图书简介
This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems.The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.
PART 1: Theoretical Kinematics.- Möbius Linkages.- On Origami-Like Quasi-Mechanisms with an Antiprismatic Skeleton.- Line-Point Constraints and Robot Surgery.- On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains.- Extended Rotation Matrix for Kinematics of Pointing Mechanism.- A Linearization Method based on Lie Algebra for Pose Estimation in a Time Horizon.- Hyper-Multidual Algebra and Higher-Order Kinematics.- Geometry based Analysis of 3R Serial Robots.- Synthesis of Gripper Mechanisms Derived from Baranov Chains.- 6R Linkages with Hidden Singularities.- PART 2: Cable Driven Manipulators.- Best Operation Regions in a Planar Cable-Driven System.- Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot.- An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots.- A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots.- Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors.- Stacked Tensegrity Mechanism for Medical Application.- Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies.- PART 3: Computational Kinematics.- Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot.- A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform based on Perturbation Theory.- Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator.- Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints.- Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints.- PART 4: Continuum Mechanisms.- Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation.- Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment.- Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion.- Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots.- A Gazebo Simulator for Continuum Parallel Robots.- Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines.- PART 5: Mechanism Synthesis.- General Procedure for Path Generation Synthesis based on Kinematic constraints.- Finding Straight Line Generators through the Approximate Synthesis of Symmetric Four-bar Coupler Curves.- A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem.- Classification of Mobilities - New insights on an old topic.- First and Second Order Centrodes of Slider-Crank Mechanisms by using Instantaneous Invariants.- Spherical 4R Linkage Algebraic vi-vj Input-output Equations.- PART 6: Spherical Mechanisms.- Kinematics of a Gear-Based Spherical Mechanism.- Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions.- Wriflex: Design and Kinematic Analysis of a Self-Aligning Parallel Wrist.- Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.- PART 7: Biomechanics.- Smooth Wrapping of Stretchable Thick Strands Over a Surface - the 2D Case.- Exploiting Reciprocity between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics.- Generation of Parametric Gait Patterns.- Parametrization of Compliant, Object-Level Controllers from Human Demonstrations.- PART 8: Linkages.- Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy.- The Distance Geometry of the Generalized Lobster’s Arm.- Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot.- The Spatial Pantograph and its Mass Balance.- A New Family of Ov
Trade Policy 买家须知
- 关于产品:
- ● 正版保障:本网站隶属于中国国际图书贸易集团公司,确保所有图书都是100%正版。
- ● 环保纸张:进口图书大多使用的都是环保轻型张,颜色偏黄,重量比较轻。
- ● 毛边版:即书翻页的地方,故意做成了参差不齐的样子,一般为精装版,更具收藏价值。
关于退换货:
- 由于预订产品的特殊性,采购订单正式发订后,买方不得无故取消全部或部分产品的订购。
- 由于进口图书的特殊性,发生以下情况的,请直接拒收货物,由快递返回:
- ● 外包装破损/发错货/少发货/图书外观破损/图书配件不全(例如:光盘等)
并请在工作日通过电话400-008-1110联系我们。
- 签收后,如发生以下情况,请在签收后的5个工作日内联系客服办理退换货:
- ● 缺页/错页/错印/脱线
关于发货时间:
- 一般情况下:
- ●【现货】 下单后48小时内由北京(库房)发出快递。
- ●【预订】【预售】下单后国外发货,到货时间预计5-8周左右,店铺默认中通快递,如需顺丰快递邮费到付。
- ● 需要开具发票的客户,发货时间可能在上述基础上再延后1-2个工作日(紧急发票需求,请联系010-68433105/3213);
- ● 如遇其他特殊原因,对发货时间有影响的,我们会第一时间在网站公告,敬请留意。
关于到货时间:
- 由于进口图书入境入库后,都是委托第三方快递发货,所以我们只能保证在规定时间内发出,但无法为您保证确切的到货时间。
- ● 主要城市一般2-4天
- ● 偏远地区一般4-7天
关于接听咨询电话的时间:
- 010-68433105/3213正常接听咨询电话的时间为:周一至周五上午8:30~下午5:00,周六、日及法定节假日休息,将无法接听来电,敬请谅解。
- 其它时间您也可以通过邮件联系我们:customer@readgo.cn,工作日会优先处理。
关于快递:
- ● 已付款订单:主要由中通、宅急送负责派送,订单进度查询请拨打010-68433105/3213。
本书暂无推荐
本书暂无推荐