This ebook offers the newest advances within the examine and functions 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 geared up into seven elements to hide the reconfiguration thought, 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 regulate. Bio-inspired mechanisms also are explored within the tough fields of rehabilitation and minimally invasive surgical procedure. This booklet 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 may be of curiosity for researchers, engineers and postgraduate scholars in mechanical engineering, electric engineering, machine technology and mathematics."
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Additional info for Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)
Mech. Des. 2(128), 384–391 (2007) 14. : Type synthesis of single-DOF single-loop mechanisms with two operation modes. In: ASME/IFToMM International Conference on Reconﬁgurable Mechanisms and Robots, pp. 136–141 (2009) 15. : Type synthesis and reconﬁguration analysis of a class of variable-DOF single-loop mechanisms. Mech. Mach. Theory 85, 116–128 (2015) 16. : A Kirigami-inspired 8R linkage and its evolved overconstrained 6R linkages with the rotational symmetry of order two. ASME J. Mech. Rob. 6(2), 021007 (2014) 17.
In the following the ﬁnite mobility is deduced analytically by means of higher-order analysis of the c-space. The general conﬁguration shown in Fig. 2 is considered. In this conﬁguration the joint screw system is determined by the unit direction vector ei along the axis of joint i and the position vector pi of a point on this axis. Using the points A; B; C; D; E; F; P; Q, and making use of the symmetry, the direction vectors are e1 ¼ ðxe À xb ; yb ; ze Þ; e4 ¼ ð0; Àyb ; zp Þ e7 ¼ ð0; yb ; zp Þ; e2 ¼ ðxe À xb ; Àyb ; ze Þ; e3 ¼ ð0; Àyb ; zp Þ; e5 ¼ ðxb À xe ; Àyb ; ze Þ; e6 ¼ ðxb À xe ; yb ; ze Þ; e8 ¼ ð0; yb ; zp Þ and the location vectors are p1 ¼ ðxe ; 0; ze Þ; p3 ¼ ðxb ; 0; zp Þ; p4 ¼ ðÀxb ; 0; zp Þ; p5 ¼ ðÀxe ; 0; ze Þ p2 ¼ p1 ; p6 ¼ p5 ; p7 ¼ p4 ; p8 ¼ p3 : Here xb ; yb ; zb are the components of the position vector of point B expressed in the shown reference frame, etc.
This papers aims to discuss the re-conﬁgurability of compliant mechanisms including mobility re-conﬁgurability and structure re-conﬁgurability through several typical case studies. The mobility re-conﬁgurability herein refers to variable forms of the degrees of freedoms (DOF) or degrees of constraints (DOC) of compliant mechanisms over large displacements. Since the DOF or DOC in G. ie © Springer International Publishing Switzerland 2016 X. Ding et al. 1007/978-3-319-23327-7_5 49 50 G. Hao compliant mechanisms is identiﬁed by the stiffness scales , the mobility re-conﬁgurability is also regarded as the stiffness variability.