Advances in Robot Kinematics 2016

1. Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms
Volkert Wijk

2. Compliant Serial 3R Chain with Spherical Flexures
Farid Parvari Rad, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti-Castelli

3. Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots
Cédric Girerd, Kanty Rabenorosoa, Pierre Renaud

4. A Screw-Based Dynamic Balancing Approach, Applied to a 5-Bar Mechanism
Jan Jong, Johannes Dijk, Just Herder

5. A Novel S-C-U Dual Four-Bar Linkage
Pierre Larochelle, Sida Du

6. Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks
Mohamed Taha Chikhaoui, Kanty Rabenorosoa, Nicolas Andreff

7. Structural Synthesis of Hands for Grasping and Manipulation Tasks
Ali Tamimi, Alba Perez-Gracia, Martin Pucheta

8. Generalized Construction of Bundle-Folding Linkages
Shengnan Lu, Dimiter Zlatanov, Matteo Zoppi, Xilun Ding

9. A Complete Analysis of Singularities of a Parallel Medical Robot
Josef Schadlbauer, Calin Vaida, Paul Tucan, Doina Pisla, Manfred Husty, Nicolae Plitea

10. Workspace Analysis of a 3-PSP Motion Platform
Luc Baron

11. Posture Optimization of a Functionally Redundant Parallel Robot
David Corinaldi, Jorge Angeles, Massimo Callegari

12. Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters
Joshua K. Pickard, Juan A. Carretero, Jean-Pierre Merlet

13. A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots
Jan Brinker, Philipp Ingenlath, Burkhard Corves

14. Hidden Cusps
Michel Coste, Philippe Wenger, Damien Chablat

15. Some Mobile Overconstrained Parallel Mechanisms
J. M. Selig

16. On the Line-Symmetry of Self-motions of Linear Pentapods
Georg Nawratil

17. On Some Notable Singularities of







Khaled Assad Arrouk, Belhassen Chedli Bouzgarrou, Grigore Gogu

18. Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist
Mouna Souissi, Vincent Hugel, Samir Garbaya, John Nassour

19. Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device
Margot Vulliez, Said Zeghloul, Oussama Khatib

20. A Family of Non-overconstrained 3-DoF Reconfigurable Parallel Manipulators
Matteo-Claudio Palpacelli, Luca Carbonari, Giacomo Palmieri, Massimo Callegari

21. Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator: A 3RPR Magnetic Parallel Kinematics Manipulator
Baptiste Véron, Arnaud Hubert, Joel Abadie, Nicolas Andreff

22. A New Generic Approach for the Inverse Kinematics of Cable-Driven Parallel Robot with 6 Deformable Cables
Jean-Pierre Merlet

23. Rolling Contact in Kinematics of Multifingered Robotic Hands
Lei Cui, Jian S. Dai

24. Synergies Evaluation of the SCHUNK S5FH for Grasping Control
Fanny Ficuciello, Alba Federico, Vincenzo Lippiello, Bruno Siciliano

25. In-Hand Manipulative Synthesis Using Velocity Subspaces
Neda Hassanzadeh, Shramana Ghosh, Nina Robson

26. Synthesis of Linkages to Trace Plane Curves
Yang Liu, J. Michael McCarthy

27. Subject-Specific Model of Knee Natural Motion: A Non-invasive Approach
Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli

28. An Approach for Bone Pose Estimation via Three External Ellipsoid Pressure Points
Nikolas Bufe, Ansgar Heinemann, Peter Köhler, Andrés Kecskeméthy

29. Robot Dynamics Constraint for Inverse Kinematics
Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell

30. Path Planning in Kinematic Image Space Without the Study Condition
Martin Pfurner, Hans-Peter Schröcker, Manfred Husty

31. The 2D Orientation Interpolation Problem: A Symmetric Space Approach
Yuanqing Wu, Andreas Müller, Marco Carricato

32. Closure Polynomials for Strips of Tetrahedra
Federico Thomas, Josep M. Porta

33. Robust Design of Parameter Identification
Aurélien Massein, David Daney, Yves Papegay

34. Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot
Angelos Platis, Tahir Rasheed, Philippe Cardou, Stéphane Caro

35. Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure
Alessandro Berti, Marc Gouttefarde, Marco Carricato

36. Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis
Andreas Pott, Philipp Miermeister

37. Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots
Erika Ottaviano, Vincenzo Gattulli, Francesco Potenza

38. Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots
Lorenzo Gagliardini, Marc Gouttefarde, Stephane Caro

39. Adaptive Human Robot Cooperation Scheme for Bimanual Robots
Bojan Nemec, Nejc Likar, Andrej Gams, Aleš Ude

40. Influence of the Wind Load in the Trolley-Payload System with a Flexible Hoist Rope
Jianjie Zhang, Gabriel Abba

41. Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-holonomic Platforms
Andreas Müller, Peter Donelan

42. Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach
Krzysztof Tchoń

43. A Taylor-Based Continuation Method for the Determination and Classification of Robot Singularities
Gauthier Hentz, Isabelle Charpentier, Lennart Rubbert, Pierre Renaud

44. Identifying Singularity-Free Spheres in the Position Workspace of Semi-regular Stewart Platform Manipulators
Anirban Nag, Vikranth Reddy, Saurav Agarwal, Sandipan Bandyopadhyay

45. Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot
Tanio K. Tanev

46. Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator
S. Vahid Amirinezhad, Peter Donelan

Nyckelord: Engineering, Control, Robotics, Mechatronics, Computational Science and Engineering, Engineering Design