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1、AdvancesinRobotKinematics:AnalysisandDesignJadranLenarciˇcˇ•PhilippeWengerEditorsAdvancesinRobotKinematics:AnalysisandDesignJadranLenarciˇcˇPhilippeWengerJ.StefanInstituteIRCCyNInstituteLjubljana,SloveniaNantes,FranceISBN-13:978-1-4020-8599-4e-ISBN-13:978-1-4020-8600-7LibraryofCongress
2、ControlNumber:2008927513©2008SpringerScience+BusinessMediaB.V.Nopartofthisworkmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformorbyanymeans,electronic,mechanical,photocopying,microfilming,recordingorotherwise,withoutwrittenpermissionfromthePublisher,withtheexceptionofanyma
3、terialsuppliedspecificallyforthepurposeofbeingenteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.Printedonacid-freepaper987654321springer.comTableofContentsPrefacexiSINGULARITYANALYSISOFPARALLELMANIPULATORSANewAssessmentofSingularitiesofParallelKinematicChains3Mi
4、cheleConconiandMarcoCarricatoSingularityAnalysisthroughStaticAnalysis13J.HubertandJ.-P.MerletConstraintSingularitiesandtheStructuralParametersofParallelRobots21GrigoreGoguForwardKinematicsandSingularityAnalysisofa3-RPRPlanarParallelManipulator29XianwenKongGeometricAlgebraApproachtoSing
5、ularityofParallelManipulatorswithLimitedMobility39TanioK.TanevSinguLab–AGraphicalUserInterfacefortheSingularityAnalysisofParallelRobotsBasedonGrassmann–CayleyAlgebra49PatriciaBen-Horin,MosheShoham,StéphaneCaro,DamienChablatandPhilippeWengerSingularityAnalysisofLimited-DOFParallelManipu
6、latorsUsingGrassmann–CayleyAlgebra59DanielKanaan,PhilippeWengerandDamienChablatDESIGNOFROBOTSANDMECHANISMSOntheDesignofFullyConstrainedParallelCable-DrivenRobots71M.Gouttefarde,S.Krut,O.Company,F.PierotandN.RamdanivviTableofContentsSynthesisofPartOrientingDevicesforSpatialAssemblyTasks
7、79P.LarochelleMinimumEnergyManipulatorDesign89A.RojasSalgadoandY.LedezmanRubioSynthesisandAnalysisofaConstrainedSphericalParallelManipulator101G.S.SohandJ.M.McCarthyANonholonomic3-DOFParallelRobot111PatriciaBen-HorinandFedericoThomas4DOFParallelArchitectureforLaparoscopicSurgery119Mo
