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Title Mechanism and machine science : proceedings of ASIAN MMS 2016 & CCMMS 2016 / Xianmin Zhang, Nianfeng Wang, Yanjiang Huang, editors
Published Singapore : Springer, [2017]
©2017
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Description 1 online resource (1,515 pages) : illustrations (some color)
Series Lecture notes in electrical engineering, 1876-1100 ; volume 408
Lecture notes in electrical engineering. 1876-1100 ; volume 408
Contents Robotics and Mechatronics; 1 Path Planning for Underwater Gliders with Motion Constraints; Abstract; 1 Introduction; 2 Underwater Glider Path Planning; 2.1 Underwater Glider Modeling; 2.2 Underwater Glider Motion Constraints; 2.3 Artificial Potential Fields; 3 Numerical Simulation; 4 Conclusions; Acknowledgments; References; 2 A Novel Method for the Motion Planning of Hyper-redundant Manipulators Based on Monte Carlo; Abstract; 1 Introduction; 2 Description of Hyper-redundant Manipulator; 2.1 Kinematic of Hyper-redundant Manipulator; 2.2 Manipulator Workspace Determination
2.2 Leg Workspace Approximation2.3 Convex Optimization Problem Formulation; 3 Results and Discussion; Acknowledgments; References; 6 Evaluation of Spring Stiffness for Stable Grasp in Underactuated Fingers; Abstract; 1 Introduction; 2 Statics Analysis of the Underactuated Fingers; 3 Bifurcations Between Grasps of Different Topology; 3.1 The Range of Object Sizes Under Various Grasp Types; 3.2 The Transition of Various Grasp Types; 4 Relationship Between Spring Stiffness and Stable Region Based on Grasp-State Plane; 5 Conclusions; Acknowledgments; References
3 Monte Carlo Method to Search Random Configurations3.1 Algorithmic Procedure of Monte Carlo; 3.2 Simulation Experiment; 4 Improvement on Monte Carlo Method; 5 Experimental Results; 6 Conclusion; References; 3 Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment; Abstract; 1 Introduction; 2 PH-Robot; 3 Stability Control Architecture; 4 Gait and Trajectory Planning; 4.1 Gait Planning; 4.2 Trajectory Planning; 5 Experiments with the PH-Robot; 6 Conclusion; Acknowledgments; References
4 Real-Time Trajectory Plan for Six-Legged Robots to Open Doors Based on Tactile FeedbackAbstract; 1 Introduction; 2 System Overview; 3 Door-Opening Approach and Trajectory Plan; 3.1 Locate the Door Plane; 3.2 Rotate to Align; 3.3 Locate the Handle; 3.4 Open the Door; 3.5 Walk Through; 4 Experiments and Results; 5 Conclusions; Acknowledgments; References; 5 Optimized Body Position Adjustment of a Six-Legged Robot Walking on Inclined Plane; Abstract; 1 Introduction; 1.1 Problem Statement; 1.2 State of the Art; 1.3 Robot Overview; 2 Planning Strategy; 2.1 Inclined Plane and Body Orientation
7 Kinematic Analysis of a Novel Hybrid HandAbstract; 1 Introduction; 2 Kinematic Analysis of the Proposed Hand; 2.1 Geometry of the Hand; 2.2 Mobility Analysis; 2.3 Forward Kinematics; 2.3.1 Formulation of the Loop-Closure Equations; 2.3.2 Solutions of the Loop-Closure Equations; 2.4 Inverse Kinematics; 2.4.1 Subproblem of the Four-Bar Mechanism; 2.4.2 Subproblem of the Five-Bar Mechanism; 2.4.3 The Subproblem of RSSR Loop; 3 Numerical Examples; 3.1 Results of Forward Kinematics; 3.2 Results of Inverse Kinematics; 4 Conclusions; References
Summary These proceedings collect the latest research results in mechanism and machine science, intended to reinforce and improve the role of mechanical systems in a variety of applications in daily life and industry. Gathering more than 120 academic papers, it addresses topics including: Computational kinematics, Machine elements, Actuators, Gearing and transmissions, Linkages and cams, Mechanism design, Dynamics of machinery, Tribology, Vehicle mechanisms, dynamics and design, Reliability, Experimental methods in mechanisms, Robotics and mechatronics, Biomechanics, Micro/nano mechanisms and machines, Medical/welfare devices, Nature and machines, Design methodology, Reconfigurable mechanisms and reconfigurable manipulators, and Origami mechanisms. This is the fourth installment in the IFToMM Asian conference series on Mechanism and Machine Science (ASIAN MMS 2016). The ASIAN MMS conference initiative was launched to provide a forum mainly for the Asian community working in Mechanism and Machine Science, in order to facilitate collaboration and improve the visibility of activities in the field. The series started in 2010 and the previous ASIAN MMS events were successfully held in Taipei, China (2010), Tokyo, Japan (2012), and Tianjin, China (2014). ASIAN MMS 2016 was held in Guangzhou, China, from 15 to 17 December 2016, and was organized by the South China University under the patronage of the IFToMM and the Chinese Mechanical Engineering Society (CMES). The aim of the Conference was to bring together researchers, industry professionals and students from the broad range of disciplines connected to Mechanism Science in a collegial and stimulating environment. The ASIAN MMS 2016 Conference provided a platform allowing scientists to exchange notes on their scientific achievements and establish new national and international collaborations concerning the mechanism science field and its applications, mainly but not exclusively in Asian contexts
Subject Mechanization -- Congresses.
Genre/Form Conference papers and proceedings.
Conference papers and proceedings.
Form Electronic book
Author Huang, Yanjiang, editor
Wang, Nianfeng, editor
Zhang, Xianmin (Editor), editor
ISBN 9789811028755
9811028753 (ebk)