Computational Kinematics : Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017

611 Pages·2018·78.43 MB·English

by  Laribi

Mechanisms and Machine Science 50
Saïd Zeghloul
Lotfi Romdhane
Med Amine Laribi E ditors
Computational
Kinematics
Proceedings of the 7th International
Workshop on Computational Kinematics
that was held at Futuroscope-Poitiers,
France, in May 2017
Mechanisms and Machine Science
Volume 50
Series editor
Marco Ceccarelli
LARM: Laboratory of Robotics and Mechatronics
DICeM: University of Cassino and South Latium
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: [email protected]
More information about this series at http://www.springer.com/series/8779
ï fi
Sa d Zeghloul Lot Romdhane
(cid:129)
Med Amine Laribi
Editors
Computational Kinematics
Proceedings of the 7th International
Workshop on Computational Kinematics
that was held at Futuroscope-Poitiers,
France, in May 2017
123
Editors
Saïd Zeghloul MedAmineLaribi
Institut PPRIME, UPR3346 SP2MI,Téléport2
University of Poitiers University of Poitiers
Poitiers Poitiers
France France
LotfiRomdhane
American University of Sharjah, UAE,
onleavefrom the National School
ofEngineering of Sousse
SousseErriadh
Tunisia
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-60866-2 ISBN978-3-319-60867-9 (eBook)
DOI 10.1007/978-3-319-60867-9
LibraryofCongressControlNumber:2017944354
©SpringerInternationalPublishingAG2018
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Preface
This book contains the Proceedings of the seventh International Workshop on
Computational Kinematics (CK2017) sponsored by IFToMM, the International
Federation for the Promotion of Mechanism and Machine Science.
CK 2017, IFToMM International Workshop on Computational Kinematics, is
the seventh event of a series that started in 1993 as a specific conference on
computational kinematics. The first event was held at the International Conference
andResearchCenterforComputerScience(IBFI),Germany, inOctober1993;the
second was held at INRIA Sophia Antipolis, France, in September 1995; the third
was held in Seoul, South Korea, 2001; the fourth was held at the University of
Cassino,Italy,inMay2005;thefifthwasheldattheUniversityofDuisburg-Essen,
Germany, in May 2009; and the sixth was heldin Barcelona, Spain, in May 2013.
TheaimofCKworkshopistobringtogetherresearchersfromthebroadrangeof
disciplines related to computational kinematics in an intimate, collegial, and
stimulating environment, where they can present and exchange their newest sci-
entific results.
The seventh CK workshop comes to Poitiers, taking place from 22 to 24, May
2017.Theworkshopreceived78papers.Afterpeer-reviewedevaluation,69papers,
from 24 different countries, have been accepted for presentation. The topics of the
papers are related to computational kinematics, including kinematic design and
synthesis, computational geometry in kinematics, motion analysis and synthesis,
theory of mechanisms, mechanism design, kinematical analysis of serial and par-
allel robots, kinematical issues in biomechanics, kinematical motion analysis and
simulation,geometricconstraintsolvers,deployableandtensegritystructures,robot
motion planning, applications of computational kinematics, education in compu-
tational kinematics, and theoretical foundations of kinematics.
The community of kinematicians, thus, continues to exhibit its traditional
vitality. The reader will find here a representative sample of the most modern
techniques available nowadays for the solution of challenging problems arising in
computationalkinematics.Inlightofitscontents,thisbookshouldbeofinterestto
researchers, graduate students, and practicing engineers working in kinematics or
relatedareas.TheresearchersgatheringinPoitiersontheoccasionofCK2017will
v
vi Preface
continuetomakethistruthandtoshowhowtheirresultshaveanimportantimpact
in several different domains.
We thank the authors who have contributed with very interesting papers on
several subjects, covering many areas linked to computational kinematics and
additionally for their cooperation in revising papers in a short time in agreement
withthereviewers’comments.Wearegratefultothe65reviewersforthetimeand
efforts they spent in evaluating the papers with a tight schedule that has permitted
the publication of this Proceedings volume in time for the workshop.
WethanktheUniversityofPoitiers,inparticular,theFundamentalandApplied
Science Faculty, for having hosted the CK 2017 event.
We also thank the support of International Federation for the Promotion of
Mechanism and Machine Science (IFToMM). The symposium received generous
support from local sponsors, namely the University of Poitiers, the Grand Poitiers,
the Nouvelle Aquitaine region, and the Aquitaine Robotics cluster, which were
critical to make this workshop possible.
Wethankthepublisher Springeranditseditorialstaffforacceptingandhelping
inthepublicationofthisProceedingsvolumewithinthebookseriesonMechanism
and Machine Science (MMS).
Saïd Zeghloul
Lotfi Romdhane
Med Amine Laribi
Contents
Applications
Inherently Balanced Double Bennett Linkage. .... .... .... ..... .... 3
Volkert van der Wijk
3D Revolute Joint with Clearance in Multibody Systems.... ..... .... 11
