Advances in Reconfigurable Mechanisms and Robots II

Part I. Reconfiguration Theory

1. Reconfigurable Chains of Bifurcating Type III Bricard Linkages
Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Simon D. Guest

2. A Novel Reconfigurable 7R Linkage with Multifurcation
Ketao Zhang, Andreas Müller, Jian S. Dai

3. Design and Analysis of a New 7R Single-Loop Mechanism with 4R, 6R and 7R Operation Modes
Xiuyun He, Xianwen Kong, Guangbo Hao, James Ritchie

4. Analysis of the Motion Mode Change of a Metamorphic 8R Linkage
A. Müller, K. Zhang, J. S. Dai

5. Mobility and Structure Re-Configurability of Compliant Mechanisms
Guangbo Hao

6. Reconfigurable Compliant Unit Modeling and Compositions
Liping Zhang, Xiaoyang Tong, Tian Ji, Guibing Pang

Part II. Topology, Kinematics and Design of Reconfigurable Mechanisms

7. Enumerating the Topological Configurations of the Reconfigurable Cube Mechanism with Eight Sub-cubes
Lin-Chi Wu, Chin-Hsing Kuo

8. Topological Graph Descriptions and Structural Automatic Synthesis of Planar Multiple Joint and Geared-Linkage Kinematic Chains
Jinkui Chu, Yanhuo Zou

9. Origami Carton Folding Analysis Using Flexible Panels
Ferdinando Cannella, Mariapaola Dimperio, Carlo Canali, Nahian Rahman, Fei Chen, Daniele Catelani, Darwin G. Caldwell, Jian S. Dai

10. Design of Constant-Force Compliant Sarrus Mechanism Considering Stiffness Nonlinearity of Compliant Joints
Guimin Chen, Hongye Chang, Geng Li

11. Twin–Bennett Linkage and One Type of Its Mobile Assemblies
Hongwei Guo, Zhongjie Li, Rongqiang Liu, Zongquan Deng

12. Inverse Kinematics and Kineto-Statics of Metamorphic Palm of the KCL/TJU Metamorphic Hand
Chunsong Zhang, Jian S. Dai

13. Foldability Analysis of Cylindrical Origami Structures
Jianguo Cai, Ruijun Ma, Jian Feng, Ya Zhou, Xiaowei Deng

14. Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages
Huijuan Fen, Rongjie Kang, Yan Chen

15. Configuration Analysis of Loading Mechanism with Metamorphic Characteristics
Lin Zhang, Ganwei Cai, Kaijun Zhu, Xiaochun Wang, Zhijie Li

16. Dimension Relationship Between Spherical Four-Bar Mechanisms with Same Couple Curve
Sun Jianwei, Liu Wenrui, Chu Jinkui

Part III. Reconfigurable Parallel Mechanisms

17. Mobility Analysis of Non-overconstrained Reconfigurable Parallel Manipulators with 3-CPU/3-CRU Kinematics
Matteo Palpacelli, Luca Carbonari, Giacomo Palmieri, Massimo Callegari

18. Mechanism Analysis of Parallel Lifting Mechanism for Schnable Car Based on Coordinate Transformation
Yan-Zhi Zhao, Xiang-Nan Wang, Xiao-Xiao Liu, Jie Zhang, Yang Li, Tie-Shi Zhao

19. Reconfiguration and Static Joint Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion
Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne

20. Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism
Haibo Qu, Sheng Guo

21. Reconfiguration Analysis of a 2-DOF 3-4R Parallel Manipulator with Orthogonal Base and Platform
Xianwen Kong

22. QrPara: A New Reconfigurable Parallel Manipulator with 5-Axis Capability
Yan Jin, Binbin Lian, Mark Price, Tao Sun, Yimin Song

23. Quaternion Method for the Kinematics Analysis of Parallel Metamorphic Mechanisms
Zhonghai Zhang, Jian Sun, Zhenhua Wang, Gongjing Yu, Duanling Li, Jinguo Liu

