Advances in Robot Kinematics 2022

Table of Contents

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   Book Overview
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   Chapter 1 Möbius Linkages
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   Chapter 2 On Origami-Like Quasi-mechanisms with an Antiprismatic Skeleton
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   Chapter 3 Line-Point Constraints and Robot Surgery
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   Chapter 4 On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains
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   Chapter 5 Extended Rotation Matrix for Kinematics of Pointing Mechanisms
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   Chapter 6 A Linearization Method Based on Lie Algebra for Pose Estimation in a Time Horizon
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   Chapter 7 Hyper-multidual Algebra and Higher-Order Kinematics
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   Chapter 8 Geometry Based Analysis of 3R Serial Robots
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    Chapter 9 Synthesis of Gripper Mechanisms Derived from Baranov Chains
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    Chapter 10 6R Linkages with Hidden Singularities
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    Chapter 11 Best Operation Regions in a Planar Cable Driven System
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    Chapter 12 Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot
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    Chapter 13 An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots
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    Chapter 14 A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
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    Chapter 15 Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors
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    Chapter 16 Stacked Tensegrity Mechanism for Medical Application
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    Chapter 17 Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies
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    Chapter 18 Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot
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    Chapter 19 A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory
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    Chapter 20 Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator
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    Chapter 21 Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints
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    Chapter 22 Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints
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    Chapter 23 Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation
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    Chapter 24 Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment
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    Chapter 25 Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion
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    Chapter 26 Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots
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    Chapter 27 A Gazebo Simulator for Continuum Parallel Robots
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    Chapter 28 Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines
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    Chapter 29 General Procedure for Path Generation Synthesis Based on Kinematic Constraints
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    Chapter 30 Finding Straight Line Generators Through the Approximate Synthesis of Symmetric Four-Bar Coupler Curves
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    Chapter 31 A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem
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    Chapter 32 Classification of Mobilities - New Insights on an Old Topic
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    Chapter 33 First and Second Order Centrodes of Slider-Crank Mechanisms by Using Instantaneous Invariants
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    Chapter 34 Spherical 4R Linkage Algebraic $$\boldsymbol{v_i}$$ v i - $$\boldsymbol{v_j}$$ v j Input-Output Equations
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    Chapter 35 Kinematics of a Gear-Based Spherical Mechanism
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    Chapter 36 Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions
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    Chapter 37 Wriflex: Design and Kinematic Analysis of a Self-aligning Parallel Wrist
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    Chapter 38 Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism
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    Chapter 39 Smooth Wrapping of Stretchable Thick Strands Over a Surface - The 2D Case
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    Chapter 40 Exploiting Reciprocity Between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics
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    Chapter 41 Generation of Parametric Gait Patterns
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    Chapter 42 Parametrization of Compliant, Object-Level Controllers from Human Demonstrations
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    Chapter 43 Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy
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    Chapter 44 The Distance Geometry of the Generalized Lobster’s Arm
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    Chapter 45 Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot
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    Chapter 46 The Spatial Pantograph and Its Mass Balance
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    Chapter 47 A New Family of Overconstrained P5R-Mechanisms
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    Chapter 48 Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws
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    Chapter 49 Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators
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    Chapter 50 Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration
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    Chapter 51 An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions
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    Chapter 52 Reactive Locomotion of a Hexapod for Navigation Across Irregular Ground
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    Chapter 53 Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot