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Computational Kinematics

Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)

  • Conference proceedings
  • © 2014

Overview

Editors:
  1. Federico Thomas

    1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

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    You can also search for this editor in PubMed   Google Scholar

  2. Alba Perez Gracia

    1. Mechanical Engineering, Idaho State University, Pocatello, USA

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    You can also search for this editor in PubMed   Google Scholar

  • Latest computational methods used in kinematics
  • Offers solutions for problems in areas such as kinematic design and synthesis, motion analysis and synthesis, mechanism design, kinematical analysis of robots and parallel manipulators, kinematical issues in biomechanics, molecular kinematics, computer animation and interpolation of kinematical motion, etc
  • Sponsored by IFToMM
  • Includes supplementary material: sn.pub/extras

Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 15)

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Table of contents (45 papers)

  1. On the Symmetric Molecular Conjectures

    • Josep M. Porta, Lluis Ros, Bernd Schulze, Adnan Sljoka, Walter Whiteley
    Pages 175-184

  2. Stiffness Modeling of Robotic Manipulator with Gravity Compensator

    • Alexandr Klimchik, Stéphane Caro, Yier Wu, Damien Chablat, Benoit Furet, Anatol Pashkevich
    Pages 185-192

  3. Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical Linkages

    • Offer Shai, Andreas Müller
    Pages 193-200

  4. Determination of the Safe Working Zone of a Parallel Manipulator

    • Rangaprasad Arun Srivatsan, Sandipan Bandyopadhyay
    Pages 201-208

  5. Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming

    • Julien Alexandre dit Sandretto, Gilles Trombettoni, David Daney, Gilles Chabert
    Pages 209-217

  6. Framework Comparison Between a Multifingered Hand and a Parallel Manipulator

    • Júlia Borràs, Aaron M. Dollar
    Pages 219-227

  7. A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint

    • Delun Wang, Zhi Wang, Huimin Dong, Shudong Yu
    Pages 229-237

  8. Obtaining the Maximal Singularity-Free Workspace of 6-UPS Parallel Mechanisms via Convex Optimization

    • Amirhossein Karimi, Mehdi Tale Masouleh, Philippe Cardou
    Pages 239-247

  9. Type Synthesis of Two DOF Hybrid Translational Manipulators

    • Latifah Nurahmi, Stéphane Caro, Sébastien Briot
    Pages 249-259

  10. Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra

    • O. Carbajal-Espinosa, L. González-Jiménez, A. Loukianov, E. Bayro-Corrochano
    Pages 261-269

  11. Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute Joints

    • Ciprian S. Borcea, Ileana Streinu
    Pages 271-279

  12. Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task

    • Abdelbadia Chaker, Abdelfattah Mlika, Med Amine Laribi, Lotfi Romdhane, Said Zeghloul
    Pages 281-289

  13. Self Dual Topology of Parallel Mechanisms with Configurable Platforms

    • Patrice Lambert, Just L. Herder
    Pages 291-298

  14. Four-Dimensional Persistent Screw Systems of the General Type

    • Marco Carricato
    Pages 299-306

  15. Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach

    • Mohammad Hadi Farzaneh Kaloorazi, Mehdi Tale Masouleh, Stéphane Caro, Behnam Mashhadi Gholamali
    Pages 307-314

  16. Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms

    • Antonius G. L. Hoevenaars, Patrice Lambert, Just L. Herder
    Pages 315-322

  17. Single Exponential Motion and Its Kinematic Generators

    • Guanfeng Liu, Yuanqin Wu, Xin Chen
    Pages 323-330

  18. Foundations for the Approximate Synthesis of RCCC Motion Generators

    • Jorge Angeles
    Pages 331-338

  19. The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes

    • Manfred Husty, Josef Schadlbauer, Stéphane Caro, Philippe Wenger
    Pages 339-348

  20. Exact Workspace Synthesis for RCCR Linkages

    • Batchimeg Batbold, Yimesker Yihun, James S. Wolper, Alba Pérez-Gracia
    Pages 349-357
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Keywords

About this book

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.

Editors and Affiliations

  • Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  • Mechanical Engineering, Idaho State University, Pocatello, USA

    Alba Perez Gracia

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