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.
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.- TwinBennett 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, FengfengJeff)
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, Xinran Guo, Haotian She and Weimin Zhang.- Mathematical Modeling
and Kinematics Analysis for a Novel Ankle Rehabilitation Robot, by Yang Li
and Ligang Yao.- Prototype Design of a Rubik Snake Robot, by Xin Zhang and
Jinguo Liu.- Trajectory optimization for robot crawling on ceiling using dry
elastomer adhesive, by Zhongyuan Wang, Gongxun Sun and Zhendong Dai.-
Mechanism Design and Kinematic Performance Research of Snake-like Robot with
Orthogonal Active Wheels, by Zhiping Weng, Tianlong Liu, Chuncheng Wu and
Zhengcai Cao.- Part V: Analysis and Design of Reconfigurable Robots.- A Robot
Capable of Autonomous Robotic Team Repair: The Hex-DMR II System, by Joshua
D. Davis, Yunuscan Sevimli, M. Kendal Ackerman and GregoryS. Chirikjian.-
Inverse Kinematics of Active Rotation ball joint manipulators using
workspaces density functions, by Hui Dong,Taosha Fan,Zhijiang Du and Gregory
S. Chirikjian.- Singularity Analysis of a High-Speed Parallel Robot with
Schönflies Motion, by Fugui Xie, Xin-Jun Liu and Zubing Min.- Multi-objective
Design Optimization of a Parallel Schönflies-motion Robot, by Guanglei Wu,
Shaoping Bai and Preben Hjørnet.- Mechanism Synthesis and Workspace Analysis
of a Spraying Robot for Airfoil, by Lizhong Zhu, Liping Wang and Jingshan
Zhao.- A Novel Docking Mechanism Design and Dynamic Performance Analysis of
Self-reconfigurable Modular Robot, by Xiaofeng Wang, Minglu Zhang and Weimin
Ge.- Conceptual Design and Kinematic Analysis of the Diamobot: A Homogeneous
Modular Robot, by Longhai Zhao, Hao Wang, Tianwei Lin, Genliang Chen and
Lingyu Kong.- Design and Development on a Reconfigurable Modular Joint of the
Robot Arm, by Jiaming Deng, Pengcheng Wang, Qingmei Meng, Huiping Shen, Jian
Chen and Minzhou Luo.- A New Approach to Identify Link Errors and Kinematic
Pair Errors of SCARA Robot, by Zhi Wang, Delun Wang, Huimin Dong and Shudong
Yu.- Structural Topology Optimization for a Robot Upper Arm Based on SIMP
Method, by Yunfei Bai, Ming Cong and Yongyao Li.- Intelligent Service
Reconfiguration for Home Robots, by Tsung-Hsien Yang and Wei-Po Lee.- Design
and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot,
by S. J. Li, Q. Yang, M. Geng and H.G. Wang.- Compliance analysis and
synthesis of a serial manipulator with redundant DOFs used in Tokamak, by Jue
Yu, Yong Zhao, Hao Wang, Li Wang and Xinmin Lai.- A Modular Liquid Sample
Handling Robot for High-throughput Fourier Transform Infrared Spectroscopy,
by Jichun Li, Volha Shapaval, Achim Kohler, Robert Talintyre, Jürgen Schmitt,
Richard Stone, Andrew J Gallant and Dagou A Zeze.- Reconfigurable Industrial
Robots an integrated approach to design the joint and linkmodules and
configure the robot manipulator, by Anna Valente.- M2 Gripper: Extending the
Dexterity of a Simple, Underactuated Gripper, by Raymond R. Ma, Adam Spiers
and Aaron M. Dollar.- Design and Analysis of a Circular-Orbit
Underconstrained Cable Parallel Robot, by Sen Qian, Bin Zi and Xue Han.-
Kinematics and energy minimization approach for continuum robot, by Qiang Lu
