Interdisciplinary Applications of Kinematics: Proceedings of the International Conference, Lima, Peru, September 9-11, 2013 (Mechanisms and Machine Science Book 26)

This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. 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-x Operation Modes in Lower-Mobility Parallel Manipulators....Pages 1-9 Geometric Contributions to the Analysis of 2-2 Wire Driven Cranes....Pages 11-19 Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes....Pages 21-29 Two Gradient-Based Control Laws on $$\textit{SE}(3)$$ Derived from Distance Functions....Pages 31-41 Invariant Properties of the Denavit–Hartenberg Parameters....Pages 43-51 Novel Quasi-Passive Knee Orthosis with Hybrid Joint Mechanism....Pages 53-61 Four-Position Synthesis of Origami-Evolved, Spherically Constrained Planar RR Chains....Pages 63-71 Free Vibration of Mistuned Aircraft Engine Bladed Discs....Pages 73-80 On the Study of the Kinematic Position Errors Due to Manufacturing and Assembly Tolerances....Pages 81-90 Kinematic Design Problems for Low-Cost Easy-Operation Humanoid Robots....Pages 91-99 Numerical Design Solutions for Telescopic Manipulators....Pages 101-108 A Sequentially-Defined Kinetostatic Model of the Knee with Anatomical Surfaces....Pages 109-117 Designing and Implementing an Autonomous Navigation System Based on Extended Kalman Filter in a CoroBot Mobile....Pages 119-126 Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery....Pages 127-135 Characteristics of a Walking Simulator with Parallel Manipulators....Pages 137-145 Prototype Upper Limb Prosthetic Controlled by Myoelectric Signals Using a Digital Signal Processor Platform....Pages 147-159 A 3D Foot-Ground Model Using Disk Contacts....Pages 161-169 Fitting Useful Planar Four-Bar and Six-Bar Linkages to Over-Specified Tasks....Pages 171-178 On the Requirements of Interpolating Polynomials for Path Motion Constraints....Pages 179-197 Back Matter....Pages 199-200 This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. 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