Advances in Reconfigurable Mechanisms and Robots II

Front Matter....Pages i-xvii
Front Matter....Pages 1-1
Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators....Pages 3-11
A Method for Configuration Representation of Metamorphic Mechanisms with Information of Component Variation....Pages 13-24
Enumeration Problems: A Bridge Between Planar Metamorphic Robots in Engineering and Polyforms in Mathematics....Pages 25-34
A Discontinuously Movable Constant Velocity Shaft Coupling of Koenigs Joint Type....Pages 35-43
A Special Wohlhart’s Double-Goldberg 6 R Linkage and Its Multiple Operation Forms Among 4 R and 6 R Linkages....Pages 45-52
The Equivalent Resistance Gradient Model of Metamorphic Mechanisms and the Design Approach....Pages 53-62
Biological Modeling Representations and Configuration Evolution Analysis of a Novel Metamorphic Loading Mechanism....Pages 63-71
On the Matrix Representation Methods for Variable Topology Mechanisms....Pages 73-81
Geometric Constraints Resulting From Puzzles....Pages 83-93
Reconfigurable Assembly Approach for Wind Turbines Using Multiple Intelligent Agents....Pages 95-103
Development of a Reconfigurable Compliant Education Kit for Undergraduate Mechanical Engineering Education....Pages 105-116
Front Matter....Pages 117-117
Structural Synthesis of a Class of Metamorphic Parallel Mechanisms with Variable Mobility....Pages 119-126
Structural Representation of Reconfigurable Linkages....Pages 127-137
Topological Analysis of Configuration Evolution of a Novel Type of Electric Loader with Metamorphic Functions....Pages 139-148
Analysis of Freedom Degrees of Self-Help Chair for the Old Based on the Principle of Metamorphic Mechanism....Pages 149-159
The Variable Graph of Metamorphic Mechanisms or Variable Topology Mechanisms....Pages 161-176
Type Synthesis of Planar Parallel Mechanism Incorporating Actuated Limb with Zero/One Constraint with Set Conception....Pages 177-188
Dynamics Modeling and Analysis of Compaction Force of Crawler on Cone Lamp Pole....Pages 189-195
Deformation Discipline of the Flexspline in Harmonic Drives with Engagement Output....Pages 197-207
Development of a New Steering Mechanism for Automobiles....Pages 209-219
Front Matter....Pages 117-117
Constructing Rolling Mechanisms Based on Tetrahedron Units....Pages 221-232
A Compliant 5-bar Tristable Mechanism Utilizing Metamorphic Transformation....Pages 233-242
Front Matter....Pages 243-243
Type Synthesis of Partially Decoupled 2-DOF Parallel Mechanisms with Two 1T1R Operational Modes....Pages 245-257
Reconfiguration and Actuation Scheme of 3rT PS Metamorphic Parallel Mechanisms with Parallel Constraint Screws....Pages 259-268
Topological Structure Synthesis of 3-Translation Parallel Mechanisms....Pages 269-284
Development of Reconfigurable Spherical Motion Generator....Pages 285-293
Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot....Pages 295-307
Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms....Pages 309-319
Developing a New Concept of Self Reconfigurable Intelligent Swarm Fixtures....Pages 321-331
Configuration Change and Mobility Analysis of a New Metamorphic Parallel Mechanism Used for Bionic Joint....Pages 333-342
Optimal Design of a New Parallel Kinematic Machine for Large Volume Machining....Pages 343-354
A Study of the Instantaneous Kinematics of the 5-RSP Parallel Mechanism Using Screw Theory....Pages 355-369
Experimental Modal Analysis for a 3-DOF PKM Module....Pages 371-377
Analysis on Motion Characters for A 3-PRS Parallel Mechanism....Pages 379-387
Effect of Different Terrain Parameters on Walking....Pages 389-397
Front Matter....Pages 399-399
Bi-Behavioral Prosthetic Knee Enabled by a Metamorphic Compliant Mechanism....Pages 401-409
A Novel Actuator with Reconfigurable Stiffness for a Knee Exoskeleton: Design and Modeling....Pages 411-421
Bio-Inspired Dynamic Model for a Reconfigurable Multiple Continuum Arm Robot....Pages 423-432
