Computational Kinematics Proceedings of the 5th International Workshop on Computational Kinematics

Cable-Driven Parallel Manipulators.- Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism.- Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators.- Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device.- Closed-form Force Distribution for Parallel Wire Robots.- Parallel Manipulators (1).- Computing the Configuration Space for Motion Planning between Assembly Modes.- Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators.- Non-singular assembly mode change in 3-RPR-parallel manipulators.- Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot.- Parallel Manipulators (2).- Forward displacement analysis of a 3-RPR planar parallel manipulator revisited.- Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators.- Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs.- ON NEW CLASS OF PARALLEL-CROSS MECHANISMS.- Motion Planning.- Motion Interpolation with Bennett Biarcs.- Motion Estimation using a Statistical Solid Dynamic Method.- Spatial Generalization of the Planar Path Generation Problem.- Motion Planning of Nonholonomic Systems with Dynamics.- Numerical Methods.- Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender).- Fast Distance Computation Using Quadratically Supported Surfaces.- On the Computation of the Home Posture of the McGill Schönflies-Motion Generator.- Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems.- Geometrical Methods.- Explicit Algebraic Solution of Geometrically Simple Serial Manipulators.- 3R Wrist Positioning - a ClassicalProblem and its Geometric Background.- A Geometric Newton-Raphson Method for Gough-Stewart Platforms.- Aspects of Clifford Algebra for Screw Theory.- Synthesis (1).- Uncoupled 6-dof Tripods via Group Theory.- A new approach towards the synthesis of six-bar double dwell mechanisms.- Application of higher order derivatives in the synthesis of crank and cam mechanisms.- Interactive design of a robotic gripper system with the geometry program “GECKO”.- Synthesis (2).- The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism.- Two methods for force balancing of Bennett linkages.- Regular Polygonal and Regular Spherical Polyhedral Linkages Comprising Bennett Loops.- Kinematic analysis of an adjustable slider-crank mechanism.- Biomechanics.- Improving marker based inverse kinematics solutions for under-determined spinal models.- Kinematical Analysis and Design of a New Surgical Parallel Robot.- Design Improvements on a Carotid Blood Flow Measurement System.- Design Issues.- Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation.- A New Procedure for the Optimization of a Dielectric Elastomer Actuator.- Light–Weight High Dynamic Camera Orientation System.- Dynamic Balancing of Clavel’s Delta Robot.- Kinematical Solution by Structural Approximation.- Singularities.- Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator.- Branching singularities in kinematotropic parallel mechanisms.- A new approach to the classification of architecturally singular parallel manipulators.- Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments.- Gears.- A Computational Approach for the Evaluation of Single d.o.f. Planetary Gear Efficiency.- TheComputational Fundamentals of Spatial Cycloidal Gearing.- Geometrical dimensions of helical gears with equalized relative velocities at the beginning and the ending of the meshing.