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学者姓名：刘婧芳
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Abstract ：
In this study, we take the spherical helix curve as the given trajectory and use algebraic methods to derive the motion polynomial of the spherical helix curve. By decomposing the motion polynomial, we obtain a serial chain with the spherical helix curve as the end trajectory, these serial chains are then combined to form a new single-loop mechanism. To better demonstrate the end trajectory of the single-loop mechanism, a novel 7R (revolute) single-loop mechanism is chosen to compute the forward solution. The calculation shows that the 7R mechanism has one degree of freedom, and its end trajectory is confirmed to be a spherical helix curve. A novel gripper is then created by using the 7R mechanism as a unit and following a specific networking method.
Keyword ：
deployable mechanism deployable mechanism single-loop mechanism single-loop mechanism Spherical helix curve Spherical helix curve end trajectory end trajectory algebraic methods algebraic methods
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| GB/T 7714 | Li, Meng , Liu, Jingfang , Ding, Huafeng . Synthesis of mechanisms with spherical helix curve based on an algebraic method [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2025 . |
| MLA | Li, Meng 等. "Synthesis of mechanisms with spherical helix curve based on an algebraic method" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE (2025) . |
| APA | Li, Meng , Liu, Jingfang , Ding, Huafeng . Synthesis of mechanisms with spherical helix curve based on an algebraic method . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2025 . |
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Abstract ：
Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment. Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper. The mechanism with two out-of-plane rotational and one lifting degrees of freedom (DoFs) plays an important role in posture adjustment. Based on elastic beam theory, the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered. To improve solving efficiency, a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method. Firstly, each branch of the RPR type mechanism is divided into a substructure. Subsequently, a set of hypothetical modes of each substructure is obtained based on the C-B method. Finally, dynamic equation of the whole mechanism is established by the substructure assembly. A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.
Keyword ：
Dynamic experiment Dynamic experiment Modal synthesis method Modal synthesis method Compliant parallel mechanism Compliant parallel mechanism Dynamic model Dynamic model
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng et al. Dynamic Modeling and Experimental Verification of an RPR Type Compliant Parallel Mechanism with Low Orders [J]. | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
| MLA | Zhang, Shuang et al. "Dynamic Modeling and Experimental Verification of an RPR Type Compliant Parallel Mechanism with Low Orders" . | CHINESE JOURNAL OF MECHANICAL ENGINEERING 37 . 1 (2024) . |
| APA | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng , Zhang, Yanbin . Dynamic Modeling and Experimental Verification of an RPR Type Compliant Parallel Mechanism with Low Orders . | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2024 , 37 (1) . |
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Abstract ：
A novel compliant mechanism with RPR degrees of freedom (DOF) is proposed where R and P represent rotation and translation DOFs, respectively. The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic. R, P and U represent rotation, translation and universal pairs, respectively. Firstly, inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis. Then, output transmission indexes of branches in the parallel mechanism are given. Dimensional synthesis is completed based on the normalized design parameter. And optimization of flexure joints based on constrained energy is carried out. Afterwards, the novel compliant mechanism is obtained by direct replacing method. Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle. Finally, FEA simulation by Ansys Workbench is carried out to verify DOF, effectiveness of the dimension synthesis, and compliant model. Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.
Keyword ：
Compliant mechanism Compliant mechanism Optimization Optimization RPR degrees of freedom RPR degrees of freedom force transfer characteristic force transfer characteristic Mechanical model Mechanical model Motion Motion
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng . Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom [J]. | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2022 , 35 (1) . |
| MLA | Zhang, Shuang et al. "Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom" . | CHINESE JOURNAL OF MECHANICAL ENGINEERING 35 . 1 (2022) . |
| APA | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng . Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom . | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2022 , 35 (1) . |
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Abstract ：
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.
Keyword ：
Constraint performance index Constraint performance index Flexibility-center decomposition Flexibility-center decomposition Compliant parallel mechanism Compliant parallel mechanism Optimization Optimization Compliance modeling Compliance modeling
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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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Abstract ：
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.
