Advances in Reconfigurable Mechanisms and Robots II (eBook)

Preface 6
Contents 10
Part IReconfiguration Theory 20
1 Reconfigurable Chains of Bifurcating Type III Bricard Linkages 21
Abstract 21
1 Introduction 22
2 The Type III Bricard Linkage 22
3 Kinematic Analysis 23
3.1 Configuration Space 23
3.2 Bifurcation Analysis 26
4 Application in the Design of Reconfigurable Mechanisms 27
4.1 Connecting Two Type III Bricard Linkages 28
4.2 Construction of Reconfigurable Mechanisms 28
5 Case Study 30
6 Conclusion 31
Acknowledgement 32
References 32
2 A Novel Reconfigurable 7R Linkage with Multifurcation 33
Abstract 33
1 Introduction 33
2 Geometry and Kinematics of a Novel 7R Linkage 35
2.1 Geometric Parameters 36
2.2 Kinematics Equations in Dual Quaternion 36
3 Constraint Variation Induced Multifurcation 37
3.1 Motion Branch of Line-Symmetric Overconstrained 6R Linkage 37
3.2 Motion Branch of an Overconstrained 6R Linkage with Planar Translational Motion 39
3.3 Motion Branch of Planar 4R Linkage 40
4 Conclusions 41
Acknowledgments 41
References 41
3 Design and Analysis of a New 7R Single-Loop Mechanism with 4R, 6R and 7R Operation Modes 44
Abstract 44
1 Introduction 45
2 Design of a Novel 7R SLMMM 46
2.1 D-H Parameters 46
2.2 Bricard 6R Linkage 46
2.3 A New 7R SLMMM 47
3 Kinematic Analysis of the New 7R SLMMM 48
4 Configuration Verification 51
5 Conclusions 52
Acknowledgement 53
References 53
4 Analysis of the Motion Mode Change of a Metamorphic 8R Linkage 55
Abstract 55
1 Introduction 55
2 The Symmetric 8R Linkage 56
3 Transition from 8R to 6R Linkage 57
4 Analytic Proof of the Metamorphism 58
4.1 The Method for Local Mobility Determination 58
5 Joint Locking in Regular Configuration of the 8R 60
6 Conclusion 63
References 63
5 Mobility and Structure Re-Configurability of Compliant Mechanisms 64
Abstract 64
1 Introduction 64
2 Instantaneous Mobility of Compliant Mechanisms 65
3 Stiffness Variability 67
3.1 Primary Motion Under Preloading Base Stages 68
3.2 Off-axis Rotational Motion for a Pair of Inclined Beams 70
4 Structure Re-Configurability 73
5 Conclusions 74
References 74
6 Reconfigurable Compliant Unit Modeling and Compositions 76
Abstract 76
1 Introduction 76
2 Functional Representations of Compliant Behavior 77
2.1 Compliance Characteristics and Relations to Kinematics [13] 78
2.2 Geometric Parameters and Constraints 78
3 Characteristic Modeling of Compliant Unit 79
3.1 Compliant Unit and Its Characteristic Modeling 79
3.2 Reconfigurable Unit-II 81
4 Characteristic Modeling of Serial Concatenation 82
5 Characteristic Modeling of Parallel Connection 83
6 Conclusions 85
Acknowledgments 85
References 85
Part IITopology, Kinematics and Designof Reconfigurable Mechanisms 87
7 Enumerating the Topological Configurations of the Reconfigurable Cube Mechanism with Eight Sub-cubes 88
Abstract 88
1 Introduction 88
2 Enumeration Algorithm 90
2.1 Link and Joint Connecting Sequences 92
2.2 Repeated Joint Rule 92
2.3 Co-axial Joints Rule 93
2.4 Configurational Isomorphism Detection 93
2.5 Inside Joint Rule 94
2.6 Cyclic Reconfiguration 95
3 Conclusion 95
References 95
8 Topological Graph Descriptions and Structural Automatic Synthesis of Planar Multiple Joint and Geared-Linkage Kinematic Chains 97
Abstract 97
1 Introduction 97
2 Multicolor Topological Graphs of Planar Multiple Joint and Geared-Linkage Kinematic Chains 98
2.1 Double Color Topological Graph of Planar Multiple Joint Kinematic Chain 98
2.2 Tricolor Topological Graph of Planar Geared-Linkage Kinematic Chain 99
3 Structural Automatic Synthesis of Planar Multiple Joint and Geared-Linkage Kinematic Chains 100
3.1 Structural Automatic Synthesis of Planar Multiple Joint Kinematic Chains 100
3.2 Structural Automatic Synthesis of Planar Geared-Linkage Kinematic Chains 103
4 Conclusions 104
Acknowledgments 105
References 105
9 Origami Carton Folding Analysis Using Flexible Panels 107
Abstract 107
1 Introduction 108
2 Previous Research and Folding Mechanism 109
3 A Case Study of Origami Folding 109
4 Test Rig and Finger Kinematics 111
4.1 Kinematics of 2 DOF and 3 DOF Finger 111
5 Multibody Simulation by Finite Element Method (FEM) 112
6 Simulation and Comparison 114
7 Results and Discussion 115
8 Conclusions 117
References 117
10 Design of Constant-Force Compliant Sarrus Mechanism Considering Stiffness Nonlinearity of Compliant Joints 119
Abstract 119
1 Introduction 119
2 Nonlinear Stiffness Equation for Cross-Spring Flexural Pivot 121
3 Constant-Force Compliant Sarrus Mechanism 123
3.1 Compliant Sarrus Mechanism 123
3.2 Design of Constant-Force Compliant Sarrus Mechanism 125
4 Conclusions 127
Acknowledgments 127
References 127
11 Twin--Bennett Linkage and One Type of Its Mobile Assemblies 129
Abstract 129
1 Introduction 129
2 Review of Bennett Linkage 130
3 Twin-Bennett Linkage and One Type of Mobile Assemblies 132
3.1 Construction of Twin-Bennett Linkage 132
3.2 A Special Type of Assemblies Based on Twin-Bennett Linkages 134
4 Kinematic Discussions About the Mobile Assembly 135
5 Conclusions 138
Acknowledgments 138
References 138
12 Inverse Kinematics and Kineto-Statics of Metamorphic Palm of the KCL/TJU Metamorphic Hand 139
Abstract 139
1 Introduction 139
2 Structure of the KCL/TJU Metamorphic Hand and Coordinate Frames in the Metamorphic Palm 140
3 Inverse Kinematics of the Metamorphic Palm 141
3.1 Inverse Velocity Analysis of the Metamorphic Palm 142
3.2 Inverse Acceleration Analysis of the Metamorphic Palm 143
