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Preface; SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS; A New Assessmentof Singularities of Parallel Kinematic Chains , by Michele Conconi and MarcoCarricato; Singularity Analysis through Static Analysis , by J. Hubert andJ.-P. Merlet; Constraint Singularities and the Structural Parameters ofParallel Robots , by Grigore Gogu; Forward Kinematics and SingularityAnalysis of a 3-RPR Planar Parallel Manipulator , by Xianwen Kong; GeometricAlgebra Approach to Singularity of Parallel Manipulators with LimitedMobility , by Tanio K. Tanev; SinguLab -- A Graphical User Interface for theSingularity Analysis of Parallel Robots Based on Grassmann--Cayley Algebra ,by Patricia Ben-Horin, Moshe Shoham, Stephane Caro, Damien Chablat andPhilippe Wenger; Singularity Analysis of Limited-DOF Parallel ManipulatorsUsing Grassmann--Cayley Algebra , by Daniel Kanaan, Philippe Wenger andDamien Chablat; DESIGN OF ROBOTS AND MECHANISMS; On the Design of FullyConstrained Parallel Cable-Driven Robots , by M. Gouttefarde, S. Krut, O.Company, F. Pierot and N. Ramdani; Synthesis of Part Orienting Devices forSpatial Assembly Tasks , by P. Larochelle; Minimum EnergyManipulator Design ,by A. Rojas Salgado and Y. Ledezman Rubio; Synthesis and Analysis of aConstrained Spherical Parallel Manipulator , by G.S. Soh and J.M. McCarthy; ANonholonomic 3-DOF Parallel Robot , by Patricia Ben-Horin and FedericoThomas; 4DOF Parallel Architecture for Laparoscopic Surgery , by MohammadAamir Khan, Matteo Zoppi and Rezio Molfino; Flapping-Wing Mechanism for aBird-Sized UAVs: Design, Modeling and Control , by Ch. Grand, P. Martinelli,J.-B. Mouret and S. Doncieux; Extended Jacobian Inverse Kinematics andApproximation of Distributions , by Mariusz Janiak and Krzysztof Tcho'n; AScrew Syzygy with Applications to Robot Singularity Computation , by J.M.Selig and Peter Donelan; Singularity Robust Jacobian Inverse Kinematics forMobile Manipulators , by Krzysztof Tcho'n and Lukasz Malek; Robots Based onAssur Group A (3.5) , by Karl Wohlart; Kinematics of Free-Floating Systemsthrough Optimal Control Theory , by G. Le Vey; Genericity Conditions forSerial Manipulators , by Peter Donelan; Alternative Forms for DisplacementScrews and Their Pitches , by I.A. Parkin; MOTION PLANNING AND MOBILITY;Time-Invariant Strategies in Coordination of Human Reaching , by SatyajitAmbike and James P. Schmiedeler; Mobility and Higher Order Local Analysis ofthe Configuration Space of Single-Loop Mechanisms , by A. Muller and J.M.Rico; Optimization of a Test Trajectory for SCARA Systems , by J.-F.Gauthier, J. Angeles and S. Nokleby; Singularity Free Path Planning forParallel Robots , by Samir Lahouar, Said Zeghloul and Lotfi Romdhane; AComparison between Two Motion Planning Strategies for Kinematically RedundantParallel Manipulators , by J.A. Carretero, I. Ebrahimi and R. Boudreau;Trajectory Planning of Parallel Manipulators for Global PerformanceOptimization , by Ofelia G. Alba-Gomez, J. Alfonso Pamanes and PhilippeWenger; Human Motion Reconstruction by Direct Control of Marker Trajectories, by Emel Demircan, Luis Sentis, Vincent De Sapio and Oussama Khatib;PERFORMANCE AND PROPERTIES OF MECHANISMS; New Self-Motions of ParallelManipulators , by Adolf Karger; Exact Envelope Computation for MovingSurfaces with Quadratic Support Functions , by Margot Rabl, Bert Juttler andLaureano Gonzalez-Vega; A Compound-Structure Frame for Improving thePerformance of a Dielectric Elastomer Actuator , by Giovanni Berselli, RoccoVertechy, Gabriele Vassura and Vincenzo Parenti Castelli; Transitions betweenMultiple Solutions of the Direct Kinematic Problem , by E. Macho, O.Altuzarra, C. Pinto and A. Hernandez; Kinetostatic Performance of a PlanarParallel Mechanism with Variable Actuation , by N. Rakotomanga, D. Chablatand S. Caro; Results on Planar Parallel Manipulators with CylindricalSingularity Surface , by G. Nawratil; Stiffness Matrix of Compliant ParallelMechanisms , by C. Quennouelle and C.M. Gosseli; MEASURE AND CALIBRATION; APair of Measures of Rotational Error for Axisymmetric Robot End-Effectors ,by Sebastien Briot and Ilian A. Bone; Angular-Velocity Estimation from theCentripetal Component of the Rigid-Body Acceleration Field , by PhilippeCardou and Jorge Angeles; A Novel Point of View to Define the Distancebetween Two Rigid-Body Poses , by Raffaele Di Gregorio; Parallel RobotCalibration by Working Mode Change , by P. Last, C. Budde, D. Schutz, J.Hesselbach and A. Raatz; AugmentedModel of the 3-PRS Manipulator forKinematic Calibration , by Steven M. O'Brien and Juan A. Carretero; TheCalibration of a Parallel Manipulator with Binary Actuation, byJean-Sebastien Plante and Steven Dubowsky; Stability Measure of PosturalDynamic Equilibrium Based on Residual Radius , by Sebastien Barthelemy andPhilippe Bidaud; KINEMATIC ANALYSIS AND WORKSPACE; A GeometricalCharacterization of Workspace Singularities in 3R Manipulators , by M. Husty,E. Ottaviano and M. Ceccarelli; Kinematic Analysis of a Planar TensegrityMechanism with Pre-Stressed Springs , by Carl D. Crane III, Jahan Bayat,Vishesh Vikas and Rodney Roberts; Inverse Kinematics of Robot Manipulatorswith Multiple Moving Control Points , by Agostino De Santis and BrunoSiciliano; On the Delassus Parallelogram , by Chung-Ching Lee and Jacques M.Herve; Forward Kinematics and Workspace Determination of a Wire Robot forIndustrial Applications , by Andreas Pott; Kinematic Modeling and WorkspaceGeneration for a New Paralell Robot Used in Minimally Invasive Surgery , byDoina Pisla, Nicolae Plitea and Calin Vaida; Author Index; Subject Index