About the Book
This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017.
Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics.
Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinarymanner in order for new technologies to develop.
The results presented in this book 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.
Table of Contents:
Part I: Applications.- Inherently Balanced Double Bennett Linkage, by Volkert Van der Wijk.- 3D revolute joint with clearance in multibody systems, by Narendra Akhadkar, Vincent Acary, Bernard Brogliato.- Kinematics and Bifurcation of a Twofold-Symmetric 8-bar Linkage, by Zhao Tang, Dimiter Zlatanov, Jian sheng Dai.- A Novel Kinematic Model of Spatial Four-bar Linkage RSPS for Testing Accuracy of Actual R-Pairs with Ball-bar, by Zhi Wang, Delun Wang, Xiaopeng Li, Huimin Dong, Shudong Yu.- Model Reduction Methods for optimal Follow-the-Leader Movements of Binary Actuated, Hyper-Redundant Robots, by Svenja Tappe, Dairong Yu, Jens Kotlarski, Tobias Ortmaier.- Kinematic Design of a Lighting Robotic Arm for Operating Room, by Juan Sebastian Sandoval Arevalo, Laurence Nouaille, Gérard Poisson, Yves Parmantier.- Elastostatic Modelling of a Wooden Parallel Robot, by Lila Kaci, Clément Boudaud, Sébastien Briot, Philippe Martinet.- Towards an autonomous airborne robotic agent, byDaniel Soto-Guerrero, Gabriel Ramírez Torres, Jean-Pierre Gazeau.- Autonomous March Control For Humanoid Robot Animation In A Virtual Reality Environment, by Victor Andaluz, Santiago Guaman, Jorge Sánchez.- Control Based On Linear Algebra For Mobile Manipulators, by Victor Andaluz, Paola Velasco, Edison Sásig, William Chicaiza.- Modeling And Kinematic Nonlinear Control Of Aerial Mobile Manipulators, by Victor Andaluz, Jessica Ortiz, Franklin Silva, Luis Proaño, José Perez, Alex Erazo, Christian Carvajal.- Path Planning Based On Visual Feedback Between Terrestrial And Aerial Robots Cooperation, by Jessica Ortiz Moreano, Víctor Andaluz, Cristhian Zapata, Alex Vega.- Part II: Biomechanics.- Dynamic analysis and control of a Hybrid serial/Cable driven robot for lower-limb rehabilitation, by Mourad Ismail Samir, Lahouar and Lotfi Romdhane.- Kinematic analysis of Active Ankle using computational algebraic geometry, by Shivesh Kumar, Abhilash Nayak, Bertold Bongardt, Andreas Mueller, Frank Kirchner.- Optimization of a Redundant Serial Spherical Mechanism for Robotic Minimally Invasive Surgery, by Carl Nelson, Med Amine Laribi, Said Zeghloul.- Kinematic Analysis for a Prostate Biopsy Parallel Robot using Study parameters, by Doina Pisla, Iosif Birlescu, Bogdan Gherman, Paul Tucan, Calin Vaida, Nicolae Plitea, Nicolae Crisan, Corina Radu.- Optimum Walking of the Bioloid Humanoid Robot on a Rectilinear Path, by Alfonso Pamanes, Gabriela Reyes, Jesus Fierro, Victor Nunez.- A new experimental set-up for training multi-parameter gaits, by Sami Bennour, Houssein LAMINE, Lotfi Romdhane.- Part III: Cable Robots.- Comprehensive dynamic study of an unloaded walking within a cable-based gait trainer, by Houssein Lamine, Sami Bennour, Lotfi Romdhane.- A Cable-Driven Robot for Upper Limb Rehabilitation Inspired by the Mirror Therapy, by Lukas Tappeiner, Erika Ottaviano, Manfred Husty.- Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables, by Jean-Pierre Merlet.- Efficient Computation of the Workspace Boundary, its Properties and Derivatives for Cable-Driven Parallel Robots, by Andreas Pott.- Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots, by Philipp Tempel, Andreas Schmidt, Bernard Haasdonk, Andreas Pott.- Part IV: Cams/Gear.- Evaluating the knot vector to synthesize the cam motion using NURBS, by Thi Thanh Nga Nguyen, Stefan Kurtenbach, Mathias Hüsing, Burkhard Corves.- Kinematics of biplanetary epicyclic gears, by Stanislaw Zawislak.- Part V: Optimization.- Dynamic synthesis of a multibody system: a comparative study between genetic algorithm and particle swarm optimization techniques, by Mohamed Amine Ben Abdallah, Imed Khemili, Med Amine Laribi, Nizar Aifaoui.- Robust Design Methodology of Topologically optimized components under the effect of uncertainties, by Joshua Amrith Raj, Arshad Javed.- < Part VI: Parallel robots.- Kinematic and dynamic modeling and base inertial parameters determination of the Quadrupteron parallel manipulator, by Behzad Danaei, Alaleh Arian, Mehdi Tale Masouleh, Ahmad Kalhor.- Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation, by Federico Thomas, Nicolas Rojas.- Parallel manipulators in terms of dual Cayley-Klein parameters, by Georg Nawratil.