Advances in Robot Kinematics: Analysis and Design
This book presents the most recent research advances in the theory, design, control and application of robot systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The i
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Jadran Lenarˇciˇc •
Philippe Wenger
Editors
Advances in Robot Kinematics: Analysis and Design
Jadran Lenarˇciˇc J. Stefan Institute Ljubljana, Slovenia
ISBN-13: 978-1-4020-8599-4
Philippe Wenger IRCCyN Institute Nantes, France
e-ISBN-13: 978-1-4020-8600-7
Library of Congress Control Number: 2008927513 © 2008 Springer Science+Business Media B.V. No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Printed on acid-free paper 987654321 springer.com
Table of Contents
Preface
xi
SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS A New Assessment of Singularities of Parallel Kinematic Chains Michele Conconi and Marco Carricato
3
Singularity Analysis through Static Analysis J. Hubert and J.-P. Merlet
13
Constraint Singularities and the Structural Parameters of Parallel Robots Grigore Gogu
21
Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator Xianwen Kong
29
Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility Tanio K. Tanev
39
SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat and Philippe Wenger Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra Daniel Kanaan, Philippe Wenger and Damien Chablat
49
59
DESIGN OF ROBOTS AND MECHANISMS On the Design of Fully Constrained Parallel Cable-Driven Robots M. Gouttefarde, S. Krut, O. Company, F. Pierot and N. Ramdani
v
71
vi
Table of Contents
Synthesis of Part Orienting Devices for Spatial Assembly Tasks P. Larochelle
79
Minimum Energy Manipulator Design A. Rojas Salgado and Y. Ledezman Rubio
89
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator G.S. Soh and J.M. McCarthy
101
A Nonholonomic 3-DOF Parallel Robot Patricia Ben-Horin and Federico Thomas
111
4DOF Parallel Architecture for Laparoscopic Surgery Mohammad Aamir Khan, Matteo Zoppi and Rezio Molfino
119
Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control Ch. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux
127
Extended Jacobian Inverse Kinematics and Approximation of Distributions Mariusz Janiak and Krzysztof Tcho´n
137
A Screw Syzygy with Applications to Robot Singularity Computation J.M. Selig and Peter Donelan
147
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators Krzysztof Tcho´n and Łukasz Małek
155
Robots Based on Assur Group A (3.5) Karl Wohlart
165
Kinematics of Free-Floating Systems through Optimal Control Theory G. Le Vey
177
Genericity Conditions for Serial Manipulators Peter Donelan
185
Alternative Forms for Displace
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