Advances in Robot Kinematics 2016

Table of Contents

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   Book Overview
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   Chapter 1 Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms
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   Chapter 2 Compliant Serial 3R Chain with Spherical Flexures
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   Chapter 3 Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots
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   Chapter 4 A Screw-Based Dynamic Balancing Approach, Applied to a 5-Bar Mechanism
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   Chapter 5 A Novel S-C-U Dual Four-Bar Linkage
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   Chapter 6 Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks
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   Chapter 7 Structural Synthesis of Hands for Grasping and Manipulation Tasks
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   Chapter 8 Generalized Construction of Bundle-Folding Linkages
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    Chapter 9 A Complete Analysis of Singularities of a Parallel Medical Robot
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    Chapter 10 Workspace Analysis of a 3-PSP Motion Platform
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    Chapter 11 Posture Optimization of a Functionally Redundant Parallel Robot
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    Chapter 12 Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters
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    Chapter 13 A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots
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    Chapter 14 Hidden Cusps
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    Chapter 15 Some Mobile Overconstrained Parallel Mechanisms
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    Chapter 16 On the Line-Symmetry of Self-motions of Linear Pentapods
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    Chapter 17 On Some Notable Singularities of $${3{\text {-}}{} { R\underline{P}}R}$$ and $${3{\text {-}}{} { \underline{R}RR}}$$ PPRMs
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    Chapter 18 Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist
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    Chapter 19 Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device
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    Chapter 20 A Family of Non-overconstrained 3-DoF Reconfigurable Parallel Manipulators
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    Chapter 21 Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator: A 3RPR Magnetic Parallel Kinematics Manipulator
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    Chapter 22 A New Generic Approach for the Inverse Kinematics of Cable-Driven Parallel Robot with 6 Deformable Cables
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    Chapter 23 Rolling Contact in Kinematics of Multifingered Robotic Hands
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    Chapter 24 Synergies Evaluation of the SCHUNK S5FH for Grasping Control
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    Chapter 25 In-Hand Manipulative Synthesis Using Velocity Subspaces
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    Chapter 26 Synthesis of Linkages to Trace Plane Curves
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    Chapter 27 Subject-Specific Model of Knee Natural Motion: A Non-invasive Approach
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    Chapter 28 An Approach for Bone Pose Estimation via Three External Ellipsoid Pressure Points
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    Chapter 29 Robot Dynamics Constraint for Inverse Kinematics
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    Chapter 30 Path Planning in Kinematic Image Space Without the Study Condition
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    Chapter 31 The 2D Orientation Interpolation Problem: A Symmetric Space Approach
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    Chapter 32 Closure Polynomials for Strips of Tetrahedra
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    Chapter 33 Robust Design of Parameter Identification
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    Chapter 34 Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot
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    Chapter 35 Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure
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    Chapter 36 Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis
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    Chapter 37 Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots
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    Chapter 38 Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots
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    Chapter 39 Adaptive Human Robot Cooperation Scheme for Bimanual Robots
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    Chapter 40 Influence of the Wind Load in the Trolley-Payload System with a Flexible Hoist Rope
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    Chapter 41 Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-holonomic Platforms
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    Chapter 42 Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach
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    Chapter 43 A Taylor-Based Continuation Method for the Determination and Classification of Robot Singularities
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    Chapter 44 Identifying Singularity-Free Spheres in the Position Workspace of Semi-regular Stewart Platform Manipulators
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    Chapter 45 Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot
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    Chapter 46 Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator