This publication 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 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 concept, topology, kinematics and layout of reconfigurable mechanisms together with reconfigurable parallel mechanisms. the latest effects on reconfigurable robots are provided together with their research, layout, simulation and regulate. Bio-inspired mechanisms also are explored within the difficult fields of rehabilitation and minimally invasive surgical procedure. This e-book extra addresses deployable mechanisms and origami-inspired mechanisms and showcases quite a lot of winning functions of reconfigurable mechanisms and robots.
Advances in Reconfigurable Mechanisms and Robots II could be of curiosity for researchers, engineers and postgraduate scholars in mechanical engineering, electric engineering, machine technological know-how and mathematics."
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Additional info for Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)
Parameters of the 7R linkage, including the offset distance between two adjacent joint axes ai, the translational distance between two incident normals of a joint axis di and the twist angle between two adjacent joint axes αi, are uniquely determined by geometry of the kinematic structure. Joint variables of revolute joints are denoted by θi. Accordingly, the invariant parameters ai, αi and di of the 7R linkage are given in Table 1. The design parameter l denotes length of identical links L3 and L4 and parameter r denotes the distance between point O and the axis of joint R2.
7 Plot of conﬁgurations in different operation modes From Fig. 6c it can be easily found that in the 6R mode II, the new 7R SLMMM is in fact a new overconstrained 6R mechanism. 52º. 5 Conclusions This paper has proposed a novel 7R SLMMM based on an overconstrained Bricard linkage. The kinematic analysis has shown that the 7R SLMMM has four operation modes with three different numbers of effective joints: a 4R mode, two 6R modes and a 7R mode. The transition conﬁgurations have also been identiﬁed.
The design parameter l denotes length of identical links L3 and L4 and parameter r denotes the distance between point O and the axis of joint R2. 2 Kinematics Equations in Dual Quaternion With the D-H parameters in Table 1, the transformation between two adjacent coordinate frames i − 1 and i is able to be described in dual quaternion [21–24] and expressed as ^ ^hi ÞSð^ ^ aiÀ1 Þ ^ iÀ1 ¼ Sð D ð1Þ ^ aiÀ1 Þ are two dual quaternions, each of which represents a ^ ^ where Sð hi Þ and Sð^ spatial displacement consisting of a rotation by θi (αi−1) and a slide by di (ai−1) (Six ), and are written as around and along a screw axis SiÀ1 z !
Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)