ARK PAPERS IN CHAPTERS

CHAPTER 1

Ferdinand Freudenstein’s spatial kinematics

P. Larochelle

The inverse kinematics of cable-driven parallel robot with more than 6 sagging cables Part 1: From ideal to sagging cables

J.-P. Merlet

The inverse kinematics of cable-driven parallel robot with more than 6 sagging cables Part 2: Using neural networks

J.-P. Merlet

A screw theory-based method for approximate static balancing of a RSSR-SS mechanism

N.N. Romero, J.-S. Zhao, S. Yurievich Misyurin, R.S. Vieira, D. Martins

Kinematics and workspace of a spatial 3-DoF manipulator with anti-parallelogram joints

V. Muralidharan, C. Chevallereau, P. Wenger

On a software joint velocity limitation of a spherical parallel manipulator with coaxial input shafts

A. Le, F. Rouillier, D. Chablat, G. Rance, A. Quadrat

Analysis of planar network mechanisms using the diagonal intersection point

I. Macia Roger, A. Perez Gracia

CHAPTER 2

A new 3-DoF spherical motion master-slave mechanism

V. Parenti-Castelli, M. Fava, M. Conconi, N. Sancisi

Preliminary analysis and simulation of a compact variable stiffness wrist

G. Milazzo, M.G. Catalano, A. Bicchi, G. Grioli

The evolving role of robot kinematics in bio-nanotechnology

K. Kazerounian, H. Ilies

Kinematic modelling of a Stewart-Gough platform with modified Cardan joints

M. Bem, S. Reberšek, I. Kovač, A. Ude

A generalization of the Bresse properties in higher-order kinematics

D. Condurache

Inherently balanced spherical pantograph mechanisms

K.T.Y. Durieux, V. Van der Wijk

Finding the common tangents to four spheres via dimensionality reduction

J.M. Porta, F. Thomas

CHAPTER 3

A Schoenflies motion generator actuated by four in-parallel sliding joints with a single mobile platform featuring half-circle rotation

G. Wu, H. Shen

compound cable-driven parallel robot for a larger wrench-feasible workspace

C. Chevallereau, P. Wenger, S. Caro

Hierarchy control of dual-arm concentric tube continuum robots with different redundancy resolution techniques

T. Alsaka, P. Cinquin, M.T. Chikhaoui

Actuated in-operation-reconfiguration of a cable-driven parallel robot with a gradient descent approximation technique

J. Clar, F. Trautwein, T. Reichenbach, A. Verl, M. Neubauer

Design and control of a climbing robot for warehouse automation

E. Galbally Herrero, M. Jorda, S. Rudolf, G. Kaczkowski, C. Loubser, S. Ozog, M. Jothiravi, D. Schabb, G. Berger, C. Actor, A.J. Ferrick, A. Esses, G. Thable, D. Stevens, C. Lara, M. Shemyakin, A. Baitalmal, C. Walti

Closed-form derivation of the gain-type singularity surface of the 3-RRS parallel manipulator

A. Kolte, B. Patra, S. Bandyopadhyay

Synthesizing the transmission properties of a five-bar linkage by shaping workspace bounds

S. Ramesh, M. Plecnik

CHAPTER 4

Kinematic analysis of a parallel robot for minimally invasive surgery

C. Vaida, B. Gherman, I. Birlescu, P. Tucan, A.-V. Pusca, G. Rus, D. Chablat, D. Pisla

An average-distance minimizing motion sweep for planar bounded objects

Q. Ge, H. Liu

Kinetic-geometric three-position synthesis of a balanced 4R four-bar linkage

V. Van der Wijk

Angular velocity and acceleration extrema: Implications for force analysis in planar 4R mechanisms

M.J.D. Hayes, T.T.O. Hninn, R.A. Irani

On kinematics of lower mobility planar parallel continuum robots

O. Altuzarra, M. Urizar, K. Bilbao, A. Hernández

Rational linkages: From poses to 3D-printed prototypes

D. Huczala, J. Siegele, D.A. Thimm, M. Pfurner, H.-P. Schröcker

Use of force-controlled compliance-eigenvector power-iterations for finding an instantaneous knee axis: Mockup study for a fixed hinge

A. Hoffmann, M. Ghiassi, A. Kecskeméthy

CHAPTER 5

Analytically informed inverse kinematics solution at singularities

A. Mueller

Diversifying construction units and types of 1-DOF multi-loop plane-symmetric overconstrained spatial mechanisms

X. Kong, Y. Li

Dual quaternion quintic blends: C2-continuous, time-optimized interpolation with unit dual quaternion pose representation

J. Temminghoff, M. Huptych, J. Wiartalla, M. Schmitz, B. Corves, M. Hüsing

Motion types of 2-DOF hybrid kinematic chains

A. Antonov

A new compact paired-parallel architecture for haptic transparency

M. Vulliez, O. Khatib

Development of a redirection system for collision avoidance of “Quad-SCARA” robot platform based on buffered Voronoi cell

X. Sun, K. Shibayama, K Ishida, K. Makino, H. Terada

Influence of joint offsets on the elbow null space motions of the 7-DOF Franka robot

S. Tittel

CHAPTER 6

Kinematic and static analyses of a 3-DoF spatial tensegrity mechanism

K. Muñoz, M. Porez, P. Wenger

Hybrid-control-based workspace analysis of overconstrained cable-driven parallel robots

E. Idà, F. Zoffoli, M. Carricato

On the product of subgroups as persistent submanifolds

V. Di Paola, J. Selig, D. Zlatanov

From axial C-hedra to general P-nets

G. Nawratil

A novel 4-DoF 3UPU-2UPU-RRR parallel manipulator with full rotational capability based on redundancy

H. Simas, R. Simoni, L. Meneghini

Computational efficient mechanisms

S. Bai

A variable-DOF single-loop 7R spatial mechanism that has no 1-DOF 7R motion mode

X. Kong

CHAPTER 7

Mobile Delta robot for green asparagus harvesting

S. Šlajpah, J. Gimpelj, M. Munih, M. Mihelj

Human-robot interactive framework with remote center of motion and virtual fixtures for minimally invasive robotic surgery

C. Pecorella, C. Iacono, B. Siciliano, F. Ficuciello

Kinematic design of a novel finger exoskeleton mechanism for rehabilitation exercises

G. Kiper, E. İnanç

Fixed Points in Distance Recurrence Formulas

F. Thomas

A minimally autonomous robot walker

J. Li, C. Liu, J.M. McCarthy

Geometric design of spatial mechanisms for interaction with the environment

N. Robson, S. Hernandez

Kinetostatic analysis for 6RUS parallel continuum robot using Cosserat rod theory

V. Rodrigues, B. Yu, C. Stoeffler, S Kumar