and Bin He.- Parametric modeling and experimental analysis for interventional
surgery robots, by Bin He, Ke Liu, Shangqing Wu, Yuanyuan Si, Tingting Yuan,
Luxi He and Yanmin Zhou.- Application and research of the Clip Type
Manipulator, by Hui Jin, Chao Yun, Wei Wang and Dongjing Li.- Part VI:
Control of Reconfigurable Robots.- Reconfiguration of Mobile Intelligent
Robotic Platform (MIRP) with Emotional Control, by Alberto Rovetta.-
Self-assembly Planning of a Shape by Regular Modular Robots by Haiyuan Li,
Tianmiao Wang and Gregory S. Chirikjian.- Evaluation of Contactless Power
Transmission at Rotary Joint for Dynamic Load, by Zhipan Wang, Hao Gu and
Peide Sun.- Bio-control of a modular design robot NOROS, by Fan Yang, Xilun
Ding and Saijin Peng.- Efficient Motion Simulation and Collision Detection
Algorithm Suitable for Serial Industrial Robot, by Jiangang Li, Yang Lu and
Yangpeng Song.- A Constrained Guess-Check Approach for Resource Allocation in
the Robot Control System Design, by Xingyun He, Cezary Zielinski, Steven Davy
and Lei Shi.- Towards Predictable Precision Manipulation of Unknown Objects
with Underactuated Fingers, by Raymond R. Ma, Nicolas Rojas and Aaron M.
Dollar.- Task-Based Control Strategies and the Implementation for a
Six-Legged Multi-tasked Robot, by Yuan Tian, Feng Gao, Yang Pan and Yilin
Xu.- Gait and Experiment Research for the Human-carrying Quadruped Walking
Chair Robot with Parallel Leg Mechanism, by Lingfeng Sang, HongboWang,
Shuaishuai Wang and Hongmin Shi.- Workspace Analysis and Dynamic Object
Tracking with a Delta Parallel Robot, by Guoying Zhang, Guanfeng Liu, Weinan
Chen, Xieyuan Lin and Yisheng Guan.- Load Sharing Characteristics of RV
Transmission Mechanism in Robot, by Shuai Mo, Yidu Zhang and Qiong Wu.- Part
VII: Deployable Mechanisms and Applications of Reconfigurable Mechanisms.-
Design and experiment on a lock/release mechanism based on shape memory alloy
for SAR antenna, by Rongqiang Liu, Yan Wang, Qiang Cong and Dong Liu.- Design
of a Six-Wheeled Planetary Surface Locomotion System with Single Motor
Driving Folded-deployed Suspension, by Yue Wu, Shurong Hu, Jianguo Tao,
Jiajun Li and Chen Lin.- A Method for Constructing Reconfigurable Deployable
Polyhedral Mechanism, by Ruiming Li, Yanan Yao and Xianwen Kong.- Modeling
and Design on Modular Deployable Antenna, by Bing Li, Weiguo Kong and Xiaozhi
Qi.- Mobility Analysis for Deployable Assemblies of Mechanisms Based on
Nullspace, by Yi Yang, Xilun Ding and Wuxiang Zhang.- Reconfigurability of
Engines: A kinematic approach to Variable Compression Ratio Engines, by
Thiago Hoeltgebaum, Roberto Simoni and Daniel Martins.- Reconfigurability and
Flexibility in a Robotic Fixture for Automotive Assembly Welding, by Zeshan
Ahmad, Shengnan Lu, Matteo Zoppi, Dimiter Zlatanov and Rezia Molfino.- Module
Partition Method for Product Requirement Change Based on Improved
Differential Evolution Algorithm, by Wei Wei, Liang He, Ang Liu and Shaopeng
Xu.- Synthesis of a spatial 3-dof deployable mechanism to grasp stacked
non-rigid materials, by David Corinaldi, Massimo Callegari, Matteo-Claudio
Palpacelli and Giacomo Palmieri.- A novel linear telescopic mechanism:
configuration and position precision analysis, by Leiyu Zhang and Yang Yang.
