| 1. | Methods in Kinematics | |
| Study's kinematic mapping--A tool for motion design | 7 |
| Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra | 17 |
| Unit quaternion and CRV: Complementary non-singular representations of rigid-body orientation | 27 |
| Numerically stable methods for converting rotation matrices to Euler parameters | 35 |
| Geometry of homokinematic spatial Cardan shafts by dual methods | 43 |
| A concise Bezier clipping technique for solving inverse kinematics problems | 53 |
| Geometric calibration of robots using multiple plane constraints | 61 |
| 2. | Kinematic Synthesis | |
| On isotropic sets of points in the plane. Application to the design of robot architectures | 73 |
| Fourier methods for synthesis of coupled serial chain mechanisms | 83 |
| Dimensional synthesis of spatial RR robots | 93 |
| Approximate motion synthesis via parametric constraint manifold fitting | 103 |
| Designing linkages with symmetric motions: The spherical case | 111 |
| Kinematic synthesis of planar platforms with RPR, PRR, and RRR chains | 119 |
| 3. | Force Analysis | |
| Impact analysis as a design tool for the legs of mobile robots | 129 |
| Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control | 137 |
| The Melbourne hand | 147 |
| Active force closure for multiple objects | 155 |
| SCALPP: A 6-dof robot with a non-spherical wrist for surgical applications | 165 |
| A framework for multi-contact multi-body dynamic simulation and haptic display | 175 |
| On the dynamics of a class of parallel robots | 187 |
| 4. | Kinematic Redundancy | |
| A simplified criterion for the repeatability of redundant manipulators | 199 |
| An intuitive interface for nullspace teaching of redundant robots | 209 |
| Methods for resolving velocity degeneracies of joint-redundant manipulators | 217 |
| Novel kinematics for continuum robots | 227 |
| The optimum quality index for a spatial redundant 4-8 in-parallel manipulator | 239 |
| Fuzzy inverse kinematics for underwater vehicle-manipulator systems | 249 |
| 5. | Parallel Mechanisms and Workspace Analysis | |
| Symmetries in workspace densities of discretely actuated manipulators | 259 |
| Workspace characterization of planar three-legged platforms with holonomic higher pairs | 267 |
| Estimating the controllable workspace of tendon-based Stewart platforms | 277 |
| The chord method for the determination of non-convex workspaces of planar parallel platforms | 285 |
| Elasto-kinematic design tools for parallel mechanisms | 295 |
| Kinematic analysis of a new parallel machine tool: the orthoglide | 305 |
| Optimal trajectory planning of a 5-axis machine-tool based on a 6-axis parallel manipulator | 315 |
| 6. | Analysis and Application of Parallel Mechanisms | |
| A 4-dof parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex | 325 |
| Parallel mechanisms applied to the human knee passive motion simulation | 333 |
| A geometric model for cylinder-cylinder impact with application to vertebrae motion simulation | 345 |
| Architecture singular parallel manipulators and their self-motions | 355 |
| Architectural shakiness or architectural mobility of platforms | 365 |
| Mobius mechanisms | 375 |
| 7. | Parallel Mechanisms and Screw Algebra | |
| Direct kinematics of the double-triangular manipulator: An exercise in geometric thinking | 385 |
| A three-dof tripod for generating spherical rotation | 395 |
| Kinematical analysis and simulation of a new parallel mechanism for robotics' application | 403 |
| Early studies in screw theory | 411 |
| On deriving infinitesimal twists and velocity screws from finite displacement screws | 423 |
| Synthesis by screw algebra of translating in-parallel actuated mechanisms | 433 |
| Author Index | 441 |
