Recent Advances in Mechanism Design for Robotics

This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.

Contenu

Preface.- Linkage and Manipulators.- Finger mechanisms for robotic hands.- Dimensional Synthesis of One-Jointed Multi-Fingered Hands.- A Modular Shape-Adaptive Mechanism for Robust Robotic Grasping.- Mass equivalent dyads.- A Light Weight Arm Designed with Modular Joints.- Dynamic balancing conditions of planar parallel manipulators.- Design and Characterization of a New 5-DOF Arc Welding Robot Optimization of Grinding Parameters for Twist Drill in Biglide Parallel Machine.- Kinematics and Singularity Analysis of a 3-RRR Planar Hybrid Mechanism.- A Method to Estimate the Encoder Dependent Repeatability of General Serial Manipulators.- Innovative mechanism/robot and their applications.- Designing and Implementing an Interactive Social Robot from Off-the-shelf Components.- Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis.- Dynamic Modeling and Torque Distribution of a Climbing Hexapod Robot.- Development and Simulation of an Automated Twistlock Handling Robot System.- Grinding Methodology Research for Helical Drill Based on the Biglide Parallel Grinder.- Actuators and Control.- Towards Safe Robotic Surgical Systems.- A Comprehensive Analytical Model and Experimental Validation of Z-shaped Electrothermal Microactuators.- Optimising Configurations of KUKA LWR4+ Manipulator for Calibration with Optical CMM.- Key Parameters Optimization of A Novel Tubular Double Excitation Windings Linear Switched Reluctance Motor.- Optimizing tracking performance of XY repositioning system with ILC.- Mechanism Design.- Shift Strategy for Railway Vehicle Transmissions.- Research and Analysis on transmission error of RV reducer used in robot.- Structural design and kinematic analysis of moving mechanism of insulator inspection robot.- Atlas Motion Platform Full-scale Prototype Design.- Simulation of Kinematic Pairs in the Calculation Mechanisms by Finite Element Method.- Mechanics of Robots.- ComplianceControl and Design for Intelligent Lunar Robots.- Design Analysis and Dynamic Modeling of a High-speed 3T1R Pick-and-Place Parallel Robot.- Dynamic Characteristics of Two Cylinders' Joint Surfaces Based on Fractal Theory.- Modular system with varying contact elements for a reconfigurable parallel robot.- Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints.- Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm.- A Design Method of Thin-Walled and Four-Point Contact Ball Bearings of Industrial Robots.- On the Elastostatics of Spherical Parallel Machines with Curved Links.- Accuracy Analysis of a Tripod Parallel Grinder.- General purpose software to solve the inverse dynamics and compute the internal efforts of non-redundant planar mechanisms.- Dynamic Modeling of Flexible Robot Manipulators - Acceleration-based Discrete Time Transfer Matrix Method.- Comparative study on the kinematic and static performance of two 1T2R parallel manipulators.- Parallel Manipulators.- Forward kinematic model of a new spherical parallel manipulator used as a master device.- Kinematics of a 6 DOFs manipulator with interchangeable translation and rotation motions.- Schoenflies Mode and Self-motions of a 2-RUU Parallel Manipulator.- Singularity Analysis of 2R1P Spherical Parallel Mechanisms.- Kinematics Analysis of 5-rod Car Suspension Mechanism with Singularities.