Proceedings Of The International Workshop On Computational Kinematics (CK 2005) - Marco Ceccarelli
 (2006)
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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)

Product Details
No. of Pages 134

Notes
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