The CK2005, International Workshop on Computational Kinematics is the third event of a series that has been started in 1995 as a conference activity of the IFToMM Technical Committee for Computational Kinematics. The first event was held in Sophia Antipolis, France in 1995 and the second Workshop was held in Seoul, Korea in 2001. But also at the IFToMM World Congresses in 1999 at Oulu, Finland and in 2004 in Tianjin, China sessions have been organized on Computational Kinematics in the form of a Symposium within the Congress program.
This year CK Workshop has come to Cassino in Italy taking place from 4 to 6 May 2005.
The program of CK Workshop includes technical sessions with oral presentations, which, together with informal conversations during the social program, enable to offer wide opportunities to share experiences and discuss scientific achievements and current trends in the areas encompassed by the workshop.
These Proceedings contain 48 accepted papers after review, including the keynote lecture, by authors from all around the world. These papers cover several aspects of the wide field of Computational Kinematics. The contributions have been grouped in sessions on Analysis of mechanisms, Synthesis of mechanisms, Analysis of parallel manipulators, Synthesis of parallel manipulators, Motion Analysis, Dynamics of mechanisms, Mechanical transmissions, Computer simulation, and Experimental Mechanics but they cover more subjects than those expressed in the above-mentioned session titles.
These Proceedings can be considered to be of interest to researchers, graduate students and engineers specializing or addressing attention to Computational Kinematics. We believe that a reader will take advantage of the papers in these Proceedings with further satisfaction and motivation for her or his work, both in teaching and researching on Computational Kinematics, and Mechanism Design at large.
We would like to express grateful thanks to the members of the International Scientific Committee of the CK Workshop:
Jean-Pierre Merlet, (Chairman), INRIA, France
Jorge Angeles, McGill University, Canada
Marco Ceccarelli, University of Cassino, Italy
Gregory Chirikjian, J. Hopkins University, USA
Clement Gosselin, Universitè Laval, Canada
Manfred Husty, University of Innsbruck, Austria
Vijay Kumar, University of Pennsylvania, USA
Jadran Lenarcic, Jozef Stefan Institute, Slovenia
Frank Park, National Seoul University, Korea
Bernard Roth, Stanford University, USA
Moshe Shoham, Technion University, Israel
for co-operating enthusiastically for the success of the CK2005 event.
We thank the authors who have contributed with very interesting papers in several subjects, covering many fields of Computational Kinematics. We hope that they will like to ask for publication of their papers also in Journals and they will mention the first presentation at this CK 2005 Workshop. We are grateful to the reviewers for the time and effort they spent evaluating the papers.
We thank the Department of Mechanics, Structures, Environment and Territory, and School of Engineering of the University of Cassino for supporting the CK2005 and hosting the event. We would like also to thank the auspices of IFToMM - The International Federation for the Promotion of Mechanisms and Machine Science, through the Technical Committee for Computational Kinematics.
We would like to thank our colleagues for their help: Dr Chiara Lanni and Dr Giuseppe Carbone at the LARM: Laboratory of Robotics and Mechatronics of University of Cassino;
