Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics (Mechanisms and Machine Science Book 33)

This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics. Front Matter....Pages i-xi Front Matter....Pages 1-1 Finger Mechanisms for Robotic Hands....Pages 3-13 Dimensional Synthesis of One-Jointed Multi-fingered Hands....Pages 15-26 A Modular Shape-Adaptive Mechanism for Robust Robotic Grasping....Pages 27-34 Mass Equivalent Dyads....Pages 35-45 A Light Weight Arm Designed with Modular Joints....Pages 47-54 Dynamic Balancing Conditions of Planar Parallel Manipulators....Pages 55-64 Design and Characterization of a New 5-DOF Arc Welding Robot....Pages 65-75 Optimization of Grinding Parameters for Twist Drill in Biglide Parallel Machine....Pages 77-85 Kinematics and Singularity Analysis of a 3-RRR Planar Hybrid Mechanism....Pages 87-97 A Method to Estimate the Encoder Dependent Repeatability of General Serial Manipulators....Pages 99-110 Front Matter....Pages 111-111 Designing and Implementing an Interactive Social Robot from Off-the-Shelf Components....Pages 113-121 Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis....Pages 123-132 Dynamic Modeling and Torque Distribution of a Climbing Hexapod Robot....Pages 133-144 Development and Simulation of an Automated Twistlock Handling Robot System....Pages 145-153 Grinding Methodology Research for Helical Drill Based on the Biglide Parallel Grinder....Pages 155-162 Front Matter....Pages 163-163 Towards Safe Robotic Surgical Systems....Pages 165-175 A Comprehensive Analytical Model and Experimental Validation of Z-shaped Electrothermal Microactuators....Pages 177-187 Optimising Configurations of KUKA LWR4+ Manipulator for Calibration with Optical CMM....Pages 189-199 Key Parameters Optimization of a Novel Tubular Double Excitation Windings Linear Switched Reluctance Motor....Pages 201-206 Optimizing Tracking Performance of XY Repositioning System with ILC....Pages 207-217 Front Matter....Pages 219-219 Shift Strategy for Railway Vehicle Transmissions....Pages 221-229 Research and Analysis on Transmission Error of RV Reducer Used in Robot....Pages 231-238 Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot....Pages 239-247 Atlas Motion Platform Full-Scale Prototype Design....Pages 249-259 Simulation of Kinematic Pairs in the Calculation Mechanisms by Finite Element Method....Pages 261-271 Front Matter....Pages 273-273 Compliance Control and Design for Intelligent Lunar Robot....Pages 275-283 Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot....Pages 285-295 Dynamic Characteristics of Two Cylinders’ Joint Surfaces Based on Fractal Theory....Pages 297-306 Modular System with Varying Contact Elements for a Reconfigurable Parallel Robot....Pages 307-315 Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints....Pages 317-324 Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm....Pages 325-336 A Design Method of Thin-Walled and Four-Point Contact Ball Bearings of Industrial Robots....Pages 337-346 On the Elastostatics of Spherical Parallel Machines with Curved Links....Pages 347-356 Accuracy Analysis of a Tripod Parallel Grinder....Pages 357-364 General Purpose Software to Solve the Inverse Dynamics and Compute the Internal Efforts of Non-redundant Planar Mechanisms....Pages 365-375 Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method....Pages 377-386 Comparative Study on the Kinematic and Static Performance of Two 1T2R Parallel Manipulators....Pages 387-396 Front Matter....Pages 397-397 Forward Kinematic Model of a New Spherical Parallel Manipulator Used as a Master Device....Pages 399-406 Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions....Pages 407-416 Operation Modes and Self-motions of a 2-RUU Parallel Manipulator....Pages 417-426 Front Matter....Pages 397-397 Singularity Analysis of 2R1P Spherical Parallel Mechanisms....Pages 427-434 Kinematics Analysis of 5-Rod Car Suspension Mechanism with Singularities....Pages 435-443