Advances in Reconfigurable Mechanisms and Robots II

This book presents the most recent advances in the research and applications of reconfigurable mechanisms and robots. It collects 93 independently reviewed papers presented at the Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015.

The conference papers are organized into seven parts to cover the reconfiguration theory, topology, kinematics and design of reconfigurable mechanisms including reconfigurable parallel mechanisms. The most recent results on reconfigurable robots are presented including their analysis, design, simulation and control. Bio-inspired mechanisms are also explored in the challenging fields of rehabilitation and minimally invasive surgery. This book further addresses deployable mechanisms and origami-inspired mechanisms and showcases a wide range of successful applications of reconfigurable mechanisms and robots.

Advances in Reconfigurable Mechanisms and Robots II should be of interest for researchers, engineers and postgraduate students in mechanical engineering, electrical engineering, computer science and mathematics.

Inhalt

Part 1: Reconfiguration Theory.- Reconfigurable Chains of Bifurcating Type III Bricard Linkages, by Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi and Simon D. Guest.- A Novel Reconfigurable 7R Linkage with Multifurcation, by Ketao Zhang, Andreas Müller and Jian S. Dai.- Design and Analysis of a New 7R Single-Loop Mechanism with 4R, 6R and 7R Operation Modes, by Xiuyun He, Xianwen Kong, Guangbo Hao and James Ritchie.- Analysis of the Motion Mode Change of a Metamorphic 8R Linkage, by Andreas Müller, Ketao Zhang and Jian S. Dai.- Mobility and Structure Re-configurability of Compliant Mechanisms, by Guangbo Hao.- Reconfigurable compliant unit modeling and compositions, by Liping Zhang, Xiaoyang Tong, Tian Ji and Guibing Pang.- Part II: Topology, Kinematics and Design of Reconfigurable Mechanisms.- Enumerating the Topological Configurations of the Reconfigurable Cube Mechanism with Eight Sub-Cubes, by Lin-Chi Wu and Chin-Hsing Kuo.- Topological Graph Descriptions and Structural Automatic Synthesis of Planar Multiple joint and geared-linkage Kinematic Chains, by Jinkui Chu and Yanhuo Zou.- Origami Carton Folding Analysis Using Flexible Panels, by Ferdinando Cannella, Mariapaola Dimperio, Carlo Canali, Nahian Rahman, Fei Chen, Daniele Catelani, Darwin G. Caldwell and Jian S. Dai.- Design of Constant-Force Compliant Sarrus Mechanism Considering Stiffness Nonlinearity of Compliant Joints, by Guimin Chen, Hongye Chang and Geng Li.- Twin-Bennett Linkage and One Type of Its Mobile Assemblies, by Hongwei Guo, Zhongjie Li, Rongqiang Liu and Zongquan Deng.- Inverse kinematics and Kineto-statics of Metamorphic palm of the KCL/TJU metamorphic Hand, by Chunsong Zhang and Jian S. Dai.- Foldability Analysis of Cylindrical Origami Structures, by Jianguo Cai, Ruijun Ma,Jian Feng,Ya Zhou and Xiaowei Deng.- Workspace Analysis of aReconfigurable Mechanism Generated from the Network of Bennett Linkages, by Huijuan Feng, Rongjie Kang and Yan Chen.- Configuration Analysis of Loading Mechanism with Metamorphic Characteristics, by Lin Zhang, Ganwei Cai, Kaijun Zhu, Xiaochun Wang and Zhijie Li.- Dimension Relationship between Spherical Four-Bar Mechanisms with Same Couple Curve, by Jianwei Sun, Wenrui Liu and Jinkui Chu.- Part III: Reconfigurable Parallel Mechanisms.- Mobility analysis of non-overconstrained reconfigurable parallel manipulators with 3-CPU/3-CRU kinematics, by Matteo Palpacelli, Luca Carbonari, Giacomo Palmieri and Massimo Callegari.- Mechanism Analysis of Parallel Lifting Mechanism for Schnable Car Based on Coordinate Transformation, by Yan-Zhi Zhao, Xiang-Nan Wang, Xiao-Xiao Liu, Jie Zhang, Yang Li and Tie-Shi Zhao.- Reconfiguration and Static Joint Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion, by Dongming Gan, Jian S. Dai, Jorge Dias and Lakmal Seneviratne.- Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism, by Haibo Qu and Sheng Guo.- Reconfiguration analysis of a 2-DOF 3-4R parallel manipulator with orthogonal base and platform, by Xianwen Kong.- QrPara: A new reconfigurable parallel manipulator with 5-axis capability, by Yan Jin, Binbin Lian, Mark Price, Tao Sun and Yimin Song.- Quaternion Method for the Kinematics Analysis of Parallel Metamorphic Mechanisms, by Zhonghai Zhang, Jian Sun, Zhenhua Wang, Gongjing Yu, Duanling Li and Jinguo Liu.- Kinematics Analysis of n-4R Reconfigurable Parallel Mechanisms, by Jingjun Yu, Zhixiang Duan and Yan Xie.- A family of 2R1T parallel manipulators with intersecting rotational axes, by Bo Hu and Zhen Huang.- A Novel Parallel Mechanism Design based on Tripod Components, by Guanyu Huang, Dan Zhang, Sheng Guo and Dian Li.- Motion Decoupling Analysis of a Kind of 2R Parallel Mechanism with Two Continuous Rotational Axes, by Yundou Xu, Liangliang Chen, Wennan Yan, Jiantao Yao and Yongsheng Zhao.- Type Synthesis of A Family of 3-DOF Spherical Parallel Mechanisms Using Upper-Lower Combination and Axis Movement Theorem, by Rongfu Lin, Weizhong Guo and Feng Gao.- Structural Synthesis Based on POC Set for Lower-mobility Non-overconstrained Parallel Mechanisms, by Xiaorong Zhu, Xin Yao, Huiping Shen, Chen Sun and Tingli Yang.- Dynamic Identification of a 3-PRS Parallel Robot with Scissor-Type Prismatic Joint: A Cloud-based Approach, by Jian Yang, Xin Wang and Xuefeng Chen.- Force Balance of Mechanisms and Parallel Robots through Reconfiguration Method, by Dan Zhang and Bin Wei.- Fault Diagnosis and Reconfiguration of Prestressed Fault-tolerant Six-axis Force Sensor, by Jiantao Yao, Hongyu Zhang, Jialong Zhu, Yundou Xu and Yongsheng Zhao.- Structural Characteristics of Force/Moment Polytopes of Cable Driven Parallel Mechanisms, by Xiaowei Dai, Yuru Zhang, Dangxiao Wang and Jian Song.- Constraint and Mobility Analysis of the SNU 3-UPU Parallel Mechanism in Mixed Mode, by Ziming Chen, Yang Zhang, Kun Huang and Zhen Huang.- The Elliptical Trajectory with Modified Sine Motion Profile for Delta Robot, by Ruining Huang, Yunqiang Zhang and Yunjiang Lou.- A Precise Rotary Actuator Based on Small Perimeter Difference Using Parallel Compliant Mechanism, by Chengwu Li, Gang Ma, Xu Pei and Bilu Fang.- Kinematic Modelling of a Panel Enclosed Hexapod, by Aaron Yu, Fengfeng(Jeff) Xi and Daniel Finistauri.- Conceptual Design and Kinematic Analysis of a Novel Parallel Manipulator with an Articulated Gripping Platform, by Yimin Song, Yang Qi and Tao Sun.- Conceptual Design and Workspace Analysis of an Exechon-inspired Parallel Kinematic Machine, by Tengfei Tang, Yanqin Zhao, Jun Zhang and Yan Jin.- Type Synthesis andAnalysis of Two-Axis Swaying Platform with Virtual Rotation Axis, by Erwei Li, Tieshi Zhao, Chang Wang, Yanzhi Zhao, Hui Bian and Yuhang Chen.- Kinematic and Dynamic Analysis of a 3PUS-S(P) Parallel Metamorphic Mechanism Used for Bionic Joint, by Boyan Chang and Guoguang Jin.- Part IV: Bio-Reconfiguration Techniques and Biomedical Devices.- A Bio-inspired Reconfigurable Robot, by Ning Tan, Rajesh Elara Mohan and Karthikeyan Elangovan.- Modeling and Design on trailing edge of morphing wing, by Gang Li and Bing Li.- Suboptimal anatomy of metamorphic manipulators based on the high rotational dexterity, by Vassilis C. Moulianitis, Nikos A. Aspragathos and Charalampos Valsamos.- The Flexible Neck Mechanism Design and Control of a Turtle Robot for Performance at Digital Stage, by Wenfu Xu, Hongtao Wang, Zhonghua Hu and Guowei Liang.- Modular bionic foot design inspired by blue sheep, by Xilun Ding, Linhong Kang, Qun Zhang and Kun Xu.- Design and Kinematic Analysis of a Novel Metamorphic Mechanism for Lower Limb Rehabilitation, by Wuxiang Zhang, Shaodan Zhang, Marco Ceccarelli and Di Shi.- A Cable-Pulley Transmission for Ankle Joint Actuation in Artificial Leg, by Huaxin Liu, Marco Ceccarelli, Qiang Huang…