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

ISBN-10: 1447141407

ISBN-13: 9781447141402

ISBN-10: 1447141415

ISBN-13: 9781447141419

Advances in Reconfigurable Mechanisms and Robots I presents a variety of key papers offered within the moment ASME/IFToMM overseas convention on Reconfigurable Mechanisms and Robots (ReMAR 2012) hung on 9th -11th July 2012 in Tianjin, China. This ongoing sequence of meetings might be lined during this ongoing selection 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 point, the hot research and improvement of reconfigurable robots are extra provided with the research and layout and with their keep watch over and improvement. The bio-inspired mechanisms and next reconfiguration are explored within the demanding 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 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 provides a brand new horizon for destiny improvement within the box of reconfigurable mechanisms and robots.

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The exceptional mobility can be established by the intersection of two 3D submanifolds of Schoenflies (or X-) motion 4D groups as explained in the following. When the mechanism is plane-symmetric and is used as a constant velocity shaft coupling, it is the joint of Koenigs as described in R. Bricard’s book [1]. Koenigs joint is a special RC-//-RC mechanism with the equal distances between two parallel axes as shown in Fig. 2 which can uniformly transmit motion between two intersecting axes; the proper name Koenigs is often misspelled König or Königs in the literature on shaft couplings.

However, we can use the singular value decomposition method [8] to obtain its kinematic paths numerically. 3 A Special Wohlhart’s Double-Goldberg 6R Linkage From Eqs. 5), h3 and h6 are not equal to zero generally during the motion. , ½m4 ðm1 m2 À 1Þ À m1 ð1 À m3 m4 ފ tan2 h1 ¼ m21 ½m2 ð1 À m3 m4 Þ À m3 ðm1 m2 À 1ފ 2 ð5:7Þ Here, mi ði ¼ 1; 2; 3; 4Þ in Eq. 3) are fixed for a given linkage. Thus, in order to make h1 free, Eq. 7) can be held only when & m4 ðm1 m2 À 1Þ À m1 ð1 À m3 m4 Þ ¼ 0 ð5:8Þ m2 ð1 À m3 m4 Þ À m3 ðm1 m2 À 1Þ ¼ 0 One solution of Eq.

Hervé Fig. 7 a HC-//-HC DM parallel chain Fig. 1 A new patented homokinetic joint shaft coupling but it is expected to have only one bifurcation at the self intersection of bicylindrical curve, which will be a broad topic in the future. It is obvious that a most general case having HC-//-HC type shown in Fig. 7 produces the same type of phenomenon of bifurcations but it is beyond the scope of the paper. Acknowledgments The authors are very thankful to the National Science Council for supporting this research under grants NSC 99-2221-E-151-016 and NSC 100-2221-E-151-022.

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Advances in Reconfigurable Mechanisms and Robots I by Charalampos Valsamos, Vassilis C. Moulianitis, Nikos Aspragathos (auth.), Jian S Dai, Matteo Zoppi, Xianwen Kong (eds.)


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