Kecskeméthy / Müller Computational Kinematics

Proceedings of the 5th International Workshop on Computational Kinematics
1. Auflage 2009
ISBN: 978-3-642-01947-0
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 394 Seiten

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 present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. 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, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. 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.

Autoren/Hrsg.

Kecskeméthy, Andrés

Müller, Andreas

Inhaltsverzeichnis

1;Preface;5
2;Contents;7
3;Part I Cable-Driven Parallel Manipulators;13
3.1;Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism;13
3.2;Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators;21
3.3;Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device;29
3.4;Closed-form Force Distribution for Parallel Wire Robots;37
4;Part II Parallel Manipulators (1);47
4.1;Computing the Configuration Space for Motion Planning between Assembly Modes;47
4.2;Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators;55
4.3;Non-singular assembly mode change in 3-RPR-parallel manipulators;63
4.4;Kinetostatic and Singularity Analyses of the 3-UPU Translational Parallel Robot;73
5;Part III Parallel Manipulators (2);81
5.1;Forward displacement analysis of a 3-RPR planar parallel manipulator revisited;81
5.2;Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators;89
5.3;Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs;97
5.4;ON NEW CLASS OF PARALLEL-CROSS MECHANISMS;105
6;Part IV Motion Planning;113
6.1;Motion Interpolation with Bennett Biarcs;113
6.2;Motion Estimation using a Statistical Solid Dynamic Method;121
6.3;Spatial Generalization of the Planar Path Generation Problem;129
6.4;Motion Planning of Nonholonomic Systems with Dynamics;137
7;Part V Numerical Methods;145
7.1;Optimal Kinematic Calibration of Robots Based on Maximum Postioning-Error Estimation;145
7.2;Fast Distance Computation Using Quadratically Supported Surfaces;153
7.3;On the Computation of the Home Posture of the McGill Schönflies-Motion Generator;161
7.4;Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems;171
8;Part VI Geometrical Methods;179
8.1;Explicit Algebraic Solution of Geometrically Simple Serial Manipulators;179
8.2;3R Wrist Positioning - a Classical Problem and its Geometric Background ;187
8.3;A Geometrice Newton-Raphson Method for Gough-Stewart Platforms;195
8.4;Aspects of Clifford Algebra for Screw Theory;203
9;Part VII Synthesis (1);213
9.1;Uncoupled 6-dof Tripods via Group Theory;213
9.2;A new approach towards the synthesis of six-bar double dwell mechanisms;221
9.3;Application of higher order derivatives in the synthesis of crank and cam mechanisms;229
9.4;Interative design of a robotic gripper system with the geometry program ,,GECKO``;237
10;Part VIII Synthesis (2);245
10.1;The Axis Constraint equation and a General 6R Double-Spherical Overconstrained Mechanism;245
10.2;Two Methods for force Balancing of Bennett Linkages;253
10.3;Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennnett Loops;261
10.4;Kinematic analysis of an adjustable slider-crank mechanism;269
11;Part IX Biomechanics;277
11.1;Improving marker based inverse kinematics solutions for under-determined spinal models;277
11.2;Kinematical Analysis and Design of a New Surgical Parallel Robot;285
11.3;DESIGN IMPROVEMENTS ON A CAROTID BLOOD FLOW MEASUREMENT SYSTEM;295
12;Part X Design Issues;303
12.1;Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation;303
12.2;A New Procedure for the Optimization of a Dielectric Elastomer Actuator;311
12.3;Light–Weight High Dynamic Camera Orientation System;319
12.4;Dynamic Balancing of Clavel’s Delta Robot;327
12.5;Kinematical Solution by Structural Approximation;335
13;Part XI Singularities;343
13.1;Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator;343
13.2;Branching singularities in kinematotropic parallel mechanisms;353
13.3;A new approach to the classification of architecturally singular parallel manipulators;361
13.4;Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments;371
14;Part XII Gears;379
14.1;A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency;379
14.2;The Computational Fundamentals of Spatial Cycloidal Gearing;387
14.3;Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing;397
15;Author Index;405