4 Kineto-Statics of the Metamorphic Palm 144
4.1 Calculation of Inertia Forces and Inertia Moments 145
4.2 Kineto-Static Equilibrium Equations of Each Link 146
4.3 Simulation and Results of the Dynamic Model 149
5 Conclusion 151
Acknowledgments 151
Appendix 151
References 152
13 Foldability Analysis of Cylindrical Origami Structures 154
Abstract 154
1 Introduction 155
2 Single-Vertex Origami with Six Creases 156
3 Cylinder Model with Six Creases 159
4 Conclusions 161
Acknowledgments 161
References 161
14 Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages 163
Abstract 163
1 Introduction 163
2 Generation of the Reconfigurable Mechanism from the Bennett Network 165
3 Workspace Evaluation of the Reconfigurable Mechanism 166
4 Comparison Between the Workspace of the Reconfigurable Mechanism and Resultant Linkages 168
5 Conclusions 172
Acknowledgments 172
References 172
15 Configuration Analysis of Loading Mechanism with Metamorphic Characteristics 174
Abstract 174
1 Introduction 174
2 Controllable Mechanism with the Active Metamorphic Characteristic Principle 175
3 The Analysis of the Controllable Loading Mechanism with Active Metamorphic Characteristic 175
3.1 The Inserting Working Condition 177
3.2 The Working Condition of Take Back Bucket at Low Limit Position 178
3.3 The Heavy Haul Transportation Working Condition 178
3.4 The High Limit Lifting Working Condition 179
3.5 The High Limit Uploading Working Condition 180
4 Conclusion 181
Acknowledgments 181
References 181
16 Dimension Relationship Between Spherical Four-Bar Mechanisms with Same Couple Curve 183
Abstract 183
1 Introduction 183
2 Frequency Analysis of the Coupler Curve of Spherical Four-Bar Mechanism 185
3 Three Conclusions About Dimensional Types of Spherical Four-Bar Mechanism 188
3.1 Relationship Between Two Basic Dimensional Types of ( alpha , gamma , xi , beta , theta p) and ( alpha , gamma , xi , beta , theta p2032) with Normal Assembling Manner 188
3.2 Relationship Between Two Basic Dimensional Types of ( alpha , gamma , xi , beta , theta p) and ( alpha , gamma , xi , beta , theta p20322032) with Normal Assembling Manner 189
3.3 Relationship Between Two Basic Dimensional Types of ( alpha , gamma , xi , beta , theta p) and ( alpha , gamma , xi , beta , theta p203220322032) with Normal Assembling Manner and Assembled in Different Manners 189
4 Examples 189
4.1 Example 1 189
4.2 Example 2 190
5 Conclusions 192
Acknowledgements 192
References 193
Part IIIReconfigurable Parallel Mechanisms 194
17 Mobility Analysis of Non-overconstrained Reconfigurable Parallel Manipulators with 3-CPU/3-CRU Kinematics 195
Abstract 195
1 Introduction 195
2 Screw Theory Applied to PKMs 196
3 Reconfigurable Lockable Joints 198
4 Mobility Analysis of the 3-CPU/3-CRU Architectures 199
4.1 Mobility of the Reconfigurable 3-CPU 201
4.2 Mobility of the Reconfigurable 3-CRU 202
5 Jacobian Matrices of the 3-CPU/3-CRU Manipulators 203
6 Conclusions 205
References 205
18 Mechanism Analysis of Parallel Lifting Mechanism for Schnable Car Based on Coordinate Transformation 207
Abstract 207
1 Introduction 207
2 Modeling for Mechanism 208
3 Analysis of the Parallel Lifting Mechanism 208
3.1 The Simplification and Freedom Calculation of the Parallel Lifting Mechanism 208
3.2 The Position Analysis of the Parallel Lifting Mechanism 209
3.3 The Velocity and Static Analysis of the Parallel Lifting Mechanism 214
4 The Kinematics Simulation of the Lifting Mechanism 215
5 Summary 215
Acknowledgement 216
References 216
19 Reconfiguration and Static Joint Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion 218
Abstract 218
1 Introduction 219
2 The Reconfigurable Revolute (rR) Joint and Reconfiguration of the 3rRPS Metamorphic Parallel Mechanism 220
2.1 The rR Joint and the 3rRPS MPM 220
2.2 Reconfiguration of the 3rRPS MPM 221
3 Static Force Analysis of the 3rRPS MPM 222
4 Numerical Example and Joint Force Variation Analysis 224
5 Conclusions 226
References 227
20 Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism 228
Abstract 228
1 Introduction 228
2 Geometric Description and Reconfigurable Limb 230
2.1 Geometric Description 230
2.2 Reconfigurable Kinematic Limb 230
3 Mobility and Connectivity Analysis 233
3.1 Connectivity Between Moving Platform and Fixed Base 233
3.2 Mobility of the Whole Parallel Mechanism 234
4 Topology Variations and New Connectivity Criterion 235
5 Conclusions 237
Acknowledgments 237
References 237
21 Reconfiguration Analysis of a 2-DOF 3-4R Parallel Manipulator with Orthogonal Base and Platform 239
Abstract 239
1 Introduction 239
2 Description of a 2-DOF 3-4R PM with Orthogonal Base and Platform 240
3 Operation Mode Analysis of the 3-4R PM with Orthogonal Base and Platform 243
4 Transition Configuration Analysis 246
4.1 Case n_{m} = 2 246
4.2 Case n_{m} = 4 247
5 Conclusions 248
Acknowledgment 248
References 248
22 QrPara: A New Reconfigurable Parallel Manipulator with 5-Axis Capability 250
Abstract 250
1 Introduction 251
2 Architecture Description 252
3 Mobility Analysis 254
4 Kinematics Model and Reconfiguration Strategy 255
5 Conclusion 259
Acknowledgements 260
References 260
23 Quaternion Method for the Kinematics Analysis of Parallel Metamorphic Mechanisms 262
Abstract 262
1 Introduction 263
2 The Method for Kinematics Analysis of the Parallel Metamorphic Mechanism 264
3 Kinematic Analysis of a Parallel Metamorphic Mechanism 267
4 Solve the Kinematical Equation by Using the Resultant Elimination Method 271
