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学者姓名：丁华锋
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摘要 ：
A 3-RRPRR variable spherical symmetrical parallel mechanism (PM) with arc-shaped sliding pairs and no parasitic motion is presented, exhibiting two rotational and one translational (2R1T) degrees of freedom. Three limbs are symmetrically distributed between the base and end-effector; upper and lower parts of each limb are mirror symmetrical around the middle. The geometry, mobility, forward/inverse kinematics, workspace, and parasitic motion of the mechanism are analyzed, showing its ability to achieve large rotations around a continuous rotation axis. Finally, a structure synthesis strategy for variable spherical symmetrical PM is proposed, and several limb types meeting the conditions are obtained.
关键词 ：
parallel mechanism parallel mechanism parasitic motion parasitic motion type construction type construction workspace workspace
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| GB/T 7714 | Liu, Jingfang , Fan, Xiangmeng , Ding, Huafeng . Investigation of a novel 2R1T parallel mechanism and construction of its variants [J]. | ROBOTICA , 2021 , 39 (10) : 1834-1848 . |
| MLA | Liu, Jingfang 等. "Investigation of a novel 2R1T parallel mechanism and construction of its variants" . | ROBOTICA 39 . 10 (2021) : 1834-1848 . |
| APA | Liu, Jingfang , Fan, Xiangmeng , Ding, Huafeng . Investigation of a novel 2R1T parallel mechanism and construction of its variants . | ROBOTICA , 2021 , 39 (10) , 1834-1848 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
A novel compliance modeling method for flexure-hinge-based (FHB) compliant parallel mechanisms is proposed, where internal constraint of branches is taken into consideration based on flexibility-center-decomposition method of compliance matrix and screw theory. The modeling method is employed to transform deformation problem of branches into statics and kinematics problems of pseudo-rigid-body branches. Firstly, the virtual branch is established and its corresponding decoupled compliance matrix is obtained. Then, the compliance modeling of the whole mechanism is obtained by static equilibrium equation and kinematic relations. Secondly, a constraint performance index reflecting ability to constrain undesirable deformation of the compliant parallel mechanism is presented based on the decoupled compliance matrix. The effectiveness of the constraint performance index is verified through analysis of degree of freedom (DoF) of the 3-SS mechanism. Finally, the proposed modeling method and performance index are used in design and analysis of a novel RPR compliant parallel mechanism. To our knowledge, constraint performance index is firstly proposed for assessing the ability to constrain undesirable deformation of the compliant parallel mechanism. (c) 2021 Elsevier Ltd. All rights reserved.
关键词 ：
Compliance modeling Compliance modeling Compliant parallel mechanism Compliant parallel mechanism Constraint performance index Constraint performance index Flexibility-center decomposition Flexibility-center decomposition Optimization Optimization
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng et al. A novel compliance modeling method for compliant parallel mechanisms and its application [J]. | MECHANISM AND MACHINE THEORY , 2021 , 162 . |
| MLA | Zhang, Shuang et al. "A novel compliance modeling method for compliant parallel mechanisms and its application" . | MECHANISM AND MACHINE THEORY 162 (2021) . |
| APA | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng , Gao, Guohua . A novel compliance modeling method for compliant parallel mechanisms and its application . | MECHANISM AND MACHINE THEORY , 2021 , 162 . |
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摘要 ：
本发明公开了一种单自由度对称空间七杆闭环机构及基于此的空间可展机构，机架通过机架分支杆与支撑杆铰接连接；支撑杆的一端与机架分支杆铰接连接，另一端与第一连接杆铰接连接, 同时与第二连接杆铰接连接；第一连接杆的一端与支撑杆铰接连接，另一端与第一连杆铰接连接；第一连杆的一端与第一连接杆铰接连接，另一端与第二连杆铰接连接；第二连杆的一端与第一连杆铰接连接，另一端与第二连接杆铰接连接；第二连接杆的一端与支撑杆铰接连接，另一端与第二连杆铰接连接。通过驱动支撑杆实现空间可展机构收拢和展开成为伞形形状以及成为一个平面，且该机构在收拢和展开过程中，控制简便。
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| GB/T 7714 | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度对称空间七杆闭环机构及基于此的空间可展机构 : CN202010092614.2[P]. | 2020-02-14 . |
