Advances in Robot Kinematics 2016

Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms.- Compliant Serial 3R Chain with Spherical Flexures.- Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots.- A Screw-Based Dynamic Balancing Approach, Applied to a 5-bar Mechanism.- A Novel S-C-U Dual Four-Bar Linkage.- Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-Actuation for 3T-1R Contactless Tasks.- Structural Synthesis of Hands for Grasping and Manipulation Tasks.- Generalized Construction of Bundle-Folding Linkages.- A Complete Analysis of Singularities of a Parallel Medical Robot.- Workspace Analysis of a 3-PSP Motion Platform.- Posture Optimization of a Functionally Redundant Parallel Robot.- Analysis Methods for the 3-RRR with Uncertainties in the Design Parameters.- A Study on Simplified Dynamic Modeling Approaches of Delta Parallel Robots.- Nonsingular Change of Assembly Mode Without any Cusp.- Some MobileOverconstrained Parallel Mechanisms.- On the Line-Symmetry of Self-Motions of Linear Pentapods.- On Some Notable Singularities of 3-RPR and 3-RRR PPRMs.- Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist.- Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device.- A Family of Non-Overconstrained 3-DoF Reconfigurable Parallel Manipulators.- Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator: a 3RPR Magnetic Parallel Kinematics Manipulator.- A new Generic Approach for the Inverse Kinematics of Cable-Driven Parallel Robot with 6 Deformable Cables.- Rolling Contact in Kinematics of Multifingered Robotic Hands.- Synergies Evaluation of the SCHUNK S5FH for Grasping Control.- Velocity-field Tasks for In-Hand Manipulative Synthesis.- Synthesis of Linkages to Trace Plane Curves.- Subject-Specific Model of Knee Natural Motion: a Non-Invasive Approach.- An Approach for Bone Pose Estimation via Three External Ellipsoid Pressure Points.- Robot Dynamics Constraint for Inverse Kinematics.- Path Planning in Kinematic Image Space Without the Study Condition.- The 2D Orientation Interpolation Problem: A Symmetric Space Approach.- Closure Polynomials for Strips of Tetrahedra.- Robust Design of Parameter Identification.- Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot.- Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure.- Workspace and Interference Analysis of Cable-Driven Parallel Robots with an Unlimited Rotation Axis.- Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots.- Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots.- Adaptive Human Robot Cooperation Scheme for Bimanual Robots.- Influence of the Wind Load in the Trolley-Payload System with a Flexible Hoist Rope.- Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-Holonomic Platforms.- Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach.- A Taylor-Based Continuation Method for the Determination and Classification of Robot Singularities.- Identifying Singularity-Free Spheres in the Position Workspace of Semi-Regular Stewart Platform Manipulators.- Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot.- Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator.

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• Análise numérica
• Desenho técnico
• Engenharia do controlo automático

Robotics;Robot Control;Mechatronics;ARK;Design of humanoid robots;Human body motion modeling