5 Numerical Example 273
6 Conclusions 275
Acknowledgment 276
References 276
24 Kinematics Analysis of n-4R Reconfigurable Parallel Mechanisms 278
Abstract 278
1 Introduction 278
2 Effects of n on DOF Characteristic 279
3 Pose Kinematics 281
4 Effects of n on Theoretical Workspace 283
5 Error Analysis 284
6 Conclusions 288
Acknowledgements 288
References 288
25 A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes 289
Abstract 289
1 Introduction 289
2 Description of the PMs 290
3 Kinematic Identical Property of the PMs of This Family 292
3.1 Jacobian Establishment of the PMs of This Family 292
3.1.1 Jacobian Analysis of RPS + SPS + PS PM 293
3.1.2 Jacobian Analysis of UPU + SPS + PS PM 293
3.1.3 Jacobian Analysis of 2-SPS + PU PM 294
3.2 Kinematic Identical Property 294
4 Common Kinematics 295
5 Conclusions 296
Acknowledgments 296
References 297
26 A Novel Parallel Mechanism Design Based on Tripod Components 298
Abstract 298
1 Introduction 298
2 Description of the Modular Component Parallel Manipulator 299
3 Kinematic Model 300
3.1 Inverse Kinematics 301
3.2 Forward Kinematics 302
3.3 Numerical Solution 303
4 Workspace Analysis 304
5 Simulation 305
6 Conclusions 306
Acknowledgments 306
References 306
27 Motion Decoupling Analysis of a Kind of 2R Parallel Mechanism with Two Continuous Rotational Axes 308
Abstract 308
1 Introduction 308
2 Motion Decoupling Analysis of a Kind of 2R-PM (2UPS-RR PM) 309
2.1 Three Different Structural Forms of the 2UPS-RR PM 309
2.2 Kinematic Analysis of Three Different Structural Forms 311
2.2.1 Kinematic Analysis of Structural Form (a) 311
2.2.2 Kinematic Analysis of Structural Form (b) 311
2.2.3 Kinematic Analysis of Structural Form (c) 312
2.3 The Characteristics of the Structural Forms When the Two Rotational DOFs Are Decoupled 313
3 Conclusion 314
Acknowledgments 314
References 314
28 Type Synthesis of a Family of 3-DOF Spherical Parallel Mechanisms Using Upper-Lower Combination and Axis Movement Theorem 315
Abstract 315
1 Introduction 315
2 Propaedeutics 317
3 Type Synthesis of 3-DOF SPMs Based on Upper-Lower Combination 319
3.1 Characteristics Distribution for the Upper and Lower Part 319
3.2 Type Synthesis of Kinematic Limbs for SPMs 320
3.3 Type Synthesis of SPMs with Symmetrical Characteristics 322
4 Discussion 323
Acknowledgments 325
References 325
29 Structural Synthesis Based on POC Set for Lower-Mobility Non-overconstrained Parallel Mechanisms 327
Abstract 327
1 Introduction 328
2 Theory Needed for Structural Synthesis of PMs Based on POC 328
2.1 POC Equation for PMs 329
2.2 The Independent Loop and Its Over-Constraint Characteristics 330
2.3 The Structural Model of Non-overstrained PMs 331
3 Process of Structural Synthesis for Non-overconstrained PMs 331
3.1 Dimension of POC Set of Limbs 331
3.2 POC of Limbs 333
3.3 Geometrical Constraints Between Limbs 334
3.4 Technological Process of the Structural Synthesis 335
4 Comparison of Different Non-overconstrained Configurations 335
4.1 Type_I Non-overconstrained PMs 335
4.2 Type_II Non-overconstrained PMs 336
4.3 Type_III Non-overconstrained PMs 337
5 Conclusion 337
Acknowledgments 338
References 338
30 Dynamic Identification of a 3-PRS Parallel Robot with Scissor-Type Prismatic Joint: A Cloud-Based Approach 339
Abstract 339
1 Introduction 340
2 Dynamic Model 341
3 Base Parameters, Optimal Trajectories and Identification 343
4 Cloud-Based Online Identification Architecture 346
5 Implement Results 346
6 Conclusion 349
References 349
31 Force Balance of Mechanisms and Parallel Robots Through Reconfiguration Method 351
Abstract 351
1 Introduction 351
2 Force Balance Through Reconfiguration 353
3 Conclusion 360
Acknowledgments 360
References 360
32 Fault Diagnosis and Reconfiguration of Pre-stressed Fault-Tolerant Six-Axis Force Sensor 362
Abstract 362
1 Introduction 363
2 Measuring Model of Pre-stressed Fault-Tolerant Six-Axis Force Sensor 364
3 Diagnosis Method for Sensor Failure 366
4 Identification of Faulty Limb 367
5 Reconfiguration of Measurement Model 369
6 Conclusions 371
Acknowledgments 371
References 371
33 Structural Characteristics of Force/Moment Polytopes of Cable Driven Parallel Mechanisms 373
Abstract 373
1 Introduction 374
2 Definition of Un-Prescribed Force/Moment Polytope 375
3 Determination of Un-Prescribed Force/Moment Polytope 376
4 Relationship Between Un-prescribed Force/Moment Polytope and Cable Directions 380
5 Conclusions 381
Acknowledgements 381
References 381
34 Constraint and Mobility Analysis of the SNU 3-UPU Parallel Mechanism in Mixed Mode 383
Abstract 383
1 Introduction 383
2 The SNU 3-UPU PM 384
3 The Mixed Mode of the SNU 3-UPU PM 385
3.1 Axes of Ri1 and Ri5 Are Intersecting in Each Branch 385
3.2 Axes of Ri1 and Ri5 Are Parallel in One Branch and Intersecting in Other Two Branches 389
4 Conclusion 391
Acknowledgements 391
References 392
35 The Elliptical Trajectory with Modified Sine Motion Profile for Delta Robot 393
Abstract 393
1 Introduction 393
2 Dynamic Model of the Delta Robot 394
3 PPO Motion Planning 396
3.1 The Elliptical Path 396
3.2 Modified Sine Motion Profile 397
4 Experiment and Discussion 398
5 Conclusions 400
Acknowledgments 400
References 400
36 A Precise Rotary Actuator Based on Small Perimeter Difference Using Parallel Compliant Mechanism 402
Abstract 402
1 Introduction 402
2 Principle of Operation 403
3 Analysis 405
3.1 Angular Velocity 405
3.2 Torque 407
3.3 Stiffness 409
