scholarly journals Integrating the Nash program into mechanism theory

2002 ◽  
Vol 7 (1) ◽  
pp. 27-43 ◽  
Author(s):  
Walter Trockel
Keyword(s):  
Nash Program ◽  
Mechanism Theory

scholarly journals Can and Should the Nash Program Be Looked at as a Part of Mechanism Theory?

2003 ◽  
pp. 153-174 ◽  
Author(s):  
Walter Trockel
Keyword(s):  
Nash Program ◽  
Mechanism Theory

scholarly journals Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Fu-Qun Zhao ◽  
Sheng Guo ◽  
Hai-Jun Su ◽  
Hai-Bo Qu ◽  
Ya-Qiong Chen
Keyword(s):  
Parallel Mechanism ◽  
Parallel Mechanisms ◽  
Kinematic Chains ◽  
Assembly Method ◽  
Operation Modes ◽  
Object Based ◽  
Switch Operation ◽  
Storage Area ◽  
Mechanism Theory

Abstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.

Virtual-mechanism-based analysis of cooperative manipulation

2005 ◽  
Vol 219 (3) ◽  
pp. 315-323
Author(s):  
H Liu ◽  
J S Dai ◽  
H Y Xu ◽  
H Li
Keyword(s):  
Trajectory Planning ◽  
Manipulation Planning ◽  
End Points ◽  
New Approach ◽  
Cooperative Manipulation ◽  
Hypothetical Mechanism ◽  
End Effectors ◽  
Cooperative Manipulators ◽  
Mechanism Theory

This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

scholarly journals Seven Pillars of Defense Mechanism Theory

2008 ◽  
Vol 2 (5) ◽  
pp. 1963-1981 ◽  
Author(s):  
Phebe Cramer
Keyword(s):  
Defense Mechanism ◽  
Mechanism Theory

scholarly journals The Choice of Seasoned-equity Selling Mechanism: Theory and Evidence

2004 ◽  
Author(s):  
B. Espen Eckbo ◽  
Oyvind Norli
Keyword(s):  
Mechanism Theory

scholarly journals Invariance and randomness in the Nash program for coalitional games

1998 ◽  
Vol 58 (1) ◽  
pp. 43-49 ◽  
Author(s):  
Nir Dagan ◽  
Roberto Serrano
Keyword(s):  
Coalitional Games ◽  
Nash Program

scholarly journals Scalable En Echelon Shear‐Fracture Aperture‐Roughness Mechanism: Theory, Validation, and Implications

2019 ◽  
Vol 124 (1) ◽  
pp. 957-977 ◽  
Author(s):  
Luke P. Frash ◽  
J. William Carey ◽  
Nathan J. Welch
Keyword(s):  
Shear Fracture ◽  
Fracture Aperture ◽  
Mechanism Theory

A Method to Avoid Singularity of the Planar Four-Bar Linkage by Means of Self-Adaptive Structure

2014 ◽  
Vol 709 ◽  
pp. 227-233
Author(s):  
Rui Qin Guo ◽  
Wei Hu ◽  
Juan Liu ◽  
Song Lin
Keyword(s):  
Adaptive Mechanism ◽  
Control Parameters ◽  
Singularity Problem ◽  
Practical Solution ◽  
Adaptive Structure ◽  
Vexed Question ◽  
Four Bar Linkage ◽  
Mechanism Theory ◽  
Intrinsic Characteristic ◽  
Self Adaptive

The singularity, namely, the output movement of the mechanism is uncertain due to kinematic bifurcation at the singular position, is the intrinsic characteristic of mechanism, resulting in movement out of control. To find a practical solution for this vexed question to make mechanism able to avoid its singular position is the greatest challenge in the field of mechanism. Based on the study of the planar four-bar linkage with singularity, the ideology of introducing self-adaptive mechanism theory into the solution of avoid singularity problem is firstly put forward in this paper. Using self-adaptive mechanism to complement the out of control parameters of singular position can make the mechanism have the ability to avoid singularity. Then the mechanism passes through the singular position smoothly with determined movement and load capability. Finally, the purpose of avoiding singularity is achieved.

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