Advances in Robot Kinematics: Motion in Man and Machine Motion in Ma
This book is a collection of 58 peer reviewed papers, which should be of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. The papers consider the full range of robotic systems
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Jadran Lenarčič • Michael M. Stanišić Editors
Advances in Robot Kinematics: Motion in Man and Machine
Editors Jadran Lenarčič J. Stefan Institute University of Ljubljana Ljubljana, Slovenia [email protected]
Michael M. Stanišić Aerospace and Mechanical Engineering University of Notre Dame Fitzpatrick Hall 365 Notre Dame, IN 46556-5637 USA [email protected]
ISBN 978-90-481-9261-8 e-ISBN 978-90-481-9262-5 DOI 10.1007/978-90-481-9262-5 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2010928344 © Springer Science+Business Media B.V. 2010 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
Springer is part of Springer Science+Business Media (www.springer.com)
Table of Contents
Preface
xi Part 1
Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges R.J. Ellwood, D. Sch¨utz, A. Raatz and J. Hesselbach
3
Dynamic Jacobian Inverses of Mobile Manipulator Kinematics K. Tcho´n, J. Jakubiak and Ł. Małek
11
A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms N. Rojas and F. Thomas
23
Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations M. Vona
33
Researching into Non-Singular Transitions in the Joint Space M. Ur´ızar, V. Petuya, O. Altuzarra and A. Hern´andez
45
MARIONET, A Family of Modular Wire-Driven Parallel Robots J.-P. Merlet
53
Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation during Gait Analysis A. Wolf, I. Sharf and M.B. Rubin
63
Part 2 Mechanical Generators of 2-DoF Translation along a Ruled Surface C.-C. Lee and J.M. Herv´e
73
Worm-Like Robotic Locomotion in Flexible Environment D. Zarrouk, I. Sharf and M. Shoham
81
v
vi
Table of Contents
Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator M. Ruggiu and J.A. Carretero
91
Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery D. Pisla, N. Plitea, B.G. Gherman, C. Vaida, A. Pisla and M. Suciu
99
Main Theorem on Sch¨onfliess-Singular Planar Stewart Gough Platforms G. Nawratil
107
A Novel Actuation Module for Wearable Robots M. Bergamasco, F. Salsedo, S. Marcheschi and N. Lucchesi
117
Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction R. Vertechy, G. Berselli, M. Bergamasco and V. Parenti Castelli
127
Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy S. Ambike, J.P. Schmiedeler and M.M. Staniˇsi´c
137
Part 3 Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator S. Abdelaziz, P. Renaud, B. Bayle and M. de Mathelin
147
