Advances in Reconfigurable Mechanisms and Robots II

This booklet offers the newest advances within the learn 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 equipped into seven components to hide the reconfiguration conception, topology, kinematics and layout of reconfigurable mechanisms together with reconfigurable parallel mechanisms. the latest 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 demanding fields of rehabilitation and minimally invasive surgical procedure. This booklet 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 can be of curiosity for researchers, engineers and postgraduate scholars in mechanical engineering, electric engineering, desktop technological know-how and mathematics."

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Extra resources for Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)

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As a by-product of this work, a new overconstrained 6R mechanism has been identified, which is in fact the proposed 7R mechanism in one of its 6R operation modes. Á Keywords 7R Single-loop multi-mode mechanism Kinematic mapping Algebraic geometry Operation modes Transition configurations Á Á Á X. He Á X. Kong (&) Á J. uk X. uk J. uk G. ie © Springer International Publishing Switzerland 2016 X. Ding et al. 1007/978-3-319-23327-7_3 27 28 X. He et al. 1 Introduction Reconfigurable mechanisms have been a popular research area since late 1990s.

Therefore the common solutions for v7 and its corresponding v1 and v2 are the transition configurations between the 4R mode and 6R modes. Using the same process, the transition configurations between the 4R mode and 7R mode as well as the transition configurations between the 6R modes and 7R mode can be obtained. These transition configurations are shown in Table 2. 34 X. He et al. 58 4R mode and 6R mode I and 7R mode 4R Mode and 6R mode I 6R mode II and 7R mode 4 Configuration Verification In order to verify the motion curves, four CAD model configurations in four operation modes have been created, as shown in Fig.

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 [6], the mobility re-configurability is also regarded as the stiffness variability. The structure re-configurability in compliant mechanisms has no effect on the DOF or DOC forms of individual modules or the system, but it can directly affect the system performance characteristics such as parasitic motion, compactness and/or manufacturability.

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