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This publication provides the newest advances within the learn and purposes of reconfigurable mechanisms and robots. It collects ninety three independently reviewed papers offered on the 3rd ASME/IFToMM foreign convention on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015.
The convention papers are geared up into seven components 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 keep an eye on. Bio-inspired mechanisms also are explored within the hard fields of rehabilitation and minimally invasive surgical procedure. This ebook extra addresses deployable mechanisms and origami-inspired mechanisms and showcases a variety of winning functions 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, desktop technological know-how and mathematics."
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Additional info for Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)
Fig. 3 Kinematic structure of the evolved 6R linkage with planar translation 22 K. Zhang et al. Fig. 3 Motion Branch of Planar 4R Linkage When the 7R linkage moves to a conﬁguration in Fig. 5 where the axes of joints R4, R5, R6 and R7 are coplanar and the axes of joint R1, R2 and R3 are parallel to the plane formed by the former four coplanar joints. Particularly, axes of the joints R1, R3, R4 and R7 are parallel and points B, O, E and C become coplanar in this conﬁguration. According to the design parameters of the 7R linkage, the four points B, O, E and C form a parallelogram.
Instantaneous mobility of compliant mechanisms is ﬁrst analyzed using the normalized compliance matrix through a screw representation. The stiffness variability for a compound basic parallelogram mechanism and a bistable mechanism (a pair of inclined beams), is then investigated for describing mobility re-conﬁgurability. The structure re-conﬁgurability is ﬁnally demonstrated by a compliant parallel gripper (CPG) using the new position space concept. Á Á Keywords Mobility Structure Compliant mechanisms Stiffness variability Position space Á Á Screw theory Á 1 Introduction Reconﬁgurable mechanisms are highly desirable in a variety of applications such as industrial assembly line and manufacture to achieve multi-task needs without increasing the cost.
As such it was shown that a single-loop 8R linkage, possessing certain symmetry, turns into an overconstrained 6R linkage by only locking one joint while another joint is then implicitly constrained. This phenomenon has been analyzed by means of a ﬁrst-order analysis in terms of instantaneous joint screw system. 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.
Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)