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Intro; Preface; About the AIMTDR Conference; Mission, Vision, Challenges and Direction of AIMTDR Conference; AIMTDR 2016 Conference: Objectives and Organization; Editorial Acknowledgements; Contents; About the Editors; 1 Optimal Design of a Stewart-Gough Platform for Multidirectional 3-D Printing; Abstract; 1 Introduction; 2 Parallel and Hybrid 6-DOF Machine Architectures; 2.1 Coupled Parallel Kinematic Machines; 2.2 Decoupled Parallel Kinematic Machines; 3 Kinematic Modelling of Stewart-Gough Platform; 3.1 Inverse Kinematics; 3.2 Differential Kinematics-The Jacobian
4 Kinetostatic Performance Indices4.1 Manipulability Ellipsoid and Singular Configurations; 4.2 Kinematic Isotropy; 4.3 Global Conditioning Index (GCI); 4.4 Global Manipulability Index; 5 Kinematic Optimization of SGP; 5.1 Geometric Design Space of the SGP; 5.2 Formulation of Indirect Constraints; 5.3 Practical Evaluation of Kinetostatic Performance Index; 5.4 Optimization Using the Genetic Algorithm; 6 Conclusion; References; 2 Development of a Flexible Assembly System Using Industrial Robot with Machine Vision Guidance and Dexterous Multi-finger Gripper; Abstract; 1 Introduction
2 Review of Previous Research2.1 Assembly Planning and Optimization; 2.2 Robot Task-level Planning; 2.3 Design of Robotic Grippers and Their Controller Design; 2.4 Vision-Guided Robotic Assembly; 3 Proposed Methodology; 3.1 Assembly Sequence Planning and Optimization; 3.1.1 Key Issues and Challenges; 3.1.2 Brief Problem Description; 3.1.3 Proposed Approach Based on Sexual Genetic Algorithm; 3.1.4 Results and Discussions; 3.2 Knowledge-Based System for the Generation of Task-level Assembly Plan; 3.2.1 Key Issues and Challenges; 3.2.2 Architecture of the Proposed Knowledge-Based System
3.2.3 Results and Discussions3.3 Proposed Multi-finger Robot Gripper for Flexible Assembly; 3.3.1 Key Issues and Challenges; 3.3.2 Proposed Multi-finger Gripper; Proposed Actuation Mechanism for the Gripper; Control System of the Gripper; 3.3.3 Results and Discussions; 3.4 Vision-Assisted Robotic Assembly; 3.4.1 Key Issues and Challenges; 3.4.2 Implementation of Assembly Task Plan by Vision-Guided Robot; Recognition of Parts, and Estimation of Position and Orientation by Machine Vision; Strategy for Robotic Assembly Under Machine Vision Guidance
Strategy for Assembly Inspection by Machine Vision3.4.3 Results and Discussions; 4 Summary and Conclusions; Acknowledgements; References; 3 A Piezoelectric Actuator Based Compact Micro-manipulation System for Robotic Assembly; Abstract; 1 Introduction; 2 Design of Piezoelectric Actuators Based Compact Miniature Wireless Manipulation System (WMMS); 2.1 Design and Working Principle of the Manipulation System; 2.2 Kinematic Analysis of the Micro-manipulation System; 3 Development of Control System for Wireless Micro-manipulation System; 4 Results and Discussions
4 Kinetostatic Performance Indices4.1 Manipulability Ellipsoid and Singular Configurations; 4.2 Kinematic Isotropy; 4.3 Global Conditioning Index (GCI); 4.4 Global Manipulability Index; 5 Kinematic Optimization of SGP; 5.1 Geometric Design Space of the SGP; 5.2 Formulation of Indirect Constraints; 5.3 Practical Evaluation of Kinetostatic Performance Index; 5.4 Optimization Using the Genetic Algorithm; 6 Conclusion; References; 2 Development of a Flexible Assembly System Using Industrial Robot with Machine Vision Guidance and Dexterous Multi-finger Gripper; Abstract; 1 Introduction
2 Review of Previous Research2.1 Assembly Planning and Optimization; 2.2 Robot Task-level Planning; 2.3 Design of Robotic Grippers and Their Controller Design; 2.4 Vision-Guided Robotic Assembly; 3 Proposed Methodology; 3.1 Assembly Sequence Planning and Optimization; 3.1.1 Key Issues and Challenges; 3.1.2 Brief Problem Description; 3.1.3 Proposed Approach Based on Sexual Genetic Algorithm; 3.1.4 Results and Discussions; 3.2 Knowledge-Based System for the Generation of Task-level Assembly Plan; 3.2.1 Key Issues and Challenges; 3.2.2 Architecture of the Proposed Knowledge-Based System
3.2.3 Results and Discussions3.3 Proposed Multi-finger Robot Gripper for Flexible Assembly; 3.3.1 Key Issues and Challenges; 3.3.2 Proposed Multi-finger Gripper; Proposed Actuation Mechanism for the Gripper; Control System of the Gripper; 3.3.3 Results and Discussions; 3.4 Vision-Assisted Robotic Assembly; 3.4.1 Key Issues and Challenges; 3.4.2 Implementation of Assembly Task Plan by Vision-Guided Robot; Recognition of Parts, and Estimation of Position and Orientation by Machine Vision; Strategy for Robotic Assembly Under Machine Vision Guidance
Strategy for Assembly Inspection by Machine Vision3.4.3 Results and Discussions; 4 Summary and Conclusions; Acknowledgements; References; 3 A Piezoelectric Actuator Based Compact Micro-manipulation System for Robotic Assembly; Abstract; 1 Introduction; 2 Design of Piezoelectric Actuators Based Compact Miniature Wireless Manipulation System (WMMS); 2.1 Design and Working Principle of the Manipulation System; 2.2 Kinematic Analysis of the Micro-manipulation System; 3 Development of Control System for Wireless Micro-manipulation System; 4 Results and Discussions