Narendra Akhadkar, Vincent Acary, and Bernard Brogliato
Kinematics and Bifurcation of a Twofold-Symmetric
Eight-Bar Linkage . .... .... ..... .... .... .... .... .... ..... .... 19
Zhao Tang, Dimiter Zlatanov, and Jian Dai
A Novel Kinematic Model of Spatial Four-bar Linkage RSPS
for Testing Accuracy of Actual R-Pairs with Ball-bar.. .... ..... .... 27
Zhi Wang, Delun Wang, Xiaopeng Li, Huimin Dong, and Shudong Yu
ModelReductionMethodsforOptimalFollow-the-LeaderMovements
of Binary Actuated, Hyper-redundant Robots .... .... .... ..... .... 35
Svenja Tappe, Dairong Yu, Jens Kotlarski, and Tobias Ortmaier
Kinematic Design of a Lighting Robotic Arm for Operating Room ........ 44
J. Sandoval, L. Nouaille, G. Poisson, and Y. Parmantier
Elastostatic Modelling of a Wooden Parallel Robot.... .... ..... .... 53
Lila Kaci, Clement Boudaud, Sebastien Briot, and Philippe Martinet
Towards an Autonomous Airborne Robotic Agent. .... .... ..... .... 62
Daniel Soto-Guerrero, José Gabriel Ramírez-Torres,
and Jean-Pierre Gazeau
Autonomous March Control for Humanoid Robot Animation
in a Virtual Reality Environment .. .... .... .... .... .... ..... .... 70
Víctor H. Andaluz, Santiago Guamán, and Jorge S. Sánchez
vii
viii Contents
Control Based on Linear Algebra for Mobile Manipulators . ..... .... 79
Víctor H. Andaluz, Edison R. Sásig, William D. Chicaiza,
and Paola M. Velasco
Modeling and Kinematic Nonlinear Control of Aerial
Mobile Manipulators.... .... ..... .... .... .... .... .... ..... .... 87
Jessica S. Ortiz, Alex P. Erazo, Christian P. Carvajal, José A. Pérez,
Luis E. Proaño, Franklin M. Silva M., and Víctor H. Andaluz
Path Planning Based on Visual Feedback Between Terrestrial
and Aerial Robots Cooperation .... .... .... .... .... .... ..... .... 96
JessicaS.Ortiz,CristhianF.Zapata,AlexD.Vega,andVíctorH.Andaluz
Biomechanics
Dynamic Analysis and Control of a Hybrid Serial/Cable Driven
Robot for Lower-Limb Rehabilitation... .... .... .... .... ..... .... 109
Mourad Ismail, Samir Lahouar, and Lotfi Romdhane
Kinematic Analysis of Active Ankle Using Computational
Algebraic Geometry .... .... ..... .... .... .... .... .... ..... .... 117
Shivesh Kumar, Abhilash Nayak, Bertold Bongardt, Andreas Mueller,
and Frank Kirchner
Optimization of a Redundant Serial Spherical Mechanism
for Robotic Minimally Invasive Surgery. .... .... .... .... ..... .... 126
Carl A. Nelson, Med Amine Laribi, and Said Zeghloul
Kinematic Analysis for a Prostate Biopsy Parallel Robot
Using Study Parameters. .... ..... .... .... .... .... .... ..... .... 135
IosifBirlescu,PaulTucan,BogdanGherman,CalinVaida,NicolaeCrisan,
Corina Radu, Nicolae Plitea, and Doina Pisla
Optimum Walking of the Bioloid Humanoid Robot
on a Rectilinear Path ... .... ..... .... .... .... .... .... ..... .... 143
Gabriela Reyes, Jose Alfonso Pamanes, Jesus Edurado Fierro,
and Victor Nunez
A New Experimental Set-up for Training Multi-parameter Gaits.. .... 152
Sami Bennour, Houssein Lamine, Baptiste Ulrich, Thomas Legrand,
Brigitte Jolles, Julien Favre, and Lotfi Romdhane
Cable Robots
Comprehensive Dynamic Study of an Unloaded Walking
Within a Cable-Based Gait Trainer. .... .... .... .... .... ..... .... 165
Houssein Lamine, Sami Bennour, and Lotfi Romdhane
Contents ix
A Cable-Driven Robot for Upper Limb Rehabilitation Inspired
by the Mirror Therapy.. .... ..... .... .... .... .... .... ..... .... 174
Lukas Tappeiner, Erika Ottaviano, and Manfred L. Husty
Computing Cross-Sections of the Workspace of Cable-Driven
Parallel Robots with 6 Sagging Cables .. .... .... .... .... ..... .... 182
Jean-Pierre Merlet
Efficient Computation of the Workspace Boundary, Its Properties
and Derivatives for Cable-Driven Parallel Robots . .... .... ..... .... 190
Andreas Pott
Application of the Rigid Finite Element Method to the Simulation
of Cable-Driven Parallel Robots ... .... .... .... .... .... ..... .... 198
Philipp Tempel, Andreas Schmidt, Bernard Haasdonk, and Andreas Pott
Cams/Gear
Evaluating the Knot Vector to Synthesize the Cam Motion
Using NURBS . .... .... .... ..... .... .... .... .... .... ..... .... 209
T.T.N. Nguyen, S. Kurtenbach, M. Hüsing, and B. Corves
Kinematics of Biplanetary Epicyclic Gears... .... .... .... ..... .... 217
J. Drewniak, A. Deptuła, T. Kądziołka, and S. Zawiślak
Optimization
Dynamic Synthesis of a Multibody System: A Comparative Study
Between Genetic Algorithm and Particle Swarm Optimization
Techniques.... .... .... .... ..... .... .... .... .... .... ..... .... 227
Mohamed Amine Ben Abdallah, Imed Khemili, Med Amine Laribi,
and Nizar Aifaoui
Robust Design Methodology of Topologically
Optimized Components Under the Effect of Uncertainties... ..... .... 235
Joshua Amrith Raj and Arshad Javed
Parallel Robots
Kinematic and Dynamic Modeling and Base Inertial Parameters
Determination of the Quadrupteron Parallel Manipulator... ..... .... 249
Behzad Danaei, Alaleh Arian, Mehdi Tale Masouleh, and Ahmad Kalhor
Forward Kinematics of the General Triple-Arm Robot
Using a Distance-Based Formulation.... .... .... .... .... ..... .... 257
Nicolas Rojas and Federico Thomas
Parallel Manipulators in Terms of Dual Cayley-Klein Parameters. .... 265
G. Nawratil