| MLA | 孔凡臣 et al. "一种单自由度对称空间七杆闭环机构及基于此的空间可展机构" : CN202010092614.2. | 2020-02-14 . |
| APA | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度对称空间七杆闭环机构及基于此的空间可展机构 : CN202010092614.2. | 2020-02-14 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开了一种含二十四环的可展耦合机构，该机构包括二十六个节点元件，四十八个连杆(1)，节点元件间通过连杆铰接形成二十四个环。二十六个节点元件包括两个正六边形元件(2)，十二个正四边形元件(3)，十二个五边形元件(4)。正六边形元件(2)上的六个转动副的相邻轴线间的夹角为60度，正四边形元件(3)上的四个转动副的相邻轴线间的夹角为90度，五边形元件(4)的三个转动副的相邻轴线间的夹角为90度。该机构各分支结构组成相同且对称分布，能够单向移动，有一定的展收能力，能够根据不同的工作条件和环境需求展开收拢，可以适应一些特殊的工作场合，有良好的应用前景。
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| GB/T 7714 | 徐浩远 , 刘婧芳 , 丁华锋 . 一种含二十四环的可展耦合机构 : CN202011168077.1[P]. | 2020-10-28 . |
| MLA | 徐浩远 et al. "一种含二十四环的可展耦合机构" : CN202011168077.1. | 2020-10-28 . |
| APA | 徐浩远 , 刘婧芳 , 丁华锋 . 一种含二十四环的可展耦合机构 : CN202011168077.1. | 2020-10-28 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
An asymmetric eight-bar linkage is used as the basic unit to develop a group of N-sided antiprism (N >= 3) mechanisms. First, the geometric properties and kinematics equations of the asymmetric eight-bar linkage are investigated. When the kinematic conditions hold, an asymmetric eight-bar linkage and a single-plane or double-plane symmetric eight-bar linkage can be coupled. Second, the concept of axis groups is proposed, and virtual-center-based method is applied to construct a class of deployable polyhedral mechanisms based on N-sided antiprism polyhedrons; the motion bifurcation characteristics of the mechanisms are revealed by analyzing the singularity of the eight-bar linkages. These mechanisms may perform motion bifurcation in multiple different positions; therefore, these mechanisms are capable of having many different configurations that can increase their application potential for adapting to different tasks and working environments. Finally, the motion unit H is constructed based on the axis group and used as the deployable unit to synthesize a deployable mechanism with 120 loops based on a rhombic triacontahedron. Moreover, H can replace the double-plane symmetrical eight-bar linkage in other deployable polyhedral mechanisms to construct mechanisms with larger work space. (C) 2020 Elsevier Ltd. All rights reserved.
关键词 ：
Asymmetric eight-bar linkage Asymmetric eight-bar linkage Deployable polyhedral mechanism Deployable polyhedral mechanism Motion unit H Motion unit H N-sided antiprism mechanism N-sided antiprism mechanism Radially reciprocating motion Radially reciprocating motion
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| GB/T 7714 | Liu, Jingfang , Zhao, Xiaoming , Ding, Huafeng . A class of N-sided antiprism deployable polyhedral mechanisms based on an asymmetric eight-bar linkage [J]. | MECHANISM AND MACHINE THEORY , 2020 , 150 . |
| MLA | Liu, Jingfang et al. "A class of N-sided antiprism deployable polyhedral mechanisms based on an asymmetric eight-bar linkage" . | MECHANISM AND MACHINE THEORY 150 (2020) . |
| APA | Liu, Jingfang , Zhao, Xiaoming , Ding, Huafeng . A class of N-sided antiprism deployable polyhedral mechanisms based on an asymmetric eight-bar linkage . | MECHANISM AND MACHINE THEORY , 2020 , 150 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
The aim of this study is to present a novel shape-transformable polyhedral mechanism namely, the TrT-T mechanism, which can transform between a truncated tetrahedron and a common tetrahedron. The conceptual model of the TrT-T mechanism is proposed and described. For one-degree-of-freedom objective, a hexagonal planar linkage is chosen as a hexagonal interlinked unit to develop a solid model and fabricate a prototype. Mobility analysis is carried out based on screw theory. The inverse and forward kinematics are investigated, and the singularity is analyzed. The trajectories and velocities of the hinge points are described and explored. The prototype and simulation results demonstrate the feasibility of the TrT-T mechanism for shape transformation and validate the correctness of the mobility analysis. As a novel polyhedral linkage, the TrT-T mechanism can be potentially applied to modules with shape-transformation ability for constructing reconfigurable and modular robots.