3.4 Stress 411
3.5 Resolution 412
4 Model Validation 412
5 Conclusions 413
Acknowledgments 414
References 414
37 Kinematic Modelling of a Panel Enclosed Hexapod 415
Abstract 415
1 Introduction 415
2 Kinematic Modeling 417
2.1 Hexapod Modeling 417
2.2 Panel Modeling 418
2.3 Collision Detection 420
2.4 Slicing Algorithm 421
3 Methodology 422
4 Simulation 423
4.1 Motion Analysis of the Hexapod 423
4.2 Motion Analysis of the Hexapod with Skin Panels 424
4.3 Collision Algorithm 424
4.4 Slicing Algorithm 425
5 Conclusion 426
References 427
38 Conceptual Design and Kinematic Analysis of a Novel Parallel Manipulator with an Articulated Gripping Platform 428
Abstract 428
1 Introduction 428
2 Conceptual Design 430
3 Kinematic of the Articulated Gripping Platform 432
4 Inverse Position Analysis 434
5 Motion Mapping Model 435
6 Example 437
7 Conclusions 438
Acknowledgments 438
References 438
39 Conceptual Design and Workspace Analysis of an Exechon-Inspired Parallel Kinematic Machine 440
Abstract 440
1 Introduction 441
2 Inverse Kinematics and Conceptual Design 441
2.1 Inverse Kinematics 441
2.2 Conceptual Design 443
3 Workspace Analyses 444
4 Conclusions 446
Acknowledgements 447
References 447
40 Type Synthesis and Analysis of Two-Axis Swaying Platform with Virtual Rotation Axis 449
Abstract 449
1 Introduction 450
2 Type Synthesis of Planar Mechanism with a Virtual Rotation Axis 450
2.1 2-DOF Kinematic Chain with Virtual Centre 450
2.2 Equivalent Substituting of Kinematic Chain 452
3 Type Synthesis of TASP 453
3.1 Rotation Conditions of PMs 453
3.2 Type Synthesis Procedure 454
4 Analysis of TASP Architectures 456
4.1 DOF Analysis 456
4.2 Actuator Selection and Arrangement 458
4.3 Position Analysis 458
4.3.1 Reverse Solution 459
4.3.2 Forward Solution 461
4.4 Analysis of Large Cargo Space and Static-Load Balancing 461
5 Conclusion 462
Acknowledgments 462
References 463
41 Kinematic and Dynamic Analysis of a 3PUS-S(P) Parallel Metamorphic Mechanism Used for Bionic Joint 464
Abstract 464
1 Introduction 464
2 Description of 3PUS-S(P) Parallel Metamorphic Mechanism 466
3 Kinematic Model of 3PUS-S(P) Mechanism 467
4 Dynamic Model and Simulation of 3PUS-S(P) Mechanism 469
4.1 Dynamic Model 469
4.2 Dynamic Simulation 470
5 Conclusion 472
Acknowledgment 472
References 472
Part IVBio-reconfiguration Techniquesand Biomedical Devices 474
42 A Bio-inspired Reconfigurable Robot 475
Abstract 475
1 Introduction 475
2 Mechanical Design 478
3 Control System 480
3.1 Hardware 480
3.2 Software 481
4 Experimental Results 481
4.1 Gaits Generation 481
4.2 Recovery 482
4.3 Terrain-Perception-Based Reconfiguration 482
5 Conclusion 484
Acknowledgments 484
References 484
43 Modeling and Design on Trailing Edge of Morphing Wing 486
Abstract 486
1 Introduction 486
2 Proposal of Type Structural Synthesis Method 487
2.1 The Characteristic Invariant Spectrums for Planar Kinematic Chains 487
2.2 The Type Spectrum of Multiple-hinges for Planar Kinematic Chains CT 488
2.3 The Characteristic Spectrum Analysis Type Structural Synthesis Method 489
3 The Design of Morphing Trailing Edge 490
3.1 The Proposal of the Morphing Trailing Edge 490
3.2 The Mathematical Model for the Morphing Trailing Edge 492
4 The 3D Model and Aerodynamic Analysis 494
4.1 The 3D Model and ADAMS Model 494
4.2 The Aerodynamic Analysis 495
5 Conclusion 497
Acknowledgements 497
References 497
44 Suboptimal Anatomy of Metamorphic Manipulators Based on the High Rotational Dexterity 499
Abstract 499
1 Introduction 500
2 Metamorphic Manipulators 501
3 Determination of the Best Anatomy for a Task with Variable Orientation 502
4 Determination of the DH Parameters for Robots with Pseudojoints 503
5 Results 507
6 Conclusions 508
References 509
45 The Flexible Neck Mechanism Design and Control of a Turtle Robot for Performance at Digital Stage 510
Abstract 510
1 Introduction 510
2 Brief Introduction to Turtle Performing Robot 511
3 Mechanical Design of Flexible Neck 512
3.1 The Overall Structure of Flexible Neck 512
3.2 The Body Structure of the Flexible Neck 514
3.3 The Driving System of the Flexible Neck 514
4 The Motion Planning and Control of the Flexible Neck 515
4.1 The Overall Structure of Flexible Neck 515
4.2 The Control System 516
5 Robotic Prototype and Experiments 517
6 Conclusion 520
Acknowledgement 520
References 521
46 Modular Bionic Foot Design Inspired by Blue Sheep 522
Abstract 522
1 Introduction 522
2 Climbing Mechanism Analysis of the Blue Sheep 523
2.1 The Blue Sheep's Impressive Climbing Ability 523
2.2 The Features of the Blue Sheep's Special Foot 524
2.3 Climbing Mechanism Analysis 525
3 Mechanic Foot Design 525
3.1 Design Principle of the Bio-mechanical Foot 526
3.2 Mechanic Foot Design 527
3.2.1 Design of Ankle Joint and Spring 527
3.2.2 Design of Modular Connector Mechanism 529
4 Model Simulation 529
5 Experiments 530
5.1 Bearing Ability Testing 531
5.2 Terrain Adaptation Experiment 531
6 Discussion and Conclusion 532
Acknowledgments 533
References 533
47 Design and Kinematic Analysis of a Novel Metamorphic Mechanism for Lower Limb Rehabilitation 534
Abstract 534
1 Introduction 534
2 The Attached Rehabilitation Problem 536
3 Design of the Proposed Metamorphic Mechanism 536
3.1 Mechanism in Configuration I 538
3.2 Mechanism in Configuration II 539
4 Inverse Kinematics Problem 541
5 Conclusions 546
Acknowledgments 547
References 547
48 A Cable-Pulley Transmission for Ankle Joint Actuation in Artificial Leg 548