24. Kinematics Analysis of n-4R Reconfigurable Parallel Mechanisms
Yu Jingjun, Duan Zhixiang, Xie Yan

25. A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes
Bo Hu, Zhen Huang

26. A Novel Parallel Mechanism Design Based on Tripod Components
Guanyu Huang, Dan Zhang, Sheng Guo, Dian Li

27. Motion Decoupling Analysis of a Kind of 2R Parallel Mechanism with Two Continuous Rotational Axes
Yundou Xu, Liangliang Chen, Wennan Yan, Jiantao Yao, Yongsheng Zhao

28. Type Synthesis of a Family of 3-DOF Spherical Parallel Mechanisms Using Upper-Lower Combination and Axis Movement Theorem
Rongfu Lin, Weizhong Guo, Feng Gao

29. Structural Synthesis Based on POC Set for Lower-Mobility Non-overconstrained Parallel Mechanisms
Xiaorong Zhu, Xin Yao, Huiping Shen, Chen Sun, Tingli Yang

30. Dynamic Identification of a 3-PRS Parallel Robot with Scissor-Type Prismatic Joint: A Cloud-Based Approach
Jian Yang, Xin Wang, Xue Feng Chen

31. Force Balance of Mechanisms and Parallel Robots Through Reconfiguration Method
Dan Zhang, Bin Wei

32. Fault Diagnosis and Reconfiguration of Pre-stressed Fault-Tolerant Six-Axis Force Sensor
Jiantao Yao, Hongyu Zhang, Jialong Zhu, Yundou Xu, Yongsheng Zhao

33. Structural Characteristics of Force/Moment Polytopes of Cable Driven Parallel Mechanisms
Xiaowei Dai, Yuru Zhang, Dangxiao Wang, Jian Song

34. Constraint and Mobility Analysis of the SNU 3-UPU Parallel Mechanism in Mixed Mode
Ziming Chen, Yang Zhang, Kun Huang, Zhen Huang

35. The Elliptical Trajectory with Modified Sine Motion Profile for Delta Robot
Ruining Huang, Yunqiang Zhang, Yunjiang Lou

36. A Precise Rotary Actuator Based on Small Perimeter Difference Using Parallel Compliant Mechanism
Chengwu Li, Gang Ma, Xu Pei, Bilu Fang

37. Kinematic Modelling of a Panel Enclosed Hexapod
Aaron Yu, Fengfeng (Jeff) Xi, Daniel Finistauri

38. Conceptual Design and Kinematic Analysis of a Novel Parallel Manipulator with an Articulated Gripping Platform
Yimin Song, Yang Qi, Tao Sun

39. Conceptual Design and Workspace Analysis of an Exechon-Inspired Parallel Kinematic Machine
Tang Tengfei, Zhao Yanqin, Zhang Jun, Jin Yan

40. Type Synthesis and Analysis of Two-Axis Swaying Platform with Virtual Rotation Axis
Erwei Li, Tieshi Zhao, Chang Wang, Yanzhi Zhao, Hui Bian, Yuhang Chen

41. Kinematic and Dynamic Analysis of a 3PUS-S(P) Parallel Metamorphic Mechanism Used for Bionic Joint
Boyan Chang, Guoguang Jin

Part IV. Bio-reconfiguration Techniques and Biomedical Devices

42. A Bio-inspired Reconfigurable Robot
Ning Tan, Rajesh Elara Mohan, Karthikeyan Elangovan

43. Modeling and Design on Trailing Edge of Morphing Wing
Gang Li, Bing Li

44. Suboptimal Anatomy of Metamorphic Manipulators Based on the High Rotational Dexterity
Vassilis C. Moulianitis, Nikos A. Aspragathos, Charalampos Valsamos

45. The Flexible Neck Mechanism Design and Control of a Turtle Robot for Performance at Digital Stage
Wenfu Xu, Hongtao Wang, Zhonghua Hu, Guowei Liang

