Robotics and Mechatronics

This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015.

These papers provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes.

The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

Reports the latest developments in robotics and mechatronics Gives a great overview of the research activities of the IFToMM Technical Committees Next volume in ISRM conference proceedings Includes supplementary material: sn.pub/extras

Inhalt

Part I: Mechanism and advanced mechanical design.- A study of structural stress analysis of reducers for supporting reliability design, by Yuo-Tern Tsai, Kuan-Hong Lin, Kuo-Shong Wang.- Structural and Dimensional Synthesis of Parallel Mechanism with Two EndEffectors, by Zh. Baigunchekov, M. Kalimoldaev, M. Utenov, B. Arymbekov, N. Baigunchekov.- Parametric Design Optimization of Two Link Robotic Manipulator, by F. Z. Baghli, L. El Bakkali, O. Hamdoun.- Investigation of the Behaviour of a new Miniature Carbon-Paraffin Phase-change Actuator, by P. Lazarou, C. Rotinat-Libersa.- Synthesis of driving mechanisms in robotics by combinatorial analysis method, by Peter Mitrouchev, Jingtao Chen, Frédéric Maffray, Yaqing Zheng.- Part II: Humanoid and legged robotics.- Design and experiments on a new humanoid robot: TIDOM, by A. Eon, P. Seguin, M. Arsicault, S. Zeghloul.- Experimental Inspiration and Rapid Prototyping of a novel Humanoid Torso, by D. Cafolla, M. Ceccarelli.- Design of Robots Used As Education Companion and Tutor, by Albert Causo, Giang Truong Vo, I-Ming Chen, Song Huat Yeo.- Walking of a biped robot balanced with a reciprocating torso, by Victor De-Léon-Gomez, J. Alfonso Pamanes, Victor Santibanez.- Part III: Parallel manipulators.- Determining the reachable workspace for 6-DOF Delta manipulators, by C. K. Huang, K. Y. Tsai.- A reconfiguration strategy of a parallel Delta-type robot to improve the kinematic performance, by A. L. Balmaceda-Santamaria, E. Castillo-Castaneda.- Workspace and Singularity analysis of a Delta like family robot, by R. Jha, D. Chablat, F. Rouillier, G. Moroz.- Optimal trajectory Planning of 3RRR Parallel Robot using ant colony algorithm, by O. Hamdoun, L. El Bakkali, F. Z. Baghli.- Part IV: Medical robotics I.- Force control implementation of a haptic device for medical use, by H. Saafi, M.A. Laribi, S. Zeghloul.- Integration of Automated Camera Steering for RoboticSingle-Site Surgery, by Mohsen Zahiri, Carl A. Nelson, R. Gonzalo Garay-Romero, Dmitry Oleynikov.- Kinematic models of a new spherical parallel manipulator used as a master device, by H. Saafi, M.A. Laribi, M. Arsicault, S. Zeghloul.- Part V: Medical robotics II: Mechatronic device to assist therapies during hand fingers rehabilitation, by F. Aguilar-Pereyra, E. Castillo-Castaneda.- Mechanical Design of a Craniotomy Robotic Manipulator Based on Optimal Kinematic and Force Performance, by T. Essomba, C.-T. Wu, S.-T. Lee, C.-H. Kuo.- Dynamic Simulation of a Cable-Based Gait Training Machine, by H. Lamine, S. Bennour, L. Romdhane.- An in vivo experiment to assess the validity of the Log Linearized Hunt-Crossley model for contacts of robots with the human abdomen, by F. Courrèges, M. A. Laribi, M. Arsicault, S. Zeghloul.- Part VI: Control and vision; Real-time Reconstruction of Heightmaps from Images taken with a UAV, by Jose Gabriel Ramirez-Torres, Ander Larranaga-Cepeda.- A Human-Machine Interface with Unmanned Aerial Vehicles, by D. Soto-Gerrero, J.-G. Ramrez-Torres.- Design and Simulation of Robot Manipulator Position Control System based on Adaptive Fuzzy PID Controller, by F. Z. Baghli, L. El Bakkali.- Generating the optimum dynamic trajectory of a hybrid cable-serial robot, by M. Ismail, S. Lahouar, L. Romdhane.- An Integrated Software Package for Advanced Industrial Robot Application, by C. Liang, H. Yan, R. Li, I.-M. Chen, M.H. Ang Jr., Z. Huang.- Part VII: Advanced Robotics.- A method for the approximation of the multiple IK solutions of regular manipulators based on the uniqueness domains and using MLP, by Vassilis C. Moulianitis, Evgenios M. Kokkinopoulos, Nikos A. Aspragathos.- An Approach to Symbolical Formulation of Forward Kinematics of Serial Robots, by S. Krutikov.- Grasps Database Generator for Anthropomorphic Robotic Hands, by H. Mnyusiwalla, P. Vulliez, J.P. Gazeau, S. Zeghloul.- From human motion capture toindustrial robot imitation, by P. Laguillaumie, M. A. Laribi, P. Seguin, P. Vulliez, A. Decatoire, S. Zeghloul.- Dynamic decoupling of adjustable serial manipulators taking into account the changing payload, by J. Xu, V. Arakelian, J.-P. Le Baron.- Author Index.