Abstract 548
1 Introduction 549
2 The Attached Design Problem 550
3 A Proposed Solution and Its Design 551
4 Results of Design Output and Simulation 555
5 Conclusions 558
References 558
49 Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot 560
Abstract 560
1 Introduction 560
2 A Novel Ankle Rehabilitation Robot 561
3 Mathematical Modeling for Kinematic Characteristics Analysis of the Proposed Robot 562
3.1 Coordinate Transformations for the Proposed Robot 563
3.2 Inverse Solution of the Proposed Robot 564
4 Conclusions 568
References 568
50 Prototype Design of a Rubik Snake Robot 570
Abstract 570
1 Introduction 570
2 Design Origin 572
2.1 Geometric Characteristic 573
3 System Design 573
3.1 Model Analysis 574
3.1.1 Structural Statics Analysis 574
3.1.2 Structural Dynamics Analysis 575
3.1.3 Driving Torque Analysis 576
3.2 Experiment 577
4 Conclusion and Future Works 578
Acknowledgments 579
References 579
51 Trajectory Optimization for Robot Crawling on Ceiling Using Dry Elastomer Adhesive 581
Abstract 581
1 Introduction 581
2 Biological Model of Gecko Crawling on Ceiling 582
3 Friction and Peeling Model for Dry Elastomer Adhesive 583
3.1 Frictional Attaching Model 583
3.2 Peeling Model 584
4 Experimental Design 584
4.1 Experimental Setup 584
4.2 Trajectory Tuning 585
5 Result and Discussion 586
5.1 Effect of Preload 586
5.2 Effect of Peeling Angle 587
5.3 Optimal Trajectory During Once Cycle 587
6 Conclusion 588
Acknowledgments 588
References 588
52 Mechanism Design and Kinematic Performance Research of Snake-Like Robot with Orthogonal Active Wheels 590
Abstract 590
1 Introduction 591
2 Mechanism Design 592
2.1 Orthogonal Active Wheel 592
2.2 Parallel Joints 593
2.3 Electrical Control System of the Snake-Like Robot with the Orthogonal Active Wheel 593
3 Parameter Optimization 594
3.1 Parameter Model 595
3.2 Geometry Constraints 596
3.3 Optimization Process 596
4 Control System Design Based on Model 597
5 Performance Analysis 598
5.1 Mechanism Optimization 598
5.2 Motion Efficiency 599
5.3 Trajectory Tracking 601
6 Conclusion 601
Acknowledgments 601
References 602
Part VAnalysis and Design of ReconfigurableRobots 603
53 A Robot Capable of Autonomous Robotic Team Repair: The Hex-DMR II System 604
Abstract 604
1 Introduction 605
2 Design 606
2.1 Hex-DMR II System Overview 607
2.2 Hex-DMR II Design Elements 607
2.2.1 Modular Configuration 608
2.2.2 Holonomic Drive 608
2.2.3 Hexagonal Geometry 608
2.2.4 Evolution of the Central Hub and Electrical Bus 609
2.2.5 Docking Mechanism 610
2.2.6 Modular Redundancy 611
2.2.7 Sensing 611
3 Methods 611
4 Autonomous Team Repair Maneuvers 613
5 Conclusions and Future Work 614
Acknowledgments 615
References 615
54 Inverse Kinematics of Active Rotation Ball Joint Manipulators Using Workspaces Density Functions 617
Abstract 617
1 Introduction 617
2 The Workspaces Density Function 618
3 Simplify the Workspace Density Function of Spherical Hinge Manipulators 624
4 Inverse Kinematics 625
5 Numerical Simulations for Inverse Kinematics 627
6 Conclusion 628
Acknowledgments 628
References 628
55 Singularity Analysis of a High-Speed Parallel Robot with Schönflies Motion 629
Abstract 629
1 Introduction 629
2 Mechanism Description and Kinematics Modeling 631
2.1 Mechanism Outline 631
2.2 Inverse Kinematics 632
3 Singularity Identification 634
3.1 Transmission Singularity Indices 635
3.2 Singularity Analysis 635
4 Conclusion 637
Acknowledgments 637
References 638
56 Multi-objective Design Optimization of a Parallel Schönflies-Motion Robot 640
Abstract 640
1 Introduction 640
2 Kinematic Analysis of the Robot 641
3 Transmission Indices 643
3.1 Input Transmission Index 643
3.2 Output Transmission Index 644
3.3 Global Transmission Index 644
4 Multi-objective Design Optimization 645
4.1 Optimization Problem Formulation 645
4.2 Pareto Optimal Solutions 646
4.3 Dynamic Evaluation 648
5 Conclusions 650
Acknowledgments 650
References 650
57 Mechanism Synthesis and Workspace Analysis of a Spraying Robot for Airfoil 651
Abstract 651
1 Introduction 652
2 Mechanism Synthesis 654
2.1 Parallel Four-Bar Linkage 654
2.2 Mechanism Synthesis 656
3 Workspace Analysis 657
3.1 Forward Kinematic Analysis 657
3.2 Workspace 659
4 Conclusion 660
Acknowledgement 660
References 660
58 A Novel Docking Mechanism Design and Dynamic Performance Analysis of Self-reconfigurable Modular Robot 662
Abstract 662
1 Introduction 662
2 Modular Structure and Docking Mechanism 664
2.1 Robot Module Design 665
2.2 Docking Mechanism Design 665
3 Dynamic Performance Analysis 667
3.1 Rotary Motion 667
3.2 Locking Motion and Unlock Motion 670
4 Conclusions 672
Acknowledgments 672
References 672
59 Conceptual Design and Kinematic Analysis of the Diamobot: A Homogeneous Modular Robot 674
Abstract 674
1 Introduction 674
2 Conceptual Design 676
2.1 Principles 676
2.2 Module Design 676
2.3 The Minimum Closed-Loops 677
2.4 Diamobot Based on the Minimum Closed-Loops 678
2.5 The Significance of the Passive Complaint Universal Joints 678
3 Kinematic Analysis 680
3.1 Kinematics of Open Chain 680
3.2 Kinematics of the Minimum Closed-Loop 680
4 Metamorphosis 682
4.1 Configurations of Diamobot with 10 Modules 682
4.2 Configurations of Diamobot with 14 Modules 683
4.3 Metamorphosis of Diamobot Between Different Configurations 683
5 Conclusion 683
Acknowledgments 684
References 684
60 Design and Development on a Reconfigurable Modular Joint of the Robot Arm 685
Abstract 685
