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| 1 | Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes显示文摘The two-rotational-degrees-of-freedom(2R) parallel mechanism(PM) with two continuous rotational axes(CRAs) has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained. | XU Yundou ZHANG Dongsheng WANG Min YAO Jiantao ZHAO Yongsheng | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 17 |
| 2 | Type Synthesis for Bionic Quadruped Walking Robots显示文摘 | Jun He Feng Gao | 2015 | Journal of Bionic Engineering2015，12，4： | 12 |
| 3 | 具有连续转轴的对称2R1T三自由度并联机构型综合显示文摘为综合出更多具有连续转轴的并联机构新机型,提出一种具有连续转轴的两转一移(2R1T)并联机构型综合新方法。运用螺旋理论,给出该类机构约束螺旋的空间布置,提出并联机构连续转轴的判别条件,确定分支运动副类型及空间位置关系。基于分支约束力与分支运动副之间的几何位置关系,证明了该类机构能够实现连续转动。利用该方法对具有平面上任意直线为连续转轴的对称两转一移并联机构进行综合,并仿真验证了研究结果的正确性。该综合方法简单、有效。 | 李仕华 田志立 王子义 韩雪艳 | 2017 | 机械工程学报2017，53，23： | 11 |
| 4 | Type Synthesis of Walking Robot Legs显示文摘Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function(GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design.Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name,corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. | Da Xi Feng Gao | 2018 | Chinese Journal of Mechanical Engineering2018，31，1： | 8 |
| 5 | Type Synthesis of Lower Mobility Parallel Mechanisms: A Review显示文摘Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on di erent theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the GF set method, the linear transformation method, the POC set method,and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an e ective synthesis method for innovative design and further scientific investigations for mechanisms. | Wei Ye Qinchuan Li | 2019 | Chinese Journal of Mechanical Engineering2019，32，2： | 6 |
| 6 | Structural Synthesis of a Class of 2R2T Hybrid Mechanisms显示文摘Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially for the four degrees of freedom(DOF) hybrid mechanisms.In order to develop a manipulator with additional constraints,a class of important spatial mechanisms with coupling chains(CCs) whose motion type is two rotations and two translations(2R2T) is presented.Based on screw theory,the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed.The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method.Moreover,the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains(SKCs) of the corresponding parallel mechanisms are presented.According to the constraint analysis of the mechanisms,the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains.At last,fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented.The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms. | TIAN Chunxu FANG Yuefa GUO Sheng | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 5 |
| 7 | 对称单自由度螺旋运动并联机构型综合显示文摘针对馈能减振器对运动转换机构的功能需求,提出基于并联机构的设计方案。采用约束螺旋理论提出一种结构对称单自由度螺旋运动(1H)并联机构型综合方法。运用螺旋理论,给出将力螺旋分解为空间多个力线矢的方法。在此基础上,将1H并联机构动平台约束螺旋系中的约束力螺旋,分解成与机构分支数相等的线性无关力线矢,用分解得到的力线矢替代该约束力螺旋,与动平台约束螺旋系中其它约束力和约束力偶形成新的机构约束螺旋系。通过反螺旋理论和空间几何理论确定分支约束螺旋系,进而求得分支运动螺旋系。通过线性组合和等效代换综合出全部合适的分支运动链,将结构相同的分支运动链沿动平台和定平台对称布置,得到一系列满足要求的1H并联机构。最后以3-UU机构为例,对综合得到机构进行自由度分析,分析结果验证了构型综合方法的正确性。 | 杨彦东 甄春江 侯雨雷 曾达幸 | 2019 | 机械工程学报2019，55，3： | 5 |
| 8 | 高精度压力机连杆机构的误差分析及精度综合显示文摘高精度成形装备的研发是我国发展近净成形技术的关键之一.研发并联驱动多连杆压力机是高精度压力机发展的主要方向,如何确定影响其运动输出精度的关键误差因素,进而经济合理地分配各零部件的精度参数,是目前高精度压力机设计所必须要考虑的.在总结分析已有研究的基础上,提出以滑块运动输出位置误差和角度误差两个指标来表征压力机运动输出精度,并基于环路增量法建立了并联多连杆压力机误差传递模型;通过灵敏度分析,确定了影响该类伺服压力机输出精度的关键误差因素,并提出考虑制造成本和输出可靠度的精度综合方法;对■_aR型伺服压力机进行了案例研究,并采用Monte Carlo法进行了验证.结果表明,所提出方法能够有效识别出影响压力机输出精度的关键误差因素,合理调整这些因素的公差值能够使机构输出可靠度满足设计要求. | 骞华楠 陶璟 于随然 | 2019 | 上海交通大学学报2019，53，3： | 2 |