- An Approach for Type Synthesis of Overconstrained 1T2R Parallel Mechanisms, by Chenglin Dong, Haitao Liu, Qi Liu, Tao Sun, Tian Huang, Derek Chetwynd.- Transmission Quality Evaluation for a Class of Four-limb Parallel Schoenflies-motion Generators with Articulated Platforms, by Guanglei Wu, Shaoping Bai, Stéphane Caro.- Study of Redundantly Actuated DELTA-Type Parallel Kinematic Mechanisms, by Burkhard Corves, Seyed Amirreza Shahidi, Michael Lorenz, Sami Charaf Eddine, Mathias Hüsing.- 3-RRR Spherical parallel robot optimization with minimum of singularities, by Abdelbadia Chaker, Asma Jlassi, Abdelfattah Mlika.- 4haptic : A dexterous 4 d.o.fs haptic device based on Delta architecture, by Celestin Preault, Houssem Saafi, Med Amine Laribi, Said Zeghloul.- Error Modelling and Sensitivity Analysis of a Planar 3-PRP Parallel Manipulator, by Jayant Mohanta, Santhakumar Mohan, Mathias Hüsing, Burkhard Corves.- Determination of workspace volume of parallel manipulators using Monte Carlo method, by Arkadeep Narayan Chaudhury, Ashitava Ghosal.- Kinematics of a 6-RUU Parallel Robots with Reconfigurable Platforms, by Guanglei Wu, Huimin Dong.- On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots, by Jan Brinker, Burkhard Corves, Yukio Takeda.- A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator, by Halil Tetik, Gokhan Kiper.- The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach, by Parnyan Ataei, Mehdi Tale Masouleh, Zolfa Anvari.- A Novel 3T1R Parallel Manipulator 2PaRSS and Its Kinematics, by Huiping Shen, Guowei Shao, Jiaming Deng, Ting-li Yang.- Multi-objective optimization of a tripod parallel mechanism for a robotic leg, by Matteo Russo, Saioa Herrero, Marco Ceccarelli, Oscar Altuzarra.- Robust Optimization of the RAF parallel robot for a prescribed workspace, by Med Amine Laribi, Abdelfattah Mlika, Lotfi Romdhane , Said Zeghloul.- Optimal Design of N-UU Parallel Mechanisms, by Yuanqing Wu, Marco Carricato.- Robust multi-objective design optimization of the 3-UPU TPM based on the GA-Krawczyk method, by El hraiech Safa, Chebbi Ahmed, Affi zouhaier, Romdhane Lotfi.- Part VII: Planar Robots.- Topology Optimization of a Reactionless Four-bar Linkage, by Sébastien Briot, Alexandre Goldsztejn.- Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism, by Philippe Wenger, Damien Chablat.- Design Optimization and Accuracy Analysis ofa Planar 2PRP-PRR Parallel Manipulator, by Santhakumar Mohan, Burkhard Corves, Philippe Wenger.- Operation modes of the planar 3-RRR manipulator, by Aravind Baskar, Sandipan Bandyopadhyay.- The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator, by Joao Vitor Fontes, Hiparco Vieira, Maíra da Silva.- Holistic modular multilayer synthesis of planar linkages using parameterized mass properties, by Stefan Heinrich, Maik Berger.- Part VIII: Theoretical Kinematics.- Motion Interpolation in Lie Subgroups and Symmetric Subspaces, by Jon Selig, Yuanqing Wu, Marco Carricato.- Intrusion, Proximity & Stationary Distance, by Paul Zsombor-Murray.- A novel geometric analysis of the kinematics of the 3-RPS manipulator, by Teja Krishna Mamidi, Aravind Baskar, Sandipan Bandyopadhyay.- Constraint equations of inverted kinematic chains, by Manfred Husty, Thomas Stigger.- Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator, by Abhilash Nayak, Stéphane Caro, Philippe Wenger.- Application of Intersection Theory to Singularity and Motion Mode Analysis of Mechanisms, by Samuli Piipponen, Andreas Mueller, Eero Hyry, Jukka Tuomela.- Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it, by Arvin Rasoulzadeh, Georg Nawratil.- Inverse Kinematics of Anthropomorphic Arms Yielding Eight Coinciding Circles, by Bertold Bongardt.- Optimal Synthesis of Overconstrained 6R Linkages by Curve Evolution, by Tudor-Dan Rad, Hans-Peter Schröcker.- The Instantaneous Screw Axis of Motions in the Kinematic Image Space, by Martin Pfurner, Josef Schadlbauer.- A New Insight into the Coupler Curves of the RCCC Four-Bar Linkage, by Federico Thomas, Alba Perez-Gracia.- A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics, by Sebastian Starke, Norman Hendrich, Jianwei Zhang.- Adaptation of the geometric model of a 6 dof serial robot to the task space, by Jose Gutierrez Tapia, Chanal Hélène, Séverine Durieux, Emmanuel Duc.- Differentiation-free Taylor approximation of finite motion in closed loop kinematics, by Jan De Jong, Andreas Mueller, Johannes van Dijk, Just Herder.- A New Direct Position Analysis Solution for an Over-constrained Gough-Stewart Platform, by Luca Luzi, Nicola Sancisi, Vincenzo Parenti Castelli.- A Study On Constraints Violation In Dynamic Analysis Of Spatial Mechanisms, by Paulo Flores.