1 Introduction 686
2 Modular Joint Structure and Mathematical Model 686
3 The Control Strategy of Flexible Joints 688
4 Optimization Problem 690
5 Experiment 692
6 Conclusions 694
Acknowledgments 694
References 694
61 A New Approach to Identify Link Errors and Kinematic Pair Errors of SCARA Robot 695
Abstract 695
1 Introduction 695
2 Kinematic Pair Errors of a Revolute Joint 696
3 Link Errors 698
4 Accuracy Analysis of a SCARA Robot 699
5 Case Study 700
6 Conclusions 704
Acknowledgments 704
References 704
62 Structural Topology Optimization for a Robot Upper Arm Based on SIMP Method 705
Abstract 705
1 Introduction 705
2 Description of the Robot Upper Arm 706
3 Basic Principle of SIMP Method 706
4 Pre-optimization FEA 707
4.1 Static Analysis 707
4.2 Dynamic Analysis 709
5 Topology Optimization 709
5.1 Preparing the Model 709
5.2 Setting up Loads 710
5.3 Responses, Constraints and Objective 710
5.4 Additional Settings 710
5.5 Topology Optimization Results 711
6 Comparison of Structures 712
7 Conclusions 712
Acknowledgments 713
References 713
63 Intelligent Service Reconfiguration for Home Robots 714
Abstract 714
1 Introduction 714
2 A Service Reconfiguration Approach 716
2.1 System Framework 716
2.2 Service Configuration 716
2.3 Service Reconfiguration 719
3 Experiments and Results 720
4 Conclusions 723
References 724
64 Design and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot 725
Abstract 725
1 Introduction 726
2 Metamorphic Moving Mechanism of Insulator Inspection Robot 727
2.1 Metamorphic Moving Mechanism Design 727
2.2 Working Configurations of Metamorphic Moving Mechanism 728
3 Kinematics of the Mechanism 730
3.1 Structural Parameters 730
3.2 Kinematics of the Moving Mechanism 731
4 Simulation of Insulator Inspection Robot 732
4.1 Kinematic Simulation of Claws 732
4.2 Kinematic Simulation of Metamorphic Moving Mechanism 732
5 Conclusion 733
Acknowledgements 733
References 734
65 Compliance Analysis and Synthesis of a Serial Manipulator with Redundant DOFs Used in Tokamak 735
Abstract 735
1 Introduction 736
2 Compliance Analysis of Serial Manipulator 738
2.1 Compliance Mapping of Carrying Manipulator 738
2.2 Compliance Superposition Law of Remote Manipulator 740
3 Compliance Synthesis of the Serial Manipulator 743
4 Conclusions 744
Acknowledgments 745
References 745
66 A Modular Liquid Sample Handling Robot for High-Throughput Fourier Transform Infrared Spectroscopy 746
Abstract 746
1 Introduction 747
2 Literature Survey 748
2.1 FTIR Technology 748
2.2 Liquid Sample Handling Robotics 748
3 Robot Development 749
3.1 System Requirements and Overview 749
3.2 Mechanical Design 750
3.3 Hardware Design 752
3.4 Software Design 752
4 Test Results 753
5 Conclusions 754
Acknowledgments 754
References 754
67 Reconfigurable Industrial Robots---An Integrated Approach to Design the Joint and Link Modules and Configure the Robot Manipulator 756
Abstract 756
1 Introduction and Motivation 756
2 The Design Approach 758
3 The Design of Robotic Modules 760
4 The Robot Configuration Approach 762
4.1 The Torque Analysis 765
5 Industrial Case Study 767
6 Conclusions and Future Works 769
Acknowledgments 770
References 770
68 M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper 772
Abstract 772
1 Introduction 772
2 Mechanical Hardware 774
2.1 Overview 774
2.2 Fabrication 775
3 System Model 775
4 Performance 777
4.1 Grasp Acquisition 777
4.2 Precision Manipulation 778
5 Discussion and Applications 779
6 Conclusion and Future Work 780
Acknowledgments 781
References 781
69 Design and Analysis of a Circular-Orbit Underconstrained Cable Parallel Robot 783
Abstract 783
1 Introduction 783
2 Inverse Kinematics and Dynamics 784
3 Finite Element Analysis and Numerical Simulation 787
4 Conclusion 790
Acknowledgements 791
References 791
70 Kinematics and Energy Minimization Approach for Continuum Robot 792
Abstract 792
1 Introduction 792
2 Dynamic Model of Continuum Robotic Arm 793
2.1 Structure of the Continuum Robot and Kinematic Analysis 793
2.2 Forward Kinematic Model 796
3 Simulation 797
3.1 Simulation Scheme 797
3.2 Experiments 798
4 Discussion and Conclusion 800
Acknowledgments 801
References 801
71 Parametric Modeling and Experimental Analysis for Interventional Surgery Robots 803
Abstract 803
1 Introduction 803
2 The Kinematics Analysis 806
3 Experiment and Parameter Identifications 809
4 Conclusion 812
References 813
72 Application and Research of the Clip Type Manipulator 814
Abstract 814
1 Introduction 814
2 Clip Type Manipulator 815
2.1 Moving Module 815
2.2 Clip Type Manipulator Module 815
2.2.1 Compose of Clip Type Manipulator Module 815
2.2.2 Operational Principle of Clip Type Manipulator 816
2.3 The Key Design of Clip Type Manipulator Module 816
2.3.1 Positioning of Medicine Boxes 817
2.3.2 Flexible Tensioning Device of Beating 817
2.3.3 Force Value of Beating Rod 817
Contact Stage Between Medicine Box and Beating Rod 818
Stage of Sliding and Rolling of Medicine Box 820
2.4 Control Level of Clip Type Manipulator Module 821
3 Experiment and Analysis 821
4 Conclusions 823
References 824
Part VIControl of Reconfigurable Robots 825
73 Reconfiguration of Mobile Intelligent Robotic Platform (MIRP) with Emotional Control 826
Abstract 826
1 Introduction 826
2 Description of Mobile Intelligent Robotic Platform (MIRP), Used for Application of Robotics 827
3 Main Concepts of Reconfiguration in Robotics 830
4 Reconfiguration Scheme and Practical Example 831
