Computational Kinematics, 1st Edition

  • Published By:
  • ISBN-10: 9400772149
  • ISBN-13: 9789400772144
  • DDC: 621.811
  • Grade Level Range: College Freshman - College Senior
  • 409 Pages | eBook
  • Original Copyright 2014 | Published/Released June 2014
  • This publication's content originally published in print form: 2014

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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.

Table of Contents

Front Cover.
Other Frontmatter.
Title Page.
Copyright Page.
1: On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators.
2: Further Analysis of the 2-2 Wire-Driven Parallel Crane.
3: Some Rational Vehicle Motions.
4: Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms.
5: Classification of Singularities in Kinematics of Mechanisms.
6: Non-Existence of Planar Projective Stewart Gough Platforms With Elliptic Self-Motions.
7: Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots With Five Cables.
8: Uniform and Efficient Exploration of State Space Using Kinodynamic Sampling-Based Planners.
9: Shape Modeling of Continuous-Curvature Continuum Robots.
10: Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space.
11: Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks.
12: Solving the Forward Kinematics of Cable-Driven Parallel Robots With Neural Networks and Interval Arithmetic.
13: Three Types of Parallel 6R Linkages.
14: Positioning Two Redundant Arms for Cooperative Manipulation of Objects.
15: A Sufficient Condition for Parameter Identifiability in Robotic Calibration.
16: An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots.
17: An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms.
18: Spherical Parallel Mechanism With Variable Target Point.
19: A Blend of Delassus Four-Bar Linkages.
20: On the Symmetric Molecular Conjectures.
21: Stiffness Modeling of Robotic Manipulator With Gravity Compensator.
22: Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical Linkages.
23: Determination of the Safe Working Zone of a Parallel Manipulator.
24: Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming.
25: Framework Comparison between a Multifingered Hand and a Parallel Manipulator.
26: A Novel Mechanism With Redundant Elastic Constraints for an Actual Revolute Joint.
27: Obtaining the Maximal Singularity-Free Workspace of 6-UPS Parallel Mechanisms via Convex Optimization.
28: Type Synthesis of Two DOF Hybrid Translational Manipulators.
29: Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra.
30: Singularity Locus for the Endpoint Map of Serial Manipulators With Revolute Joints.
31: Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task.
32: Self Dual Topology of Parallel Mechanisms with Configurable Platforms.
33: Four-Dimensional Persistent Screw Systems of the General Type.
34: Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach.
35: Kinematic Design of Two Elementary 3DOF Parallel Manipulators With Configurable Platforms.
36: Single Exponential Motion and Its Kinematic Generators.
37: Foundations for the Approximate Synthesis of RCCC Motion Generators.
38: The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes.
39: Exact Workspace Synthesis for RCCR Linkages.
40: A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance.
41: A Cartesian Cable-Suspended Robot for Aiding Mobility.
42: Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures.
43: Kinematic Analysis of Slider-Cranks Derived from the λ-Mechanism.
44: Improved Muscle Wrapping Algorithms Using Explicit Path-Error Jacobians.
Erratum to: Computational Kinematics.
Author Index.
Subject Index.