We wish to attendees a fruitful participation at CK 2005 sessions as well as in the social events.
University of Cassino, May 2005
Prof. Marco Ceccarelli (Co-Chairperson for CK 2005)
Ass. Prof. Erika Ottaviano (Co-Chairperson for CK 2005)
List of papers for CK2005
MAKOTO KANEKO AND MITUSRU HIGASHIMORI DESIGN OF SUPER HIGH SPEED ROBOT HAND
JOE ROONEY ON THE DIFFERENT FORMS OF ALGEBRAIC ELIMINANT
MARCO CECCARELLI, NESTOR EDUARDO NAVA RODRÍGUEZ, GIUSEPPE CARBONE. OPTIMAL DESIGN OF DRIVING MECHANISM IN A 1-D.O.F. ANTHROPOMORPHIC FINGER
AMANI BEN SGHAIER, LOTFI ROMDHANE SOFTWARE PACKAGE FOR PARALLEL MECHANISMS MODELING AND SIMULATION
MEYRBEK MOLDABEKOV, AMANDYK TULESHOV, SERGEY MURUSHKIN THE COMPUTER AIDED ANALYSIS OF DYNAMICS OF FLAT LEVER MECHANISMS
EDUARD PEISACH OPTIMAL SPACING OF PRECISION POINTS IN SYNTHESIS OF CRANK-INPUT AND ROCKER-INPUT LINKAGES
KARL WOHLHART MOBILITY FORMULA REVISITED
I. A. PARKIN THE SCREWS FOR FINITE DISPLACEMENT OF A RIGID BODY EXPRESSED IN TERMS OF ITS SYMMETRY SCREWS
ARA K. AMIRYAN THE STUDY AND DEFINITION OF BASIC KINEMATIC PARAMETERS OF THE CHAIN-WAVE MECHANISM
JOSEP M. PORTA, LLU´ÝS ROS AND FEDERICO THOMAS INVERSE KINEMATICS BY DISTANCE MATRIX COMPLETION
MEYRBEK MOLDABEKOV, SERGEY MURUSHKIN DISPLACEMENT ANALYSIS OF SPATIAL SEVEN-LINK 7R MECHANISM
ERIKA OTTAVIANO, JURY DI GIORGIO, MARIO VARONE, MARCO CECCARELLI ANALYSIS, DESIGN AND CONSTRUCTION OF A DISCRETELY-ACTUATED MULTI-MODULE PARALLEL MANIPULATOR
YAN JIN, I-MING CHEN ON THE PERFORMANCE OF A CLASS OF PARALLEL MANIPULATORS WITH DECOUPLED KINEMATIC STRUCTURE WITH STRINGENT GEOMETRIC CONSTRAINTS
PAULO FLORES, J.C. PIMENTA CLARO AND JORGE AMBRÓSIO COMPUTATIONAL ASPECTS OF PLANAR MECHANISMS WITH REVOLUTE JOINT CLEARANCES: MODELIZATION AND SIMULATION
J-P. MERLET KINEMATICS AND SYNTHESIS OF CAMS-COUPLED PARALLEL ROBOTS
DAN SAVESCU EXPERIMENTAL RESEARCHES ABOUT DEFLECTIONS OF ESPECIAL BALL BEARINGS IN THE WAY TO OBTAIN HIGHER PERFORMANCES
BIING-WEN, BAIR, CHIEN-FA, CHEN, AND CHUNG YI, CHOU COMPUTERIZED TOOTH PROFILE GENERATION OF ELLIPTICAL GEARS MANUFACTURED BY CIRCULAR-ARC SHAPER CUTTERS
J.A. SNYMAN AND A.M. HAY OPTIMAL SYNTHESIS FOR A CONTINUOUS PRESCRIBED DEXTERITY INTERVAL OF A 3-DOF PARALLEL PLANAR MANIPULATOR FOR DIFFERENT PRESCRIBED OUTPUT WORKSPACES
DAVID DANEY, NICOLAS ANDREFF, YVES PAPEGAY INTERVAL METHOD FOR CALIBRATION OF PARALLEL ROBOTS: A VISION-BASED EXPERIMENTATION
SCHMIDT AITALIEV, GAILAU MASANOV , ALMATBEK KYDYRBEKULY , LELYA KHAJIYEVA DYNAMICS OF MECHANISMS WITH ELASTIC LINKS
YUKIO TAKEDA KINEMATIC ANALYSIS OF PARALLEL MECHANISMS AT SINGULAR POINTS AT WHICH A CONNECTING CHAIN HAS LOCAL MOBILITY
GRIGORE GOGU MOBILITY CRITERION AND OVERCONSTRAINTS OF PARALLEL MANIPULATORS
NARCISA POPESCU SOME RESEARCHES ABOUT THE PROPERLY APPLYING OF THE "TARGET VALUE" THEORY IN ORDER TO MEET INDUSTRIAL EXCELLENCY TARGETS FOR ISO FIT FORMING METHODOLOGY PERFORMED IN PRECISE MECHANISMS AND UNIT
NOBUYUKI IWATSUKI, RYUJI HOSHINO AND KOICHI MORIKAWA DIRECT KINEMATICS OF A 3(R-R-S) SPATIAL PARALLEL MANIPULATOR BASED ON THE KINEMATIC ANALYSIS OF R-S-S CHAIN
JORGE ANGELES IS THERE A CHARACTERISTIC LENGHT OF A RIGID DISPCEMENT?
ALEXANDER GOLOVIN, ALEXANDER BORISOV, IRINA DROZDOVA, BASIL SHUMAN THE SIMULATING MODEL OF A GEARING WEAR
D. CHABLAT J.ANGELES STRATEGIES FOR THE DESIGN OF A SLIDE-O-CAM TRANSMISSION
SANJAY.B.INGOLE, RAJENDRA S.KADU APPROXIMATE EXPERIMENTAL DATA BASED MODEL FOR ANALYSING THE EFFECT OF LEG DEFLECTION, MAGNETIC INDUCTION AND PRESSURE IN LAMINATION ASSEMBLY WITH RESPECT TO NOISE GENERATION IN POWER TRANSFORMER.
