Advances in Reconfigurable Mechanisms and Robots I by Charalampos Valsamos, Vassilis C. Moulianitis, Nikos

By Charalampos Valsamos, Vassilis C. Moulianitis, Nikos Aspragathos (auth.), Jian S Dai, Matteo Zoppi, Xianwen Kong (eds.)

Advances in Reconfigurable Mechanisms and Robots I presents a range of key papers offered within the moment ASME/IFToMM foreign convention on Reconfigurable Mechanisms and Robots (ReMAR 2012) hung on 9th -11th July 2012 in Tianjin, China. This ongoing sequence of meetings could be lined during this ongoing number of books.

A overall of seventy-eight papers are divided into seven components to hide the topology, kinematics and layout of reconfigurable mechanisms with the reconfiguration conception, research and synthesis, and current the present learn and improvement within the box of reconfigurable mechanisms together with reconfigurable parallel mechanisms. during this element, the new examine and improvement of reconfigurable robots are additional provided with the research and layout and with their regulate and improvement. The bio-inspired mechanisms and next reconfiguration are explored within the difficult fields of rehabilitation and minimally invasive surgical procedure. Advances in Reconfigurable Mechanisms and Robots I extra extends the examine to deployable mechanisms and foldable units and introduces purposes of reconfigurable mechanisms and robots.

The rich-content of Advances in Reconfigurable Mechanisms and Robots I brings jointly new advancements in reconfigurable mechanisms and robots and provides a brand new horizon for destiny improvement within the box of reconfigurable mechanisms and robots.

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When the mechanism is planesymmetric and is used as a constant velocity shaft coupling, it is the joint of Koenigs [1]. We focus on the special case of a RC-//-RC mechanism which has a plane of symmetry at its home posture because very special properties appear in that case. The end body in RC-//-RC parallel chain is the coupler of the corresponding RC CR four-bar linkage. The coupler moves with 1-DoF translation. The trajectory of each point belonging to the coupler is a curve. Because of the coupler translation, all the trajectories are congruent curves.

Z. Salvi et al. The next section discusses the role of these constraints and suggests further advances in the enumeration of metamorphic robots. 1 Further Advances in Enumeration of Metamorphic Robots As discussed at the beginning of Sect. 4 and shown in Fig. 4 in the enumeration of metamorphic robot mechanical constraints cannot be neglected, especially because with a relatively large number of modules this problem becomes intractable. An important question at this point is: what other constraints should be considered?

J Mech Des 130:074501(1–4) 8. Yang TL (2004) Topology structure design of robot mechanisms. China Machine Press, Beijing 9. Li SJ, Wang DL, Dai JS (2009) Topology of kinematic chains with loops and orientation of joints axes. Chin Mech Eng 25(6):34–40 10. Li SJ, Dai SJ (2010) Configuration transformation matrix of metamorphic mechanisms and joint-orientation change metamorphic method. Chin Mech Eng 21(14):1698–1703 11. Li SJ, Dai JS (2010) Structure of metamorphic mechanisms based on augmented assur groups.

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