A Novel Reconfigurable Unit for High Dexterous Surgical Instrument....Pages 433-442
Design and Kinematics Analysis of a Novel MR-Compatible Robot for Needle Insertion....Pages 443-453
Front Matter....Pages 399-399
A Flexible-Waist Quadruped Robot Imitating Infant Crawl....Pages 455-463
Design and Analysis of a Portable Reconfigurable Minimally Invasive Surgical Robot....Pages 465-476
A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue....Pages 477-485
Design and Fabrication of DNA Origami Mechanisms and Machines....Pages 487-500
Multibody Modelling Applied to Origami Carton Folding....Pages 501-511
Front Matter....Pages 513-513
Hardware Design and Testing of ModRED: A Modular Self-Reconfigurable Robot System....Pages 515-523
Structures and Characteristics in Reconfigurable Modular Robots....Pages 525-534
Typical 3 + 3 Gait Motion Analysis of a Radial Symmetrical Six-Legged Robot Based on Metamorphic Theory....Pages 535-550
An Automatic Dynamics Generation Method for Reconfigurable Modular Robot....Pages 551-560
A Kind of Architecture and Key Technologies for Developing Modular Robot....Pages 561-568
Metamorphic Mechanism Analysis of a Chinese Massage Robot End-Effector....Pages 569-575
Roller Skating Analysis of a Novel Quadruped Robot with Extendable Body....Pages 577-586
Performance Analysis of a Quadruped/Biped Reconfigurable Walking Robot with Parallel Leg Mechanism....Pages 587-598
Intelligent Fingertip Sensing for Contact Information Identification....Pages 599-608
Conceptual Design and Kinematic Analysis of a Five-Fingered Anthropomorphic Robotic Hand....Pages 609-617
Dynamic Analysis of Cable-Driven Humanoid Arm Based on Lagrange’s Equation....Pages 619-628
Reconfiguration of System for Waste Collection with Robotics Methodologies....Pages 629-644
Front Matter....Pages 645-645
Study on Decentralized Control of Reconfigurable Manipulator Based on Third-Order ESO....Pages 647-656
A Combined Backstepping Terminal Sliding Mode Algorithm Based Decentralized Control Scheme for Reconfigurable Manipulators....Pages 657-668
Underactuated Gripper That Is Able to Convert from Precision to Power Grasp by a Variable Transmission Ratio....Pages 669-679
Front Matter....Pages 645-645
Transparency Analysis of a Force Sensorless Master-Slave Control by Force Feedback Based Virtual Impedance Controller with Time Delay....Pages 681-695
Friction Compensation and Control Strategy for the Dexterous Robotic Hands....Pages 697-705
On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators....Pages 707-716
Motion Coordination Strategy of Quadruped Robot Inspired by the Locomotion of Animal....Pages 717-725
Robotics Studies in Europe....Pages 727-735
Front Matter....Pages 737-737
Deployable Masts Based on the Bennett Linkage....Pages 739-747
Structural Synthesis of Ancient Chinese Chu State Repeating Crossbow....Pages 749-758
Duality of the Platonic Polyhedrons and Isomorphism of the Regular Deployable Polyhedral Mechanisms (DPMs)....Pages 759-771
A Brief Survey on Inflatable Deployment Space Structures’ Research and Development....Pages 773-782
A Novel Surface Deployable Antenna Structure Based on Special Form of Bricard Linkages....Pages 783-792
Geometric and Combined Analysis of the Color-Flipping Ball....Pages 793-803
Forward Displacement Analysis of Two Foldable 3US Parallel Mechanisms....Pages 805-814
A Reconfigurable Linkage and Its Applications in Lift Mechanism....Pages 815-829
Dynamic Analysis on Crank-Connecting Rod Mechanism of Reciprocating Pumps with Crankshaft–Bushing Clearance....Pages 831-840
Design and Analysis of a Biphasic Variable Impedance Actuator....Pages 841-849
H-Beam Cutting System Based on Pro/E Model-Driven Technology....Pages 851-859
The Typical Box-Taking Mechanism and Its Development Trend of Automatic Cartoning Machine....Pages 861-868
A ‘Multilink Spatial Hyper Redundant’ Manipulator....Pages 869-875
Back Matter....Pages 877-880