PATRICIA BEN-HORIN AND MOSHE SHOHAM SINGULARITY ANALYSIS OF A CLASS OF PARALLEL ROBOTS BASED ON GRASSMANN-CAYLEY ALGEBRA
FU-CHEN CHEN MOTION SIMULATION OF SIX-BAR HINGE MECHANISM OF A CABINET DOOR
ROCCO VERTECHY, VINCENZO PARENTI CASTELLI AN ACCURATE AND FAST ALGORITHM FOR THE DETERMINATION OF THE RIGID BODY POSE BY THREE POINT POSITION DATA
RASIM I. ALIZADE, ERKIN GEZGIN, ÖZGÜR KILIT A NEW METHOD IN COMPUTATIONAL KINEMATICS OF A SPHERICAL WRIST MOTION THROUGH QUATERNIONS
ÁLVARO PAGE, VICENTE MATA, JUAN VICTOR HOYOS, ROSA PORCAR, FRANCISCO RUBIO INSTANTANEOUS SCREW AXIS EXPERIMENTAL DETERMINATION IN HUMAN MOTIONS. ERROR ANALISYS
MAZEN ZEIN, PHILIPPE WENGER AND DAMIEN CHABLAT AN EXHAUSTIVE STUDY OF THE WORKSPACES TOPOLOGIES OF ALL 3R ORTHOGONAL MANIPULATORS WITH GEOMETRIC SIMPLIFICATIONS
ZHUMADIL ZH. BAIGUNCHEKOV, BAURZHAN K. NURAKHMETOV, BAKHYT N. ABSADYKOV KINEMATIC SYNTHESIS OF POSITIONING PARALLEL MANIPULATOR WITH FUNCTIONALLY INDEPENDENT DRIVES BY QUADRATIC APPROXIMATION
TAOUFIK MBAREK, MARWENE NEFZI, BURKHARD CORVES KINEMATIC ANALYSIS AND WORKSPACE DETERMINATION OF A PARALLEL MANIPULATOR WITH FIVE DEGREES OF FREEDOM
KATRIN BRUNNTHALER, HANS-PETER SCHR¨ OCKER AND MANFRED HUSTY A NEW METHOD FOR THE SYNTHESIS OF BENNETT MECHANISMS
XIANWEN KONG AND CLEMENT M. GOSSELIN TYPE SYNTHESIS OF 4-DOF SP-EQUIVALENT PARALLEL MANIPULATORS: A VIRTUAL-CHAIN APPROACH
ERNO KESKINEN JUHA-MATTI KIVINEN MICHEL COTSAFTIS DYNAMICS AND PERFORMANCE OF DISPENSING ROBOT FOR CONTINUOUS BALANCING OF LONG ELASTIC ROTORS
TORSTEN BRIX AND MICHAEL REEßING AND ULF DÖRING CONSTRAINT-BASED COMPUTATIONAL KINEMATICS
ULF DÖRING , TORSTEN BRIX, MICHAEL REEßING APPLICATION OF COMPUTATIONAL KINEMATICS IN THE DIGITAL MECHANISM AND GEAR LIBRARY DMG-LIB
RAMON SANCIBRIAN, PABLO GARCÍA, FERNANDO VIADERO AND ALFONSO FERNANDEZ DIMENSIONAL SYNTHESIS OF RSSR-SS LINKAGES WITH APPLICATION TO THE DESIGN OF SUSPENSION SYSTEM IN VEHICLES
GIORGIO FIGLIOLINI AND PIERLUIGI REA GENEVA MECHANISM AND ITS PURE-ROLLING CAM-EQUIVALENT
CHIA-CHANG LIU JIA-HONG CHEN CHUNG-BIAU TSAY YUKINORI ARIGA MESHING SIMULATIONS OF THE WORM GEAR CUT BY A STRAIGHT-EDGED FLYBLADE AND THE ZK-TYPE WORM WITH A NON-NINETY-DEGREE CROSSING ANGLE
I.A. PARKIN AND J. PRESTON THE COUPLER-DISPLACEMENT SCREWS EMBEDDED IN THE DIAGONALS OF THE BENNETT MECHANISM
CHINTIEN HUANG, KOICHI SUGIMOTO, IAN PARKIN THE CORRESPONDENCE BETWEEN FINITE SCREW SYSTEMS AND PROJECTIVE SPACES
G. A. DANIELI, G. GATTI, D. MUNDO, G. FRAGOMENI GEOMETRIC SYNTHESIS OF A FOUR-BAR-LINKAGE FOR KNEE EXTERNAL FIXATION
PIETRO FANGHELLA A MIXED SYMBOLIC-NUMERIC COMPUTATIONAL APPROACH FOR THE KINEMATIC SYNTHESIS OF NON-CIRCULAR GEARS