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 variety 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 might be coated during this ongoing choice 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 concept, 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 hot research and improvement of reconfigurable robots are extra awarded with the research and layout and with their keep watch over and improvement. The bio-inspired mechanisms and next reconfiguration are explored within the tough fields of rehabilitation and minimally invasive surgical procedure. Advances in Reconfigurable Mechanisms and Robots I extra extends the research to deployable mechanisms and foldable units and introduces functions 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 offers a brand new horizon for destiny improvement within the box of reconfigurable mechanisms and robots.

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An important question at this point is: what other constraints should be considered? Certainly, the answer is strongly related to the type of information to be extracted from the enumeration and which variables are relevant to the enumeration process. Working with modular robotic systems that can be arranged in a tree-like structure and knowing that for this type of arrangement the number of configurations is also typically exponential in terms of the number n of modules, Yim [29] suggest that several factors contribute to the number of distinct configurations: (a) the number of connection ports per module, (b) the number of ways that two connection ports can be attached, (c) symmetries in the connection port, and (d) symmetries in the module.

Zhang and X. Ding same joint axis may have different representations in two matrices because of component variation, so it is necessary to identify the variation in combination with the metamorphic mechanism. 4 Coupling Features of the Metamorphic Mechanism There exist some basic constituent elements (component and its connectivity relations) keep unchanged to make the mechanisms in adjacent configurations have complex coupling features. For achieving these coupling features, it is necessary to apply generalized intersection operation (operator ‘\’) on the corresponding configuration representation matrices as Aint iþ1;i ¼ Aiþ1 \ Ai Equivalence , 0 0 Aiþ1 \ Ai ð2:4Þ where Aint iþ1;i represent the result of the generalized intersection operation whose physical meaning is that after comparing the two topological representation matrices Ai+1 和 Ai, the same parts of the matrix are extracted and reserved.

A special 3D subsets of vðuÞ is T , which is the intersection vðuÞ \ vðvÞ. If vÀ1 ðuÞ ¼ T then vÀ1 ðuÞ \ vÀ1 ðvÞ ¼ T \ vÀ1 ðvÞ ¼ T À1 . In a general case, assuming vÀ1 ðuÞ 6¼ T and vÀ1 ðvÞ 6¼ T : T À2 is a 1D submanifold of the 3D group T of spatial translations. A RC open chain with the R and C axes parallel to u generates a special vÀ1 ðuÞ, which is not equal to T . The other RC open chain with R and C axes parallel to v, (v = u), generates a special vÀ1 ðvÞ, which is also not equal to T . Therefore, it is proven that a general form of RC-//-RC chain has one finite DoF.

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