46. Modular Bionic Foot Design Inspired by Blue Sheep
Xilun Ding, Linhong Kang, Qun Zhang, Kun Xu

47. Design and Kinematic Analysis of a Novel Metamorphic Mechanism for Lower Limb Rehabilitation
Wuxiang Zhang, Shaodan Zhang, Marco Ceccarelli, Di Shi

48. A Cable-Pulley Transmission for Ankle Joint Actuation in Artificial Leg
Huaxin Liu, Marco Ceccarelli, Qiang Huang, Xinran Guo, Haotian She, Weimin Zhang

49. Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot
Yang Li, Ligang Yao

50. Prototype Design of a Rubik Snake Robot
Xin Zhang, Jinguo Liu

51. Trajectory Optimization for Robot Crawling on Ceiling Using Dry Elastomer Adhesive
Zhongyuan Wang, Gongxun Sun, Zhendong Dai

52. Mechanism Design and Kinematic Performance Research of Snake-Like Robot with Orthogonal Active Wheels
Zhiping Weng, Tianlong Liu, Chuncheng Wu, Zhengcai Cao

Part V. Analysis and Design of Reconfigurable Robots

53. A Robot Capable of Autonomous Robotic Team Repair: The Hex-DMR II System
Joshua D. Davis, Yunuscan Sevimli, M. Kendal Ackerman, Gregory S. Chirikjian

54. Inverse Kinematics of Active Rotation Ball Joint Manipulators Using Workspaces Density Functions
Hui Dong, Taosha Fan, Zhijiang Du, Gregory S. Chirikjian

55. Singularity Analysis of a High-Speed Parallel Robot with Schönflies Motion
Fugui Xie, Xin-Jun Liu, Zubing Min

56. Multi-objective Design Optimization of a Parallel Schönflies-Motion Robot
Guanglei Wu, Shaoping Bai, Preben Hjørnet

57. Mechanism Synthesis and Workspace Analysis of a Spraying Robot for Airfoil
Lizhong Zhu, Liping Wang, Jingshan Zhao

58. A Novel Docking Mechanism Design and Dynamic Performance Analysis of Self-reconfigurable Modular Robot
Xiaofeng Wang, Minglu Zhang, Weimin Ge

59. Conceptual Design and Kinematic Analysis of the Diamobot: A Homogeneous Modular Robot
Longhai Zhao, Hao Wang, Tianwei Lin, Genliang Chen, Lingyu Kong

60. Design and Development on a Reconfigurable Modular Joint of the Robot Arm
Jiaming Deng, Pengcheng Wang, Qingmei Meng, Huiping Shen, Jian Chen, Minzhou Luo

61. A New Approach to Identify Link Errors and Kinematic Pair Errors of SCARA Robot
Zhi Wang, Delun Wang, Huimin Dong, Shudong Yu

62. Structural Topology Optimization for a Robot Upper Arm Based on SIMP Method
Bai Yunfei, Cong Ming, Li Yongyao

63. Intelligent Service Reconfiguration for Home Robots
Tsung-Hsien Yang, Wei-Po Lee

64. Design and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot
S. J. Li, Q. Yang, M. Geng, H. G. Wang

65. Compliance Analysis and Synthesis of a Serial Manipulator with Redundant DOFs Used in Tokamak
Jue Yu, Yong Zhao, Hao Wang, Li Wang, Xinmin Lai

66. A Modular Liquid Sample Handling Robot for High-Throughput Fourier Transform Infrared Spectroscopy
Jichun Li, Volha Shapaval, Achim Kohler, Robert Talintyre, Jürgen Schmitt, Richard Stone, Andrew J. Gallant, Dagou A. Zeze

67. Reconfigurable Industrial Robots—An Integrated Approach to Design the Joint and Link Modules and Configure the Robot Manipulator
A. Valente

