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Preface; Contents; 1 On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators; 1 Introduction; 2 Wrench Recovery for Negative Wire Tension; 2.1 Conditions for Non-negative Wire Tension; 2.2 Methodology for Adjusting Negative Wire Tension; 2.3 Minimum 2-Norm with Negative Wire Tension; 3 Case Study; 4 Conclusion; References; 2 Further Analysis of the 2-2 Wire-Driven Parallel Crane; 1 Introduction; 2 Trajectory, Equilibrium Condition and Inverse Kinematics; 3 Direct Kinematics; 4 Statics in the Joint Space; 5 Singularities; 6 Conclusion; References. 3 Some Rational Vehicle Motions1 Introduction; 2 The 4×4 Cayley Map; 3 Rational Bicycle Motions; 4 Rational Frenet-Serret Motions; 5 Rational Aeroplane Motions; 6 Conclusion; References; 4 Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms; 1 Introduction; 2 The Topological Representation of Metamorphic Chains; 2.1 Joint--Axis Matrix; 2.2 Augmented Adjacent Matrix with Axis-Orientation-Relationship of Kinematic Chains; 3 Motion Space Change Metamorphic Reconfiguration and Matrix Operation. 3.1 Joints Replacing Operation to form the Passive Mobility of the Mechanism3.2 Motion Space Change Reconfiguration Operation; 4 Motion Space Change Reconfiguration Approaches; 5 Conclusions; References; 5 Classification of Singularities in Kinematics of Mechanisms; 1 Introduction; 2 Preliminary Definitions; 3 Examples; 4 Local Analysis of Examples; 5 Conclusion; References; 6 Non-existence of Planar Projective Stewart Gough Platforms with Elliptic Self-Motions; 1 Introduction; 2 Self-Motions of Planar Projective SG Platforms; 2.1 Results on Elliptic Self-Motions; 3 Related Historical Work. 4 Proof of Conjecture 2.14.1 Definition of a Special Planar Projective SG Platform; 4.2 Planar Intersection of Φ1; 4.3 Concluding the Proof; 5 Conclusion; References; 7 Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables; 1 Introduction; 2 Geometrico-Static Model; 3 Problem-Solving Algorithm; 3.1 The Elimination Approach; 3.2 Numerical Computation of the Solution Set; 3.3 Maximum Number of Real-Valued Solutions; 4 Equilibrium Configurations with Unloaded Cables; 5 Conclusions; References. 8 Uniform and Efficient Exploration of State Space Using Kinodynamic Sampling-Based Planners1 Introduction; 2 Related Work; 3 Approach; 4 Experiments; 5 Conclusion; References; 9 Shape Modeling of Continuous-Curvature Continuum Robots; 1 Introduction; 2 Model of a Single Spatial Tube; 2.1 Geometry of a Spatial Curve; 2.2 Equilibrium Equations; 3 Shape Modeling of Assembled Tubes; 4 Simulations; 5 Conclusions; References; 10 Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space; 1 Introduction. 2 Case Study: 3-SxxxxS-S Parallel Manipulator. On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators, by L. NotashFurther Analysis of the 2-2Wire-driven Parallel Crane, by J-P. Merlet -- Some Rational Vehicle Motions, by J. M. Selig -- Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms, by S. Li, H. Wang, J. Dai, X. Li, Z. Ren and S. Xiu -- Classification of Singularities in Kinematics of Mechanisms, by S. Piipponen, T. Arponen and J. Tuomela -- Non-existence of Planar Projective Stewart Gough Platforms with Elliptic Self-motions (Dedicated to Prof. H. Stachel on the occasion of his 70th birthday), by G. Nawratil -- Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with 5 Cables, by C. Abbasnejad and M. Carricato -- Uniform and Efficient Exploration of State Space using Kinodynamic Sampling-based Planners, by R. Motwani, M. Motwani and F. C. Harris Jr. -- Shape Modeling of Continuous-Curvature Continuum Robots, by S. Bai -- Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space, by M. Urízar, V. Petuya, M. Diez and