By Marco Ceccarelli, Victor A. Glazunov

ISBN-10: 3319070576

ISBN-13: 9783319070575

ISBN-10: 3319070584

ISBN-13: 9783319070582

This court cases quantity comprises papers which were chosen after assessment for oral presentation at ROMANSY 2014, the twentieth CISM-IFToMM Symposium on concept and perform of Robots and Manipulators. those papers conceal advances on a number of features of the vast box of Robotics as touching on idea and perform of Robots and Manipulators.

ROMANSY 2014 is the 20th occasion in a sequence that began in 1973 as one of many first convention actions on the earth on Robotics. the 1st occasion was once held at CISM (International Centre for Mechanical technological know-how) in Udine, Italy on 5-8 September 1973. It was once additionally the 1st subject convention of IFToMM (International Federation for the merchandising of Mechanism and computing device technological know-how) and it was once directed not just to the IFToMM community.

Proceedings volumes of ROMANSY were constantly released to be to be had, additionally after the symposium, to a wide public of students and architects with the purpose to provide an summary of latest advances and tendencies within the idea, layout and perform of robots.

This lawsuits quantity, like prior ones of the sequence, comprises contributions with achievements masking many fields of Robotics as concept and perform of Robots and Manipulators that may be an thought for destiny developments.

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Extra info for Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

Sample text

From what was said in the previous section, general two-subsystems are mapped into circles in the ðdx ; dy Þ plane. Each such circle must pass through O, because every two-subsystem includes a screw in the central pencil. ) For example, the platform twists of the Exechon tripod form a 3–IBð0; cÞ system in almost every configuration, (including the singular one in) Fig. 2 [11]. If an actuator is blocked, the constraint-wrench basis can be augmented by the pure force along the leg, uA , shown in Fig.

Mech. Mach. Sci. 3(2):69–76 (2012) 6. : Self-aligning exoskeleton axes through decoupling of joint rotations and translations. IEEE Trans. Robot. 25(3):628–633 (2009) 7. : Design of self-adjusting orthoses for rehabilitation. In: Proceedings of the IASTED International Conference on Robotics and Applications, pp. 215–223 (2009) 8. : Kinetostatic design of ankle rehabilitation mechanism capable of adapting to changes in joint axis. J. Robot. Mechatron. 25(6), 1029–1037 (2013) 9. : Rehabilitation of the ankle after acute sprain or chronic instability.

The formulation of the solution set of the interval system including three parameters is applicable to the Jacobian matrices of the manipulators with more than 2 joints such as planar 3 DOF manipulators. The process is repeated when ½p1 Š; ½p3 Š are set to either the lower or upper bounds and the next 4 curves are functions of ½p2 Š. The last 4 curves are formulated as functions of ½p1 Š when ½p2 Š; ½p3 Š are set to either the lower or upper bounds. The resulting 12 curves form a hypersurface which may have surfaces on the boundary surface of the exact solution.

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Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators by Marco Ceccarelli, Victor A. Glazunov


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