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Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on

Date 22-24 June 2009

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    Publication Year: 2009, Page(s): iii
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    Publication Year: 2009, Page(s):1 - 23
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  • Reconfiguration principles and strategies for reconfigurable mechanisms

    Publication Year: 2009, Page(s):1 - 7
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (516 KB) | HTML iconHTML

    It has been perceived that the reconfigurable mechanism has gradually evolved attractive paradigms for studying the mechanism and machine science towards an overwhelming new direction. More and more studies have been put forward during the past decade, leading to numerous fruitful efforts to this new research field. While the studies about the reconfigurable mechanisms were obviously increased, ma... View full abstract»

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  • An overview of the development on reconfiguration of metamorphic mechanisms

    Publication Year: 2009, Page(s):8 - 12
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (95 KB) | HTML iconHTML

    Metamorphic mechanisms and metamorphic robots are able to deliberately change their own shape by rearranging the connectivity of their parts. The reconfiguration process of the mechanisms contains various topological configurations with multiple configuration states to accommodate topology transformation. Over the last decade, the study of metamorphic mechanism and metamorphic robotics has advance... View full abstract»

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  • Reconfiguration algorithms for robotically manipulatable structures

    Publication Year: 2009, Page(s):13 - 22
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (3672 KB) | HTML iconHTML

    This paper addresses the design and optimization of robotically-reconfigurable structures from an algorithmic point of view. First, we address the algorithmic challenge of searching for a sequence of structural modifications that can transform a given modular structure into a new target structure that serves a different function. The target structure is not explicitly specified, only its desired f... View full abstract»

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  • Structural analysis and configuration synthesis of mechanisms with variable topologies

    Publication Year: 2009, Page(s):23 - 31
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (600 KB) | HTML iconHTML

    A mechanism which encounters a certain changes in its topological structure during operation is called a mechanism with variable topologies. This paper is devoted to introducing a set of approaches for the structural analysis and configuration synthesis of mechanisms with variable topologies. The variable kinematic chains and variable kinematic joints are described first. Then, the representation ... View full abstract»

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  • Metamorphic techniques and geometric reconfiguration principles

    Publication Year: 2009, Page(s):32 - 40
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (589 KB) | HTML iconHTML

    This paper proposes a geometric way to generate metamorphic configurations and investigates metamorphic principles based on geometrized displacement group. Metamorphic reconfiguration techniques are revealed as variations of kinematic joints, kinematic links and geometric orientation constraints specifically by examining invariant configuration properties of a mechanism. The nature of all these co... View full abstract»

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  • Stability of branches of a kinematotropic mechanism

    Publication Year: 2009, Page(s):41 - 46
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (386 KB) | HTML iconHTML

    This work discusses some motion properties of a closed loop kinematotropic mechanism. In an ideal assembly, in which the mechanism links have perfect dimensions, two branches of positions, with 2 and 3 degrees of freedom respectively, exist. When bodies are affected by construction errors, only flexibilities or clearances can ensure that the kinematotropic property is still realizable. In the pape... View full abstract»

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  • Workspace rule of variation of seven- bar mechanisms with various translational outputs

    Publication Year: 2009, Page(s):47 - 53
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (365 KB) | HTML iconHTML

    A two-degree-of-freedom seven-bar mechanism, which is composed of a hinged five-bar mechanism and a RPP grade- II Assur group, can realize translation-output displacement if the two driving links are appropriately programmed. This paper is to investigate variation of seven-bar mechanisms and to analyse their workspace rule with various translational outputs of triple-crank seven-bar mechanism. The... View full abstract»

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  • Classification of motion patterns for robot manipulators

    Publication Year: 2009, Page(s):54 - 57
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (360 KB) | HTML iconHTML

    The accurate and unambiguous description of motion patterns is essential for the type synthesis of robot manipulators, including serial and parallel ones. This paper employs the concept of the GF (Generalized Function) set to achieve a systematic classification of motion patterns. Simple robot structures are illustrated for each motion pattern. The results shown in this paper clarify th... View full abstract»

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