Article
Engineering, Mechanical
Pu Jia, Duanling Li, Yuankai Zhang, Chao Yang
Summary: In this paper, a spatial metamorphic four-link mechanism (SMM) based on the metamorphic universal joint is proposed. Different types of SMMs are constructed by adjusting the axis position of the universal joint. A reconfigurable hybrid limb is constructed based on the motion characteristics of each phase of SMM, and a new type of reconfigurable parallel mechanism (RPM) is designed. The results show that the performance of the RPM can be changed with different degrees of freedom.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Rui Wu, Ruiqin Li, Shaoping Bai
Summary: Coupler-curve synthesis is a classical problem in linkage kinematics, and recent research has shown that solutions to this problem for four-bar linkages can be obtained through a combination of analytical and graphical methods. A fully analytical method has been developed in this study to find exact solutions for coupler-curve equations in planar four-bar linkages, demonstrating the feasibility and effectiveness of this approach.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Hongpeng Chu, Yulin Zhou, Jiantao Yao
Summary: In comparison with traditional parallel robots, metamorphic parallel robots (MPRs) have the advantages of variable topology and mobility and can be applied under some complex working conditions. A synthesis method is proposed based on the constraint screw theory, which allows for the construction of desired MPRs by selecting similar serial chains in a serial-chain database. This method provides a new theoretical tool for designing MPRs and has the advantages of intuition and easy operation.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Chunxu Tian, Dan Zhang, Hongyan Tang, Chenwei Wu
Summary: This paper introduces a new method of constructing reconfigurable generalized parallel mechanisms by integrating closed-loop kinematotropic linkages with configurable platforms for the first time. By analyzing the geometrical configurations of the kinematotropic linkages and investigating the kinematic constraints of reconfigurable GPMs based on the algebraic structure properties of Lie group, a new class of reconfigurable GPMs with configurable platforms is synthesized, enabling the execution of various motion models.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Chunxu Tian, Dan Zhang
Summary: This paper focuses on the design and analysis of novel generalized parallel manipulators (GPMs) with configurable platforms, including type synthesis and motion characteristics analysis. Numerical examples and simulation results were used to demonstrate the methodology and discuss the potential applications of GPMs.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Zhizhong Deng, Yuling Zhang, Shaoze Yan
Summary: This paper proposes an approach to the type synthesis of metamorphic and axisymmetric parallel mechanisms using singularity for deployment and latch. The singularity enables the mechanism to change its configurations between deployment and latch states through the local degree of freedom on chains. Based on screw theory and linear algebra theory, the type synthesis progress is divided into four numerical steps. According to the type synthesis, three types are presented for various motions.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Ruiqin Wang, Yaqing Song, Jian S. Dai
Summary: Origami engineering contributes to the progress of mechanisms innovation as an interdisciplinary subject. This paper proposes a construction method from origami to multiple spherical integrated mechanisms, establishing a bridge between origami and Bennett linkage, Bricard linkage. Furthermore, a special origami-inspired integrated 8R kinematotropic metamorphic mechanism is discussed, applying screw theory to illustrate the reconfigurability of singular configurations in the mechanism.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Yang Liu, Yan-an Yao, Xianwen Kong, Yezhuo Li
Summary: This paper proposes a method for synthesizing reconfigurable single-loop mechanisms (RSLMs) using screw theory, and obtains four types of wrench systems of RSLMs by inserting revolute joints to a planar rhombus 4R mechanism. The reconfiguration analysis of RSLMs with a constraint force system is carried out using the kinematics close-loop equation and screw theory method, and multiple motion modes are identified. Furthermore, several 3D printed models are presented to verify the motion modes of the mechanisms.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Haiying Wen, Ming Cong, Weiliang Xu, Zhisheng Zhang, Min Dai
Summary: This paper introduces a method for dimensionally homogeneous Jacobian modeling and optimal design of architecture for a redundantly actuated parallel manipulator with mixed translational and rotational degrees of freedom. It also proposes a new optimization algorithm derived from this Jacobian for the optimal design of this type of manipulators.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Article
Chemistry, Analytical
Bin Wang, Xianchen Du, Jianzhong Ding, Yang Dong, Chunjie Wang, Xueao Liu
Summary: This paper introduces a numerical synthesis procedure for four-bar linkage that combines motion generation and function generation, divided into dependent and independent combinations. Five feasible cases for dependent combination and two feasible cases for independent combination are analyzed using fully constrained vector loop equations in a complex plane. Numerical examples are provided to illustrate the synthesis procedure and determine defect-free four-bar linkages.
Article
Automation & Control Systems
Fuqun Zhao, Xiaodong Jin, Mukun Wu, Sheng Guo, Yuefa Fang
Summary: In this paper, a novel parallel dexterous hand is proposed to improve the carrying and accuracy performance of high-speed grasping. Kinematics analysis, simulation research, and prototype experiments are conducted to evaluate the performance and feasibility of the hand.
