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学者姓名：丁华锋
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摘要 ：
This paper proposes a novel synthesis method for constructing plane-space switching mechanisms based on the symmetric plane of the regular prism. First, the structure equation and motion characteristic of plane-symmetric eight-bar linkage are presented. Then, the plane-symmetric seven-bar linkage and rhombic Bricard linkage are obtained by locking the joint of the eight-bar linkage. Four types of plane-space switching mechanisms are constructed based on the synthesis method and switching linkage units. These switching mechanisms can expand completely into planar configurations and fold completely into spatial configurations. Subsequently, the kinematics of the coupled branch chain is analyzed, through which the folded and contractive characteristics of the mechanism are revealed. Then, the concept of the distributed circle of joints is proposed, and the enveloping performance of the mechanism is approximately analyzed. This paper provides a new idea and synthesis method for designing new deployable mechanisms.
关键词 ：
mechanism synthesis and analysis mechanism synthesis and analysis
引用：
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| GB/T 7714 | Liu, Jingfang , Zuo, Haoran , Ding, Huafeng et al. Synthesis and Analysis of Plane-Space Switching Mechanisms Based on a Plane-Symmetric Eight-Bar Linkage [J]. | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2024 , 16 (10) . |
| MLA | Liu, Jingfang et al. "Synthesis and Analysis of Plane-Space Switching Mechanisms Based on a Plane-Symmetric Eight-Bar Linkage" . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 16 . 10 (2024) . |
| APA | Liu, Jingfang , Zuo, Haoran , Ding, Huafeng , Li, Meng . Synthesis and Analysis of Plane-Space Switching Mechanisms Based on a Plane-Symmetric Eight-Bar Linkage . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2024 , 16 (10) . |
| 导入链接 | NoteExpress RIS BibTex |
摘要 ：
In this study, the so-called quasi-spiral motion pattern of a particular 3R (revolute) chain, which could track a quasi-spiral curve, is discovered for application in enveloping gripping. Naturally, a novel perspective on the synthesis of 1-DOF (degree of freedom) single-loop 6R and 7R mechanisms is presented to implement the quasi-spiral motion pattern. In these processes, the method of factorization of the motion polynomials is used to synthesize a series of single-loop mechanisms with the motion to generate quasi-spiral curves. By employing the proposed method, numerous innovative 6R and 7R mechanisms have been developed to construct dual layers of grippers based on specific network regulations. Taking a novel 6R mechanism as an example, the forward solution of the mechanism is determined, and the relationship between different rotation angles is obtained. Then, the changes in each angle are displayed. Finally, the novel 6R and 7R mechanisms are employed as units to determine the networking method and assemble new types of grippers. Grippers formed by the aforementioned 1-DOF mechanisms exhibit the characteristics of enveloping grasping
关键词 ：
motion polynomials motion polynomials structural-parametric synthesis structural-parametric synthesis mechanism synthesis mechanism synthesis single-loop mechanism single-loop mechanism dual quaternion dual quaternion robot gripper robot gripper
引用：
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| GB/T 7714 | Li, Meng , Liu, Kai , Liu, Jingfang et al. Structural-Parametric Synthesis of Single-Loop 6R and 7R Mechanisms Using Factorization of Motion Polynomials and Its Application in Grippers [J]. | JOURNAL OF MECHANICAL DESIGN , 2024 , 146 (12) . |
| MLA | Li, Meng et al. "Structural-Parametric Synthesis of Single-Loop 6R and 7R Mechanisms Using Factorization of Motion Polynomials and Its Application in Grippers" . | JOURNAL OF MECHANICAL DESIGN 146 . 12 (2024) . |
| APA | Li, Meng , Liu, Kai , Liu, Jingfang , Ding, Huafeng . Structural-Parametric Synthesis of Single-Loop 6R and 7R Mechanisms Using Factorization of Motion Polynomials and Its Application in Grippers . | JOURNAL OF MECHANICAL DESIGN , 2024 , 146 (12) . |
| 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
引用：
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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 . |
| 导入链接 | NoteExpress RIS BibTex |
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 ：
workspace workspace type construction type construction parallel mechanism parallel mechanism parasitic motion parasitic motion
引用：
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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 et al. "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 ：
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。
引用：
复制并粘贴一种已设定好的引用格式，或利用其中一个链接导入到文献管理软件中。
| 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。
引用：
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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 ：
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
引用：
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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 ：
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 ：
Motion unit H Motion unit H Deployable polyhedral mechanism Deployable polyhedral mechanism N-sided antiprism mechanism N-sided antiprism mechanism Radially reciprocating motion Radially reciprocating motion Asymmetric eight-bar linkage Asymmetric eight-bar linkage
引用：
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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 ：
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。
引用：
复制并粘贴一种已设定好的引用格式，或利用其中一个链接导入到文献管理软件中。
| 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 ：
本发明公开了一种单自由度对称空间耦合可展单元及基于此的空间可展机构，包括机架、支撑杆组件、连接件、耦合杆；机架与支撑杆组件铰接连接；支撑杆组件通过连接件与耦合杆连接。支撑杆进行驱动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，该机构整体具有较高的刚度，且在收拢和展开过程中，控制简便。
引用：
复制并粘贴一种已设定好的引用格式，或利用其中一个链接导入到文献管理软件中。
| GB/T 7714 | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度对称空间耦合可展单元及基于此的空间可展机构 : CN202010092631.6[P]. | 2020-02-14 . |
| MLA | 孔凡臣 et al. "一种单自由度对称空间耦合可展单元及基于此的空间可展机构" : CN202010092631.6. | 2020-02-14 . |
| APA | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度对称空间耦合可展单元及基于此的空间可展机构 : CN202010092631.6. | 2020-02-14 . |
| 导入链接 | NoteExpress RIS BibTex |
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