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