68. M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper
Raymond R. Ma, Adam Spiers, Aaron M. Dollar

69. Design and Analysis of a Circular-Orbit Underconstrained Cable Parallel Robot
Sen Qian, Bin Zi, Xue Han

70. Kinematics and Energy Minimization Approach for Continuum Robot
Qiang Lu, Bin He

71. Parametric Modeling and Experimental Analysis for Interventional Surgery Robots
Bin He, Ke Liu, Shangqing Wu, Yuanyuan Si, Tingting Yuan, Luxi He, Yanmin Zhou

72. Application and Research of the Clip Type Manipulator
Jin Hui, Yun Chao, Wang Wei, Li Dongjing

Part VI. Control of Reconfigurable Robots

73. Reconfiguration of Mobile Intelligent Robotic Platform (MIRP) with Emotional Control
Alberto Rovetta

74. Self-assembly Planning of a Shape by Regular Modular Robots
Haiyuan Li, Tianmiao Wang, Gregory S. Chirikjian

75. Evaluation of Contactless Power Transmission at Rotary Joint for Dynamic Load
Zhipan Wang, Hao Gu, Peide Sun

76. Bio-control of a Modular Design Robot—NOROS
Fan Yang, Xilun Ding, Saijin Peng

77. Efficient Motion Simulation and Collision Detection Algorithm Suitable for Serial Industrial Robot
Jiangang Li, Yang Lu, Yangpeng Song

78. A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design
Xingyun He, Cezary Zielinski, Steven Davy, Lei Shi

79. Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers
Raymond R. Ma, Nicolas Rojas, Aaron M. Dollar

80. Task-Based Control Strategies and the Implementation for a Six-Legged Multi-tasked Robot
Yuan Tian, Feng Gao, Yang Pan, Yilin Xu

81. Gait and Experiment Research for the Human-Carrying Quadruped Walking Chair Robot with Parallel Leg Mechanism
Lingfeng Sang, Hongbo Wang, Shuaishuai Wang, Hongmin Shi

82. Workspace Analysis and Dynamic Object Tracking with a Delta Parallel Robot
Guoying Zhang, Guanfeng Liu, Weinan Chen, Xieyuan Lin, Yisheng Guan

83. Load Sharing Characteristics of RV Transmission Mechanism in Robot
Mo Shuai, Zhang Yidu, Wu Qiong

Part VII. Deployable Mechanisms and Applications of Reconfigurable Mechanisms

84. Design and Experiment on a Lock/Release Mechanism Based on Shape Memory Alloy for SAR Antenna
Liu Rongqiang, Wang Yan, Cong Qiang, Liu Dong

85. Design of a Six-Wheeled Planetary Surface Locomotion System with Single Motor Driving Folded-Deployed Suspension
Yue Wu, Shurong Hu, Jianguo Tao, Jiajun Li, Chen Lin

86. A Method for Constructing Reconfigurable Deployable Polyhedral Mechanism
Ruiming Li, Yan’an Yao, Xianwen Kong

87. Modeling and Design on Modular Deployable Antenna
Bing Li, Weiguo Kong, Xiaozhi Qi

88. Mobility Analysis for Deployable Assemblies of Mechanisms Based on Nullspace
Yi Yang, Xilun Ding, Wuxiang Zhang

89. Reconfigurability of Engines: A Kinematic Approach to Variable Compression Ratio Engines
Thiago Hoeltgebaum, Roberto Simoni, Daniel Martins

90. Reconfigurability and Flexibility in a Robotic Fixture for Automotive Assembly Welding
Zeshan Ahmad, Shengnan Lu, Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino

91. Module Partition Method for Product Requirement Change Based on Improved Differential Evolution Algorithm
Wei Wei, He Liang, Ang Liu, Shaopeng Xu

92. Synthesis of a Spatial 3-dof Deployable Mechanism to Grasp Stacked Non-Rigid Materials
David Corinaldi, Massimo Callegari, Matteo-Claudio Palpacelli, Giacomo Palmieri

93. A Novel Linear Telescopic Mechanism: Configuration and Position Precision Analysis
Leiyu Zhang, Yang Yang

94. Erratum to: Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages
Huijuan Feng, Rongjie Kang, Yan Chen

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