5 Reconfiguration of an Emotional Intelligent Robot 832
6 Conclusions 835
References 836
74 Self-assembly Planning of a Shape by Regular Modular Robots 837
Abstract 837
1 Introduction 837
2 Self-assembly Problem for a Pre-designed Shape 839
3 Self-assembly Planning 840
3.1 Graph Construction by Tiling a Shape 840
3.2 A Spanning Tree Defining Connection 841
3.3 Rewriting 842
3.4 Self-assembly Control for Robots 844
4 Results and Discussion 844
5 Conclusion 846
Acknowledgments 847
References 847
75 Evaluation of Contactless Power Transmission at Rotary Joint for Dynamic Load 848
Abstract 848
1 Introduction 848
2 Proposed CPT System at Rotary Joint 849
2.1 Overview of CPT System 849
2.2 Load Control 851
3 Dynamic Load Test with Lamps 852
3.1 Design of Test 852
3.2 Test Results with Step Load 853
3.3 Test Results with Continuous Load 854
3.4 Results of Power Transmission Efficiency Test 855
4 Dynamic Load Test with Motors 856
4.1 Design of Test 856
4.2 Test Results with Motor Load 857
5 Conclusion 858
Acknowledgments 858
References 858
76 Bio-control of a Modular Design Robot---NOROS 860
Abstract 860
1 Introduction 860
2 Hardware Architecture of NOROS Robot 861
2.1 Mechanics 861
2.2 Electronics 862
3 Bionic Control Methods 864
3.1 Behavior-Based Control of Individual Leg 864
3.2 Integrating Planning with Individual Leg 866
4 Simulations and Experiments 867
5 Conclusions 868
References 868
77 Efficient Motion Simulation and Collision Detection Algorithm Suitable for Serial Industrial Robot 870
Abstract 870
1 Introduction 870
2 Virtual Assembly and Motion Simulation of Industrial Robot 871
2.1 Introduction of Solid Models 871
2.2 Construction of Virtual Robot 871
2.3 Motion Simulation Based on Kinematics Transformation 873
3 Interference Checking Algorithm for Fixed Models Base on OBB-HBV Tree 874
4 Partial Renewal Algorithm for Collision Detection of Robot 876
5 Experiment Results 878
6 Conclusion 880
References 881
78 A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design 882
Abstract 882
1 Introduction 883
2 Related Work 884
3 System Architecture 884
4 Constrained Structure Optimization of Robot Control Systems 886
4.1 Allocate Tasks to Agents 887
4.2 Allocate Effectors to Agents 888
4.3 Allocate Receptors to Agents 889
5 Evaluation 889
6 Conclusion 893
References 894
79 Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers 895
Abstract 895
1 Introduction 895
2 Spherical Motion During Precision Manipulation 896
2.1 Precision Manipulation Analysis 897
3 Mechanical Design 900
4 Performance 902
4.1 Test Rig 902
4.2 Manipulation Capabilities 902
5 Conclusions and Future Work 904
References 904
80 Task-Based Control Strategies and the Implementation for a Six-Legged Multi-tasked Robot 906
Abstract 906
1 Introduction 907
2 The Six-Legged Robot 907
2.1 Mechanism and Inverse Kinematics 907
2.2 Tasks and Reconfigurations 909
3 Task-Based Control Architecture for the Multi-tasked Robot 910
3.1 Single-Task Level: Moving and Sensing 910
3.2 Multi-task Level: Thinking and Making Decisions 911
4 Implementation 912
4.1 Techniques 913
4.1.1 High Efficiency: Real-Time Operating System 913
4.1.2 Local Communication: Message Loop and Call Back Functions 913
4.1.3 Remote Communication: Socket Communication 913
4.2 Software Modularization 914
5 Experiments 915
6 Conclusion 916
Acknowledgments 916
References 916
81 Gait and Experiment Research for the Human-Carrying Quadruped Walking Chair Robot with Parallel Leg Mechanism 918
Abstract 918
1 Introduction 918
2 Prototype of Human-Carrying Walking Chair Robot 919
3 Kinematic Analysis of Human-Carrying Walking Chair Robot 922
4 Gait Analysis of Human-Carrying Walking Chair Robot 925
4.1 Zero Moment Point (ZMP) Analysis of Human-Carrying Walking Chair Robot 925
4.2 Gait Analysis of Human-Carrying Walking Chair Robot 927
4.2.1 Discontinuous Crawl Gait 927
4.2.2 Continuous Crawl Gait 928
4.2.3 Amble Gait 928
5 Experiment Research of Walking Chair Robot 929
6 Conclusions 929
Acknowledgments 929
References 930
82 Workspace Analysis and Dynamic Object Tracking with a Delta Parallel Robot 931
Abstract 931
1 Introduction 931
2 Inverse Kinematics and Workspace Analysis 933
3 PID Algorithm for Dynamic Object Tracking 935
3.1 Description of PID Algorithm 935
3.2 Experiment 937
4 Taking Image Based on Time and Distance 938
4.1 Taking Image According to Time 938
4.2 Taking Image According to Distance 939
5 Conclusion 940
Acknowledgments 940
References 941
83 Load Sharing Characteristics of RV Transmission Mechanism in Robot 942
Abstract 942
1 Introduction 942
2 RV Transmission Mechanism in Robot 944
3 Analysis on Load Sharing for RV Transmission Mechanism 944
4 Analysis on Angle Meshing Error 945
4.1 Equivalent Angle Meshing Error Along the Action Line 945
4.2 Angle Meshing Error Caused by Components' Floating 947
4.3 Meshing Error of Comprehensive Angle 947
5 Load Sharing Calculation Model 947
6 Load Sharing Characteristics 949
7 Conclusion 951
Acknowledgments 952
References 952
Part VIIDeployable Mechanisms and Applicationsof Reconfigurable Mechanisms 953
84 Design and Experiment on a Lock/Release Mechanism Based on Shape Memory Alloy for SAR Antenna 954
Abstract 954
1 Introduction 954
2 Principle Design 955
3 Mechanical Analysis 957
3.1 Analysis of Spring Driving Force 957
3.2 Analysis of Unlocking Trigger Force 959
4 Kinetic Analysis 961
4.1 Theoretical Calculation 961
4.2 Dynamic Simulation 963
5 Experiment 965
5.1 Experiment of SMA Wire 965