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
(2023)
Article
Engineering, Mechanical
Shihua Li, Yanxia Shan, Jingjun Yu, Yaxiong Ke
Summary: This study presents a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms, and validates the efficiency of the method based on screw theory, providing a theoretical foundation for actuator selection and placement.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2021)
Article
Engineering, Mechanical
J. Jesus Cervantes-Sanchez, Jose M. Rico-Martinez, Mario A. Garcia-Murillo, Diego A. Nunez-Altamirano
Summary: This paper introduces a novel and simple approach for the exact motion synthesis of planar four-bar linkages with prismatic and revolute joints. The method does not require advanced knowledge or graphic skills, and the design equations are simple. It can provide up to twenty solutions, real or imaginary, which can be used to accurately achieve given poses. The methodology is illustrated using challenging examples from the literature.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Xiaoyong Wu, Kun Wang, Yujin Wang, Shaoping Bai
Summary: This work proposes a novel 6-DOF parallel manipulator design with two kinematic subchains, providing advantages such as large workspace and small footprint ratio. An analytical approach is used to determine the inverse position of the linkage and analyze working modes, while closed-form equations are formulated for the forward position problem and several singular configurations are determined. Two practical applications of the proposed linkage are illustrated.
MECHANISM AND MACHINE THEORY
(2021)
Article
Robotics
Tivadar Demjen, Erwin-Christian Lovasz, Marco Ceccarelli, Carmen Sticlaru, Antonio-Marius-Flavius Luputi, Alexandru Oarcea, Dan-Cristian Silaghi-Perju
Summary: This paper presents the kinematic analysis and synthesis of a five-bar linkage with symmetrical structure and singularity-free dexterous workspace. The type synthesis of the five-bar linkage reveals that there are only eight symmetrical structures. The study focuses on the forward and inverse kinematic analysis and synthesis of the 5-RRRRR five-bar structure. By using synthesis equations, the link lengths of a symmetrical five-bar linkage can be analytically computed to avoid singularities in a specific dexterous workspace. A numerical example and performance indices analysis are conducted to verify the singularity-free dexterous workspace of the symmetrical five-bar linkage.
Article
Engineering, Mechanical
Wei Ye, Yuefa Fang, Ketao Zhang, Sheng Guo
MECHANISM AND MACHINE THEORY
(2014)
Article
Engineering, Mechanical
Sheng Guo, Congzhe Wang, Haibo Qu, Yuefa Fang
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2013)
Article
Engineering, Mechanical
Haibo Qu, Yuefa Fang, Sheng Guo, Wei Ye
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2014)
Article
Engineering, Mechanical
Wei Ye, Yuefa Fang, Sheng Guo, Haibo Qu
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2014)
Article
Robotics
Congzhe Wang, Yuefa Fang, Sheng Guo, Changchun Zhou
Article
Engineering, Multidisciplinary
Guo Sheng, Liu Jian, Li ZhiRen, Zhang DongLi, Huang Wei
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2013)
Article
Engineering, Mechanical
Congzhe Wang, Yuefa Fang, Sheng Guo, Yaqiong Chen
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2013)
Article
Robotics
Peiyi Wang, Sheng Guo, Xiangyang Wang, Yifan Wu
Summary: This study introduces a variable stiffness mechanism based on winding-styled ropes for rod-driven continuum robots. By adjusting the friction between the ropes and rods, variable stiffness and "lock" functions are achieved. Experimental results show that the mechanism can achieve a maximum static friction up to 2 times the spring tension, and the variable stiffness of the robot can be achieved by controlling the temperature of the shape memory alloy.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Peiyi Wang, Zhiqiang Tang, Wenci Xin, Zhexin Xie, Sheng Guo, Cecilia Laschi
Summary: This letter presents a rod-driven soft robot (RDSR) with flexible rods embedded in a silicone-based body for balanced performance. Experimental results show that the RDSR has a larger workspace, vertical stiffness, and lateral stiffness compared to an analogous tendon-driven soft robot (TDSR). The RDSR also has the ability to apply pushing force perpendicular to an inclined plane. The Gaussian process model enables the RDSR to achieve more accurate motion control.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Computer Science, Artificial Intelligence
Xiangyang Wang, Sheng Guo, Bojian Qu, Shaoping Bai
Summary: This article introduces a novel hip exoskeleton with a parallel structure, which solves the misalignment problem between biological and mechanical joints and achieves good motion compatibility. A model-based controller is used to achieve coordinated control and increase sensitivity to wearer's movements. The exoskeleton only requires kinematic information, saving space and making the system compact.
IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
(2023)
Article
Robotics
Majun Song, Weihai Chen, Sheng Guo, Zhongyi Li, John Rasmussen, Shaoping Bai
Summary: In this study, a novel ankle-foot prosthesis (AFP) with variable stiffness mechanisms (VSMs) is proposed to assist transtibial amputees in restoring ankle plantarflexion-dorsiflexion. The prosthesis utilizes a spring-loaded three-loop linkage for continuous energy absorption-release during the gait stance phase, facilitating ankle movement and maintaining forward momentum. A compliant crank slider mechanism is also developed to improve the adaptive contact between the prosthesis and the ground. Experimental validation of an AFP prototype demonstrates low power consumption and a human-like joint moment profile. In particular, the AFP mechanism can reduce the motor's peak power by 24% during toe-off phase.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Proceedings Paper
Engineering, Mechanical
Chen Yaqiong, Fang Yuefa, Guo Sheng
MECHANICAL COMPONENTS AND CONTROL ENGINEERING III
(2014)
Proceedings Paper
Engineering, Manufacturing
Sheng Guo, Weiping Huang, Nianqin Guo
ADVANCED MANUFACTURING TECHNOLOGY, PTS 1-4
(2012)
Article
Engineering, Mechanical
Haibo Qu, Yuefa Fang, Sheng Guo
FRONTIERS OF MECHANICAL ENGINEERING
(2012)
