Advances in Reconfigurable Mechanisms and Robots II by Xilun Ding, Xianwen Kong, Jian S. Dai

By Xilun Ding, Xianwen Kong, Jian S. Dai

This booklet provides the latest advances within the examine and purposes of reconfigurable mechanisms and robots. It collects ninety three independently reviewed papers awarded on the 3rd ASME/IFToMM overseas convention on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015.

The convention papers are equipped into seven elements to hide the reconfiguration conception, topology, kinematics and layout of reconfigurable mechanisms together with reconfigurable parallel mechanisms. the newest effects on reconfigurable robots are offered together with their research, layout, simulation and keep watch over. Bio-inspired mechanisms also are explored within the demanding fields of rehabilitation and minimally invasive surgical procedure. This ebook extra addresses deployable mechanisms and origami-inspired mechanisms and showcases quite a lot of profitable purposes of reconfigurable mechanisms and robots.

Advances in Reconfigurable Mechanisms and Robots II will be of curiosity for researchers, engineers and postgraduate scholars in mechanical engineering, electric engineering, computing device technology and arithmetic.

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Thereupon the metamorphism was concluded and verified experimentally. An analytic proof was not yet provided. In this paper finite kinematics of the metamorphic 8R linkage is established and its ability to change to a 6R linkage by means of locking only one joint is shown analytically. The presented methodology is general and applicable to arbitrary mechanisms. It does provides a basis for the analysis and eventually the synthesis of novel metamorphic mechanisms. 1 Introduction The metamorphic mechanisms [1] with changeable topology and mobility were identified following the study of reconfigurable mechanical assemblies and packaging systems in the mid 1990s.

5 configuration can be (b) or (e), while (d) and (f) cannot be reached. The locations of A0 BC and A0 B0 C are determined by those of ABC 0 and AB0 C0 : ABC 0 and A0 B0 C are on top at the same time, and so are AB0 C 0 and A0 BC. Therefore, from the point r1 ¼ r2 ¼ p, each model must follow a unique and different branch of the c-space, as illustrated by Fig. 9, where the top and bottom half of the graph show the c-space parts attainable by the models in Fig. 8b, a, respectively. Two reconfigurable mechanisms, Fig.

Robot Kinematics 345–353 (2014) 20. : A kinematic notation for lower-pair mechanisms based on matrices. ASME J. Appl. Mech. 77, 215–221 (1955) 21. : The application of dual algebra to kinematic analysis. In: Computational Methods in Mechanical Systems, pp. 3–32 (1998) 22. : Dual quaternion synthesis of constrained robotic systems. J. Mech. Des. 126(3), 425–435 (2004) 23. : 3D kinematics using dual quaternions: theory and applications in neuroscience. Front. Behav. Neurosci. 7 (2013) 24. : The significance of the configuration space Lie group for the constraint satisfaction in numerical time integration of multibody systems.

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