5.2 Unlocking Resistance Force Experiment Under Loading 966
5.3 Repeated Unlocking Experiment 967
5.4 Unlocking Impact Experiment 968
6 Conclusions 969
Acknowledgments 970
References 970
85 Design of a Six-Wheeled Planetary Surface Locomotion System with Single Motor Driving Folded-Deployed Suspension 971
Abstract 971
1 Introduction 972
2 The Sketch of the Suspension 972
3 Analysis of Structure Parameters 974
3.1 The Requirement of Uniform Load for Each Wheel 974
3.2 The Requirement of Fold Ratio 975
3.3 The Requirement of Length of the Auxiliary Rocker Arm 976
4 The Optimization of Structure Parameters 976
5 Quasi-Static Analysis of Obstacle-Climbing 977
5.1 Quasi-Static Analysis of Front Wheel 977
5.2 Quasi-Static Analysis of Middle Wheel 979
5.3 Quasi-Static Analysis of Rear Wheel 980
6 Simulations for Changing Rover Body Centroid Position 982
7 Conclusion 982
Acknowledgments 983
References 983
86 A Method for Constructing Reconfigurable Deployable Polyhedral Mechanism 984
Abstract 984
1 Introduction 984
2 Reconfigurable Angulated Element 986
3 Reconfigurable Deployable Polyhedral Mechanism 988
4 Reconfigurable Generalised Angulated Elements 991
5 RDPM with Large Magnification Ratio 993
6 Conclusion 995
Acknowledgments 995
References 995
87 Modeling and Design on Modular Deployable Antenna 997
Abstract 997
1 Introduction 997
2 Proposal of Deployable Structure 998
2.1 Basic Deployable Unit 998
2.2 Assembly of Multi-units 999
3 Geometric Model of Deployable Structure 1000
3.1 The Fitting Method of the Parabolic Antenna 1000
3.2 Determination of Key Points 1001
3.3 Calculation Case 1003
4 Kinematics Analysis 1004
4.1 Geometry Compatibility Condition 1004
4.2 Kinematics Analysis 1005
5 Analysis of Structural Dynamics and Optimization 1006
5.1 Modal Analysis 1006
5.2 Structural Parameter Optimization 1006
6 Conclusion 1007
Acknowledgments 1008
References 1008
88 Mobility Analysis for Deployable Assemblies of Mechanisms Based on Nullspace 1009
Abstract 1009
1 Introduction 1010
2 Mobility Analysis Based on the Nullspace 1010
3 Mobility Analysis of SLE Mechanisms Assembled in Different Combinations 1012
4 Mobility Analysis of Mechanisms Assembled in Different Types of Assembly 1015
4.1 Mobility Analysis of a Special Polyhedral Mechanism 1015
4.2 Mobility Analysis of a Circinal Mechanism 1016
4.3 Mobility Analysis of Linear Assembly Mechanism 1017
5 Conclusion 1018
Acknowledgments 1018
References 1019
89 Reconfigurability of Engines: A Kinematic Approach to Variable Compression Ratio Engines 1020
Abstract 1020
1 Introduction 1020
2 Literature Review 1021
2.1 VCR Technology 1022
2.1.1 Class A: Moving Cylinder Head 1023
2.1.2 Class B: Variable Piston Deck Height 1024
2.1.3 Class C: Eccentric on Bearings 1024
2.1.4 Class D: Multi-link Mechanisms 1025
2.1.5 Class E: Additional Cylinder in the Combustion Chamber 1025
2.1.6 Class F: Geared Mechanisms 1026
2.1.7 Class G: Variable Connecting Rod Length 1026
2.2 Mechanism Analysis 1027
3 Reconfigurability of Internal Combustion Engines 1028
4 Conclusions 1029
Acknowledgements 1029
References 1029
90 Reconfigurability and Flexibility in a Robotic Fixture for Automotive Assembly Welding 1031
Abstract 1031
1 Introduction 1032
2 The Concept of Reconfigurable Fixture 1033
2.1 Design Requirements 1033
2.2 Conceptual Structure of the Fixture 1033
2.3 Reconfiguration Procedure of the Fixture 1034
3 Reconfigurable Fixture Physical Demonstrator 1035
3.1 Reconfigurable Fixture Prototype 1035
3.2 Flexibility for Fixture Exchange 1036
3.3 Reconfigurability of the Lockable Arm 1037
3.4 Reconfigurability of the Fixture Frame 1037
4 Conclusion 1038
Acknowledgements 1039
References 1039
91 Module Partition Method for Product Requirement Change Based on Improved Differential Evolution Algorithm 1040
Abstract 1040
1 Introduction 1040
2 Generalized Requirements Change 1041
2.1 Mechanism Division Based on Adjacent Parts 1042
2.2 Module Aggregation Based on Change Factor 1043
3 Mathematical Model of Product Module Partition 1043
4 The Solution of Module Partition Based on Improved Differential Evolution Algorithm 1044
5 Case Study 1046
5.1 Analysis of KUKA Robot Module Partition Problem 1046
5.2 Module Partition of KUKA Robot Based on Improved Differential Evolution Algorithm 1047
5.3 Comparison and Analysis of the Algorithms 1048
6 Conclusions and Future Work 1049
Acknowledgment 1049
References 1049
92 Synthesis of a Spatial 3-dof Deployable Mechanism to Grasp Stacked Non-Rigid Materials 1051
Abstract 1051
1 Introduction 1051
2 Mechanism Mobilities 1053
3 The Parallelepiped Deployable Unit 1055
4 Spatial DM with Symmetrical Transmission of Motion 1057
5 Position Kinematics 1058
6 Simulations 1060
7 Conclusions 1061
References 1062
93 A Novel Linear Telescopic Mechanism: Configuration and Position Precision Analysis 1063
Abstract 1063
1 Introduction 1063
2 Structure of the Telescopic Mechanism 1064
2.1 Configurations of the Telescopic Mechanism 1065
2.2 Design of the Linear Telescopic Mechanism 1067
3 Position Precision Analysis of the Telescopic Arm 1068
4 Simulations and Discussions 1070
5 Conclusions 1072
References 1073
94 Erratum to: Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages 1074
Erratum to: Chapter `Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages' in: X. Ding et al. (eds.), Advances in Reconfigurable Mechanisms and Robots II,Mechanisms and Machine Science 36, DOI 10.1007/978-3-319-23327-7_14 1074