A. Hernández -- Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks, by A. Müller and M. Ruggiu -- Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic, by V. Schmidt, B. Müller and A. Pott -- Three Types of Parallel 6R Linkages, by Z. Li and J. Schicho -- Positioning two Redundant Arms for Cooperative Manipulation of Objects -- A. Colomé and C. Torras -- A Sufficient Condition for Parameter Identifiability in Robotic Calibration, by T. Gayral and D. Daney -- An improved Force Distribution Algorithm for Over-constrained Cable-driven Parallel Robots, by A. Pott -- An Open-Source Toolbox for Motion Analysis of Closed-chain Mechanisms, by L. Ros, J. M. Porta, O. Bohigas, M. Manibens, C. Rosales and L. Jaillet -- Spherical Parallel Mechanism with Variable Target Point, by T. Ikeda, Y. Takeda and D. Matsuura -- A Blend of Delassus Four-bar Linkages, by C.-C. Lee and J. M. Hervé -- On the Symmetric Molecular Conjectures, by J. M. Porta, L. Ros, B. Schulze, A. Sljoka and W. Whiteley -- Stiffness Modeling of Robotic Manipulator with Gravity Compensator, by A. Klimchik, S. Caro, Y. Wu, D. Chablat, B. Furet and A. Pashkevich -- Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical Linkages, by O. Shai and A. Müller -- Determination of the Safe Working Zone of a Parallel Manipulator, by R. A. Srivatsan and S. Bandyopadhyay -- Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming, by J. A. Sandretto, G. Trombettoni, D. Daney and G. Chabert -- Framework Comparison Between a Multifingered Hand and a Parallel Manipulator, by J. Borràs and A. M. Dollar -- A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint, by D. Wang, Z. Wang, H. Dong and S. Yu -- Obtaining the Maximal Singularity-free Workspace of 6-UPS Parallel Mechanisms via Convex Optimization, by A. Karimi, M. T. Masouleh and P. Cardou -- Type Synthesis of Two DOF Hybrid Translational Manipulators, by L. Nurahmi, S. Caro and S. Briot -- Robust Dynamic Control of an Arm of a Humanoid using Super Twisting Algorithm and Conformal Geometric Algebra, by O. Carbajal-Espinosa, L. González-Jiménez, A. Loukianov and E. Bayro-Corrochano -- Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute Joints, by C. S. Borcea and I. Streinu -- Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task, by A. Chaker, A. Mlika, M. A. Laribi, L. Romdhane and S. Zeghloul -- Self Dual Topology of Parallel Mechanisms with Configurable Platforms, by P. Lambert and J. L. Herder -- Four-Dimensional Persistent Screw Systems of the General Type, by M. Carricato -- Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach, by M. H. F. Kaloorazi, M. T. Masouleh, S. Caro and B. M. Gholamali -- Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms, by A. G. L. Hoevenaars, P. Lambert and J. L. Herder -- Single Exponential Motion and its Kinematic Generators, by G. Liu, Y. Wu and X. Chen -- Foundations for the Approximate Synthesis of RCCC Motion Generators, by J. Angeles -- The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes, by M. Husty, J. Schadlbauer, S. Caro and P. Wenger -- Exact Workspace Synthesis for RCCR Linkages, by B. Batbold, Y. Yihun, J. S. Wolper and A. Perez-Gracia -- A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance, by C. Huang, W. C. Huang and G. Kiper -- A Cartesian Cable-Suspended Robot for Aiding Mobility, by G. Castelli and E. Ottaviano -- Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures, by F. P. Rad, G. Berselli, R. Vertechy and V. Parenti Castelli -- Kinematic Analysis of Slider-Cranks Derived from the l -Mechanism, by E. Ottaviano, P. Rea and M. Conte -- Improved Muscle Wrapping Algorithms Using Explicit Path-Error Jacobians, by A. Scholz, I. Stavness, M. Sherman, S. Delp and A. Kecskeméthy -- Author Index -- Subject Index. |
