Dynamic Synthesis of a Multibody System: A Comparative Study Between Genetic Algorithm and Particle Swarm Optimization Techniques....Pages 227-234 Robust Design Methodology of Topologically Optimized Components Under the Effect of Uncertainties....Pages 235-245 Front Matter....Pages 247-247 Kinematic and Dynamic Modeling and Base Inertial Parameters Determination of the Quadrupteron Parallel Manipulator....Pages 249-256 Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation....Pages 257-264 Parallel Manipulators in Terms of Dual Cayley-Klein Parameters....Pages 265-273 An Approach for Type Synthesis of Overconstrained 1T2R Parallel Mechanisms....Pages 274-281 Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms....Pages 282-290 Study of Redundantly Actuated DELTA-Type Parallel Kinematic Mechanisms....Pages 291-298 3-RRR Spherical Parallel Robot Optimization with Minimum of Singularities....Pages 299-306 4haptic: A Dexterous 4 d.o.fs Haptic Device Based on Delta Architecture....Pages 307-314 Error Modelling and Sensitivity Analysis of a Planar 3-PRP Parallel Manipulator....Pages 315-322 Determination of Workspace Volume of Parallel Manipulators Using Monte Carlo Method....Pages 323-330 Kinematics of a 6-RUU Parallel Robots with Reconfigurable Platforms....Pages 331-339 On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots....Pages 340-348 A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator....Pages 349-356 Front Matter....Pages 247-247 The Collision-Free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach....Pages 357-364 A Novel 3T1R Parallel Manipulator 2PaRSS and Its Kinematics....Pages 365-373 Multi-objective Optimization of a Tripod Parallel Mechanism for a Robotic Leg....Pages 374-382 Robust Optimization of the RAF Parallel Robot for a Prescribed Workspace....Pages 383-393 Robust Multi-objective Design Optimization of the 3-UPU TPM Based on the GA-Krawczyk Method....Pages 394-402 Front Matter....Pages 403-410 Topology Optimization of a Reactionless Four-Bar Linkage....Pages 411-411 Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism....Pages 413-421 Design Optimization and Accuracy Analysis of a Planar 2PRP-PRR Parallel Manipulator....Pages 422-431 The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator....Pages 432-440 Holistic Modular Multilayer Synthesis of Planar Linkages Using Parameterized Mass Properties....Pages 441-448 Front Matter....Pages 449-456 Motion Interpolation in Lie Subgroups and Symmetric Subspaces....Pages 457-464 Intrusion, Proximity and Stationary Distance....Pages 465-465 Constraint Equations of Inverted Kinematic Chains....Pages 467-474 Local and Full-Cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator....Pages 475-482 Application of Intersection Theory to Singularity and Motion Mode Analysis of Mechanisms....Pages 483-490 Rational Parametrization of Linear Pentapod’s Singularity Variety and the Distance to It....Pages 491-498 Inverse Kinematics of Anthropomorphic Arms Yielding Eight Coinciding Circles....Pages 499-507 Front Matter....Pages 508-515 Optimal Synthesis of Overconstrained 6R Linkages by Curve Evolution....Pages 516-524 The Instantaneous Screw Axis of Motions in the Kinematic Image Space....Pages 525-534 A New Insight into the Coupler Curves of the RCCC Four-Bar Linkage....Pages 465-465 A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics....Pages 535-543 Adaptation of the Geometric Model of a 6 dof Serial Robot to the Task Space....Pages 544-551 Differentiation-Free Taylor Approximation of Finite Motion in Closed Loop Kinematics....Pages 552-559 A New Direct Position Analysis Solution for an Over-Constrained Gough-Stewart Platform....Pages 560-568 A Study on Constraints Violation in Dynamic Analysis of Spatial Mechanisms....Pages 569-576 A Generalized and Analytical Method to Solve Inverse Kinematics of Serial and Parallel Mechanisms Using Finite Screw Theory....Pages 577-584 ....Pages 585-592