| 9 | Design of Self‑Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains显示文摘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. | Fu‑Qun Zhao Sheng Guo Hai‑Jun Su Hai‑Bo Qu Ya‑Qiong Chen | 2020 | Chinese Journal of Mechanical Engineering2020，33，5： | 2 |
| 10 | 机器人末端运动特征几何化描述与分析方法显示文摘针对现有运动特征信息不完整以及代数分析方法较为抽象的现状,提出了基于高斯几何学的机器人末端运动特征几何化描述与分析方法。首先,基于高斯几何学将直线、曲线、平面以及曲面等均视作可描述末端运动特征的独立空间,进而建立了基于高斯几何学的运动特征描述模型;然后,基于该描述模型制定了末端运动特征的求并和求交运算规则,并提出了机器人末端运动特征的分析方法;最后,结合实例验证了上述几何化描述与分析方法的有效性。 | 叶梅燕 石志新 罗玉峰 | 2019 | 农业机械学报2019，50，3： | 2 |
| 11 | 空间曲线平移并联机构构型综合与分类显示文摘针对现有机构分析与综合理论方法存在综合结果不完整、无法适用于弯曲平移机构等问题,提出了空间曲线平移并联机构构型综合及分类方法。首先,借鉴高斯非欧几何的内蕴思想,将直线、曲线、平面以及曲面等均视作可描述末端构件平移特征的独立空间,进而建立了可描述弯曲平移运动特征的表达模型;其次,研究了支链末端构件弯曲平移运动的形成机理,并制定了相应的运动特征求并运算规则;然后,根据形态特征将空间曲线平移并联机构划分为9种基本类型;最后,以柱柱相贯线平移机构和柱锥相贯线平移机构为例,给出了空间曲线平移并联机构的构型综合方法。 | 叶梅燕 石志新 罗玉峰 | 2019 | 农业机械学报2019，50，6： | 2 |
| 12 | 大型空间桁架用快速接头创新设计显示文摘提出了接头系统设计与综合的阶段划分,将接头系统设计过程拆分为构型拓扑、形封闭、力封闭三个阶段,形成了接头系统的分类依据。其中对构型拓扑阶段做了详细讨论,给出接头系统构型符号化表达方法,建立了构型内的构态运算规则以及构型之间的生长运算规则。讨论了为实现给定运动特征序列,形封闭应满足的限制条件。运用本文提出的接头系统设计方法,可以快速完成接头系统从需求到方案的设计过程。 | 赵常捷 郭为忠 林荣富 李蒙 | 2019 | 机械设计与研究2019，35，5： | 1 |
| 13 | Standing on the Shoulders of Giants: A Brief Note from the Perspective of Kinematics显示文摘Kinematics^([1–3]) has evolved with and contributed significantly to human demands.For example,slider-crank mechanisms have been widely used in engines since the industrial revolution.Additionally,constant-velocity shaft couplings have been developed to meet the needs of the automobile industry since the 1920’s.With the development of robots,robot kinematics has been one of the research focuses in Kinematics since the 1970’s. | KONG Xianwen | 2017 | Chinese Journal of Mechanical Engineering2017，30，1： | 1 |
| 14 | A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation显示文摘The parasitic motion has been widely recognized as the major drawback of the parallel mechanism.Therefore a class of 2R1T PMs(parallel mechanism)without parasitic motion has been synthesized.However,these PMs can only rotate around two axes in sequential order.It decreases the performance of the balancing adjustment of the end-efector.In this paper,a family of 2R1T PMs without parasitic motion was reconstructed by using a novel method based on the remarkable properties of rotational bifurcation mechanisms,which can rotate in sequential order.Furthermore,some PMs rotating around two continuous axes in an arbitrary order are established by adding single joints.Taking the practicability of these structures into consideration,the workspace of 3-PRPS PM was analyzed as an example.Moreover,this study explores the practical application of the PMs without parasitic motion in developing balance mechanisms in rough-terrain fre-fghting robots.During the climbing process,the tank is adjusted to be parallel to the horizontal plane in real-time.It is proved that this kind of structure realizes continuous rotation around two rotation axes on the premise of no parasitic motion. | Jinghan Qin Chunzhan Yu Zhibo Sun Lei Cao | 2022 | Chinese Journal of Mechanical Engineering2022，35，4： | 0 |
| 15 | 闭环联动机构的创新设计及应用显示文摘闭环联动机构(Looped-Synchronous Mechanism,LSM)是一种特殊的单自由度闭式传动机构,具有许多相似的单元,可以产生给定传动比规律的输出。LSM构件和运动副需要满足特定的约束,其构型综合与尺度设计需要相应的方法。首先,提出基于空间Assur杆组的构型方法,基于自由度计算找出空间杆组运动副的所有组合形式,并选取两个可行的组合作为LSM基本单元,与原动机和机架连接。其次,分析出机构实现首尾闭环与联动时各级空间杆组传动比(时间相关)需要满足的约束条件,推导出空间杆组传动比与机构参数关系。然后,针对传动比无法严格满足的情况,建立闭环联动机构参数优化方法,近似实现给定的传动比规律。最后,给定11种传动比和4种结构形式进行数值和运动仿真,验证了方法的有效性。 | 王旭 郭为忠 | 2022 | 机械设计2022，39，1： | 0 |
| 16 | 柔顺精密定位与操作机构研究进展显示文摘柔顺机构是一种利用柔顺元件的弹性变形来传递或转换运动、力或能量的新型机构。与传统的刚性机构相比,柔顺机构具有高精度、无间隙、无摩擦磨损、免装配及易于小型化等特点,是机构学研究领域的一个重要分支。以精密定位和精密操作两类代表性的柔顺机构为研究对象,从分析与设计、传感与控制等方面介绍了该领域国内外的研究现状、存在的主要问题和发展趋势。 | 张宪民 朱本亮 李海 陈忠 王日鑫 臧浩延 | 2023 | 机械工程学报2023，59，19： | 0 |
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