| Description |
1 online resource (xii, 394 pages) : illustrations |
| Contents |
Title Page; Preface; Contents; Part I Cable-Driven Parallel Manipulators; Part II Parallel Manipulators (1); Part III Parallel Manipulators (2); Part IV Motion Planning; Part V Numerical Methods; Part VI Geometrical Methods; Part VII Synthesis (1); Part VIII Synthesis (2); Part IX Biomechanics; Part X Design Issues; Part XI Singularities; Part XII Gears; Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism; Introduction; Forward kinematics; {\it Computing all solutions}; {\it Real-time algorithm}; {\it Example}; Inverse kinematics |
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{\it Motion constraints}{\it Finding an end-effector orientation}; Conclusion; References; Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators; Introduction; Antipodal Method; Simulation; Conclusions; References; Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device; Introduction; Design Requirements and a Proposed System as Assisting Device; Modelling of the System; {\it A Human Body Model}; {\it A model for the Cable-Based Parallel Manipulator}; Simulations Results; Conclusions; References |
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Closed-form Force Distribution for Parallel Wire RobotsINTRODUCTION; KINEMATIC FOUNDATION; FORCE DISTRIBUTION; {\it Force distribution in closed-form}; {\it Existence and Uniqueness of the Force Distribution}; {\it Implementation Issues and Performance}; RESULTS; CONCLUSION; References; Computing the Configuration Space for Motion Planning between Assembly Modes; Introduction; Computing workspace with constant input variable; Visualizing the configuration space; {\it Application to finding all DKP solutions} |
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Visualizing the reduced configuration space allowing the actuation of the three input variablesMaking non-singular solution changing to enlarge the operational workspace; Conclusions; References; Kinematic analysis of a class of analytic planar 3-R\b{P}R parallel manipulators; Introduction; Description of the analytic manipulator; Singularity surfaces; Singularity surfaces in the joint space; Second-order singularity curves (cusps); Conclusions; References; Non-singular assembly mode change in 3-RPR-parallel manipulators; Introduction |
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Direct kinematics and the singularity surface in the kinematic image spaceThe singularity surface in the joint space; Assembly mode change; Conclusions; References; Kinetostatic and Singularity Analyses of the 3-UPU Translational Parallel Robot; Introduction; Structure of the 3-UPU; Kinetostatic analysis of the 3-UPU robot; Singularity analysis; Conclusion; References; Appendix; Forward displacement analysis of a 3-\b{R}PR planar parallel manipulator revisited; Introduction; Loop closure equation; Case det(S)=0 and det(T)=0 |
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{\it Subcase sin(\theta_{3} -- \theta_{1}) = 0 and sin (\theta_{3} -- \theta_{2}) = 0} |
| Summary |
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. Indexed in Conference Proceedings Citation Index- Science (CPCI-S) |
| Bibliography |
Includes bibliographical references and index |
| Notes |
English |
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Print version record |
| Subject |
Kinematics -- Data processing -- Congresses
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Robotics -- Congresses
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Kinematics -- Data processing.
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Robotics.
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Ingénierie.
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Kinematics -- Data processing
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Robotics
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| Genre/Form |
proceedings (reports)
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Conference papers and proceedings
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Conference papers and proceedings.
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Actes de congrès.
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| Form |
Electronic book
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| Author |
Kecskeméthy, A.
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Müller, Andreas
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| ISBN |
9783642019470 |
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3642019471 |
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