Interdisciplinary Applications of Kinematics

This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design.

Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop.

The results presented in this book 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.

Inhalt

Preface.- Operation Modes in Lower-Mobility Parallel Manipulators, by Josef Schadlbauer, Latifah Nurahmi, Manfred Husty, Philippe Wenger and Stéphane Caro.- Geometric Contributions to the Analysis of 2-2 Wire Driven Cranes, by Manfred Husty and Paul Zsombor-Murray.- Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes, by Philipp Miermeister and Andreas Pott.- Two Gradient-Based Control Laws on SE(3) Derived from Distance Functions, by Jan Maximilian Montenbruck, Gerd S. Schmidt, Andrés Kecskeméthy and Frank Allgöwer.- Invariant Properties of the Denavit-Hartenberg Parameters, by Mohammed Daher and Peter Donelan.- Novel Quasi-Passive Knee Orthosis with Hybrid Joint Mechanism, by Martin Huber, Matthew Eschbach, Horea Ilies and Kazem Kazerounian.- Four-Position Synthesis of Origami-Evolved, Spherically Constrained Planar RR Chains, by Kassim Abdul-Sater, Franz Irlinger and Tim C. Lueth.- Free Vibration of Mistuned Aircraft Engine Bladed Discs, by Romuald Rzadkowski and Artur Maurin.- On the Study of the Kinematic Position Errors due to Manufacturing and Assembly Tolerances, by Paulo Flores.- Kinematic Design Problems for Low-Cost Easy-Operation Humanoid Robots, by Marco Ceccarelli.- Numerical design solutions for telescopic manipulators, by Ericka Madrid and Marco Ceccarelli.- A sequentially-defined kinetostatic model of the knee with anatomical surfaces, by Irene Sintini, Nicola Sancisi and Vincenzo Parenti-Castelli.- Designing and Implementing an Autonomous Navigation System Based on Extended Kalman Filter in a CoroBot Mobile, by Gerardo Arturo Vilcahuamán Espinoza and Edilberto Vásquez Díaz.- Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery, by Sergio Lescano, Dimiter Zlatanov, Micky Rakotondrabe and Nicolas Andreff.- Characteristics of a Walking Simulator with Parallel Manipulators, by Dante Elías, Rocío Callupe and Marco Ceccarelli.- Prototype Upper Limb Prosthetic Controlledby Myoelectric Signals Using a Digital Signal Processor Platform, by Ulises Gordillo Zapana, Renée M. Condori Apaza, Nancy I. Orihuela Ordoñez, Alfredo Cárdenas Rivera.- A 3D Foot-Ground Model using Disk Contacts, by Matthew Millard and Andrés Kecskeméthy.- Fitting Useful Planar Four-Bar and Six-Bar Linkages to Over-Specified Tasks, by Brandon Y. Tsuge and J. Michael McCarthy.- On the Requirements of Interpolating Polynomials for Path Motion Constraints, by Jorge Ambrósio, Pedro Antunes and João Pombo.