关键词 ：
mobility analysis mobility analysis Polyhedral mechanism Polyhedral mechanism shape transformable shape transformable tetrahedron tetrahedron truncated tetrahedron truncated tetrahedron
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| GB/T 7714 | Kong, Fanchen , Liu, Jingfang , Ding, Huafeng . Design and analysis of a shape-transformable polyhedral mechanism with transformation between a truncated tetrahedron and a tetrahedron [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2020 , 234 (22) : 4444-4461 . |
| MLA | Kong, Fanchen et al. "Design and analysis of a shape-transformable polyhedral mechanism with transformation between a truncated tetrahedron and a tetrahedron" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 234 . 22 (2020) : 4444-4461 . |
| APA | Kong, Fanchen , Liu, Jingfang , Ding, Huafeng . Design and analysis of a shape-transformable polyhedral mechanism with transformation between a truncated tetrahedron and a tetrahedron . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2020 , 234 (22) , 4444-4461 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
本发明公开了一种单自由度截角四面体/四面体形状转换机构，包括三分支运动链、平面剪叉运动链、三轴线转动副连接件；所述三轴线转动副连接件设置有一个中间转动副轴I和两个外侧转动副轴II，两个外侧转动副轴II关于过中间转动副轴I的横向截面的镜像对称面A对称；所述三分支运动链设置有四个，三分支运动链包括一个中心杆I和三个分支杆II；所述平面剪叉运动链设置为四个，平面剪叉运动链通过剪叉分支运动链的外端与所述三轴线转动副连接件的外侧转动副轴II铰接连接。通过对平面剪叉运动链的中心剪叉单元进行驱动实现截角四面体形状和四面体形状之间的转换，且该机构在形状转换过程中，控制方便。
引用：
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| GB/T 7714 | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度截角四面体/四面体形状转换机构 : CN201911144427.8[P]. | 2019-11-20 . |
| MLA | 孔凡臣 et al. "一种单自由度截角四面体/四面体形状转换机构" : CN201911144427.8. | 2019-11-20 . |
| APA | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度截角四面体/四面体形状转换机构 : CN201911144427.8. | 2019-11-20 . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
A novel spatial multi-loop coupled mechanism (SMCM) with a single translational mobility (1T) is proposed in the paper. The mechanism is different from traditional parallel mechanisms due to three coupled chains connected with branches. Three parts are obtained through separating the mechanism, and mobility analysis is given from the motion and constraint analysis of each part. Then, position solution is given out to prove the correctness of mobility analysis. Finally, trajectory simulation is obtained by MATLAB, which shows the mechanism can achieve the general plane curve by one actuator. © Springer Nature Switzerland AG 2019.
关键词 ：
MATLAB MATLAB Mechanisms Mechanisms
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Wang, Jian et al. Analysis of a Novel 1T Spatial Multi-loop Coupled Mechanism [C] . 2019 : 523-532 . |
| MLA | Zhang, Shuang et al. "Analysis of a Novel 1T Spatial Multi-loop Coupled Mechanism" . (2019) : 523-532 . |
| APA | Zhang, Shuang , Liu, Jingfang , Wang, Jian , Ding, Huafeng . Analysis of a Novel 1T Spatial Multi-loop Coupled Mechanism . (2019) : 523-532 . |
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摘要 ：
本发明公开了一种含十六环的可展耦合机构，该机构包括十八个节点杆件，三十二个连杆，节点杆件间通过连杆铰接共形成十六个环。十八个节点杆件包括两个正四边形杆件，八个Ι型四边形杆件，八个三边形杆件。正四边形杆件上的四个转动副的相邻轴线间夹角为90度，Ι型四边形杆件上的四个转动副的相邻轴线间的夹角依次为124度、56度、56度、124度。三边形杆件的三个转动副的相邻轴线间的夹角为135度、90度、135度。该机构各分支结构组成相同且对称分布，能够单向移动，属于一种多面体可展耦合机构。该机构能根据工作条件及环境需求伸展收拢，便于运输，能更好的适应特殊场合，有良好的应用前景。
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| GB/T 7714 | 赵小明 , 刘婧芳 , 丁华锋 . 一种含十六环的可展耦合机构 : CN201910242375.1[P]. | 2019-03-28 . |
| MLA | 赵小明 et al. "一种含十六环的可展耦合机构" : CN201910242375.1. | 2019-03-28 . |
| APA | 赵小明 , 刘婧芳 , 丁华锋 . 一种含十六环的可展耦合机构 : CN201910242375.1. | 2019-03-28 . |
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摘要 ：
本发明公开了一种综合管廊巡检机器人，该机器人的行走结构紧紧配合T字钢轨道，保证了行驶过程的稳定性，便于综合管廊的正常巡检。机器人的电池箱的挡板结构与综合管廊指定位置处的电池更换机械手相配合，实现该机器人的供电无人化。机器人腔体分为三层，结构分工明确，便于机器人的维修和管理。可折叠机械手具有占用空间小、功能多，对较为窄小的地方仍可以实现很好的巡检。综合管廊巡检机器人更加智能化，通过初始坐标和路径规划实现自动定位，实时监测管廊内是否存在安全隐患，提升对综合管廊安全隐患的预警预防能力。该机器人可以用于生物反应池廊道中，桥梁隧道，危化品仓库，地铁系统，核电站，高压变电站等场所。
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| GB/T 7714 | 陈振伟 , 刘婧芳 , 丁华锋 et al. 一种综合管廊巡检机器人 : CN201810771047.6[P]. | 2018-07-13 . |
| MLA | 陈振伟 et al. "一种综合管廊巡检机器人" : CN201810771047.6. | 2018-07-13 . |
| APA | 陈振伟 , 刘婧芳 , 丁华锋 , 郝月娇 , 刘旋 . 一种综合管廊巡检机器人 : CN201810771047.6. | 2018-07-13 . |
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