Presentations – Monday 10 July 2000

Monday 9:00am-10:50am Chair: H. Lipkin

Geometry and Invariance

1. Kenneth H. Hunt
   Don’t Cross-Thread the Screw! (Keynote Address)
   
   
2. Roy Featherstone
   On the Limits to Invariance in the Twist/Wrench and Motor Representations of Motion and Force Vectors
   
   
3. Jaehoon Lee, Joseph Duffy, and Joe Rooney
   An Initial Investigation into the Geometrical Meaning of the (Pseudo-) Inverses of the Line Matrices for the Edges of Platonic Polyhedra
   
   
   

Monday 11:10am-12:30pm Chair: J. Davidson

Reciprocity

1. T. H. Davies
   The 1887 Committee Meets Again. Subject: Freedom and Constraint
   
   
2. J. Eddie Baker
   On Reciprocal Linkages
   
   
3. M. Fayet
   Wrench-Twist Duality in Over-Constrained Mechanisms
   
   
4. Kenneth J. Waldron
   Co-Reciprocal Screw Pairs Within Second and Third Order Screw Systems
   
   
   

Monday 1:30pm-12:30pm Chair: G. Chirikjian

Mechanics

1. J.M. Selig
   Three Problems in Robotics
   
   
2. Ernest D. Fasse
   Some Applications of Screw Theory to Lumped-Parameter Modeling of Visco-Elastically Coupled Rigid Bodies
   
   
3. David A. Lamb
   Planar Vector Dynamics
   
   
4. Byung Ju Dan and Yong Je Choi
   The Frequency Analyses of a Vibrating System with Planes of Symmetry
   
   
   

Monday 3:10pm-4:30pm Chair: C. Crane

Applications

1. J.A. Gal, L.M. Gallo, G. Murray, I.J. Klineberg, C.W. Johnson, and S. Palla
   Screw Axes and Wrenches in the Study of Human Jaw Mechanics
   
   
2. Z. Huang and J. Wang
   Instantaneous Motion Analysis of Deficient-Rank 3-DOF Parallel Manipulator by Means of Principal Screws
   
   
3. Evert A. Dijksman
   Symmetrical Four-Bar Coupler-Curves Approximating a Straight-Line Through Six Coninstantaneous Coupler-Points
   
   
4. Torgny Brogårdh
   Design of High Performance Parallel Arm Robots for Industrial Applications
   
   
   

Monday 4:50pm-6:10pm Chair: G. Pennock

Finite Screws

1. I.A. Parkin and J. Preston
   Analysis of the Bennett Mechanism by Means of Finite Displacement Screws
   
   
2. Gregory S. Chirikjian
   Fourier Analysis on Motion Using Screw Parameters
   
   
3. Chintien Huang
   On Definitions of Pitches and the Finite Screw System for Displacing a Line
   
   
4. Pierre M. Larochelle and Judy M. Vance
   Interactive Visualization of the Line Congruences Associated with Four Finite Spatial Poses
   
   
   
   
   

Presentations –Tuesday 11 July 2000

Tuesday 9:00am-10:50am Chair: T. Davies

Geometry and Gearing

1. Jack Phillips
   From the Trailed Disc Plough with Ball to General Involute Gearing (Keynote Address)
   
   
2. David B. Dooner
   On the Development of the Diffusion Equation Using Cylindroidal Coordinates
   
   
3. Michael Griffis
   Proving Dooner's Third Law of Gearing: A Study of Curvature
   
   
4. Hellmuth Stachel
   Instantaneous Spatial Kinematics and the Invariants of the Axodes
   
   
   

Tuesday 11:10am-12:30pm Chair: E. Fasse

Lie Algebras

1. Stefano Stramigioli, Bernhard Maschke, and Catherine Bidard
   A Hamiltonian Formulation of the Dynamics of Spatial Mechanisms Using Lie Groups and Screw Theory
   
   
2. Felix Pfister
   Spatial Point Contact Kinematics and Parallel Transport
   
   
3. Adolf Karger
   The Lie Algebra of Screws and Its Application
   
   
4. M.W.Cocke and C.G.Gibson and P.S.Donelan
   Screw Systems, Singular Trajectories and Darboux-Type Motions
   
   
   

Tuesday 1:30pm-12:30pm Chair: R. Featherstone

Dynamics

1. C.R. Tischler, D.M. Downing, S.R. Lucas, and D. Martins
   Rigid-Body Inertia and Screw Geometry
   
   
2. K. Wohlhart
   Inertia Cylindroid and Inertia Poles
   
   
3. Koichi Sugimoto
   Matrix Representation of Kinematic and Dynamic Analysis of Mechanisms
   
   
4. Gordon R. Pennock and Patrick J. Meehan
   Geometric Insight into the Dynamics of a Rigid Body Using the Theory Screws
   
   
   

Tuesday 3:10pm-4:50pm Chair: K. Waldron

Line Geometry And Screw Algebra

1. J. K. Davidson and J. J. Shah
   Geometric Tolerances: A New Application for Line Geometry and Screws
   
   
2. Imme Ebert-Uphoff, Jong-kil Lee, and Harvey Lipkin
   Characteristic Tetrahedron of Wrench Singularities for Parallel Manipulators with Three Legs
   
   
3. Max L. Keler
   On the Theory of Screws and the Dual Method
   
   
4. Jian S. Dai and John Rees Jones
   Vectors of Cofactors of a Screw Matrix and their Relationship with Reciprocal Screws
   
   
5. Stuart R. Lucas, Craig R. Tischler, and Andrew E. Samuel
   Screw Geometry and LU Decomposition of the Jacobian of a Serial Manipulator
   
   
   
   

Presentations – Wednesday 12 July 2000

Wednesday 9:00am-11:00am Chair: J. Duffy

Developments and Perspective

1. Calin Belta and Vijay Kumar
   New Metrics for Rigid Body Motion Interpolation
   
   
2. David B. Dooner
   On the Development of Equilibrium Equations Using Cylindroidal Coordinates
   
   
3. B. Knight, Y. Zhang, J. Duffy, and C. Crane
   On the Line Geometry of a Class of Tensegrity Structures
   
   
4. John-Erik Snell
   Orientation Representations Used within ABB Robot Controllers
   
   
5. Marco Ceccarelli (Proceedings only)
   Preliminary Studies to Screw Theory in XVIIIth Century
   
   

6. Group Discussion and Closing Remarks