ISBN-10: 3319233262

ISBN-13: 9783319233260

This booklet offers the newest advances within the study and purposes 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 prepared into seven components to hide the reconfiguration concept, topology, kinematics and layout of reconfigurable mechanisms together with reconfigurable parallel mechanisms. the newest effects on reconfigurable robots are awarded together with their research, layout, simulation and keep an eye on. Bio-inspired mechanisms also are explored within the not easy fields of rehabilitation and minimally invasive surgical procedure. This ebook extra addresses deployable mechanisms and origami-inspired mechanisms and showcases a variety of winning purposes 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, laptop technology and mathematics."

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

Example text

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. 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 !

A Transition mode, b 4R mode, c 6R mode Design and Analysis of a New 7R Single-Loop … (a) 31 (b) R1 x1 R2 1 2 R6 1 3 Symmetric Plane New joint 7 4 R4 R3 6 R5 5 Fig. 3 A new 7R SLMMM. a Inserting a new joint to the Bricard 6R linkage. b Building coordinate frames Table 1 Link parameters for the new 7R SLMMM No. 52 −90 The parameters for the new 7R SLMMM are listed in Table 1. It is apparent that the new 7R SLMMM will keep the two operation modes belonging to the original Bricard 6R linkage. Further kinematic analysis for the 7R SLMMM needs to be carried out to figure out the other operation modes, if any, and investigate their transition configurations among all the operation modes.

The axes of adjacent joints R3 and R4 are parallel as well as that of joints R1 and R7. The remaining axes of adjacent joints are intersecting. The common points of intersecting axes are denoted by A, B, C, D and E, respectively, and the angle between each pair of intersecting joint axes is denoted by αi (i = 1, 2, 4, 5, 6) as illustrated in Fig. 1. In the particular design of this 7R linkage, α1 = α2 = α4 = α6 = 45° while α5 = 90°. The projection of common point B on the axis of joint R1 is denoted by O.

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Advances in Reconfigurable Mechanisms and Robots II (Mechanisms and Machine Science)


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