Keyword ：
shape transformable shape transformable tetrahedron tetrahedron truncated tetrahedron truncated tetrahedron mobility analysis mobility analysis Polyhedral mechanism Polyhedral mechanism
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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 . |
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Abstract ：
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.
Keyword ：
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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Abstract ：
A rigid-flexible parallel mechanism called 3-RXS mechanism as a neck brace for patients with head drooping symptoms (HDS) is presented. The 3-RXS neck brace has a simple and light structure coupled with good rotation performance, so it can be used to assist the neck to achieve flexion and extension, lateral bend, and axial torsion. Firstly, to prove that the X-shaped compliant joint has a rotational degree of freedom (DoF) and can be used in the 3-RRS spherical parallel mechanism (3-RRS SPM), the six-dimensional compliance matrix, axis drift, and DoF of the X-shaped compliant joint have been systematically calculated. Secondly, the 3-RXS mechanism and its pseudo-rigid-body model (PRBM) are obtained by replacing the revolute pair with the X-shaped compliant joint in the 3-RRS SPM. The rotation workspace of the 3-RXS mechanism is also performed. Finally, to verify the rotation function and effect of 3-RXS mechanism for neck-assisted rehabilitation, the kinematics simulations of the 3-RXS and 3-RRS mechanisms are carried out and compared with the theoretical result, and a primary experiment for rotation measurement of 3-RXS mechanism prototype is carried out. All results prove the feasibility of the 3-RXS mechanism for a neck brace.
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| GB/T 7714 | Liu, Jingfang , Cheng, Yanxia , Zhang, Shuang et al. Design and Analysis of a Rigid-Flexible Parallel Mechanism for a Neck Brace [J]. | MATHEMATICAL PROBLEMS IN ENGINEERING , 2019 , 2019 . |
| MLA | Liu, Jingfang et al. "Design and Analysis of a Rigid-Flexible Parallel Mechanism for a Neck Brace" . | MATHEMATICAL PROBLEMS IN ENGINEERING 2019 (2019) . |
| APA | Liu, Jingfang , Cheng, Yanxia , Zhang, Shuang , Lu, Zhenxin , Gao, Guohua . Design and Analysis of a Rigid-Flexible Parallel Mechanism for a Neck Brace . | MATHEMATICAL PROBLEMS IN ENGINEERING , 2019 , 2019 . |
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Abstract ：
Statics modelling is critical to posture deformation analysis and shape control under external loads, especially large deflections. This paper presents a novel statics modelling method to discuss the shape deformation of an extensible continuum manipulator (ECM) under an external tip load. According to the equivalence of the elastic bending potential energy, the ECM is simplified as an equivalent-fixed-guided beam (EFGB) with the corresponding equivalent bending stiffness. Subsequently, a large deflection statics model of the EFGB is established based on the continuous beam theory, and a solution is calculated by employing the elliptical integral algorithm. Further, based on the large deflection statics model, several shape simulations under different external tip loads of the ECM are discussed, especially the shape deformation of the vertical posture. In addition, the statics experiments of the ECM are performed to validate the presented statics modelling method by comparing the shape deformation under different directions of the external tip load between the theoretical and experimental value. The experiments and the contrast demonstrate that the results match with the theoretical solution well, and that the proposed statics modelling method is efficient and precise for predicting the shape deformation of the ECM. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword ：
Statics Statics Shape deformation Shape deformation Large deflection Large deflection Continuum manipulator Continuum manipulator
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| GB/T 7714 | Gao, Guohua , Wang, Hao , Liu, Jingfang et al. Statics analysis of an extensible continuum manipulator with large deflection [J]. | MECHANISM AND MACHINE THEORY , 2019 , 141 : 245-266 . |
| MLA | Gao, Guohua et al. "Statics analysis of an extensible continuum manipulator with large deflection" . | MECHANISM AND MACHINE THEORY 141 (2019) : 245-266 . |
| APA | Gao, Guohua , Wang, Hao , Liu, Jingfang , Zheng, Yuhang . Statics analysis of an extensible continuum manipulator with large deflection . | MECHANISM AND MACHINE THEORY , 2019 , 141 , 245-266 . |
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Abstract ：
A novel type synthesis method for a class of spatial multi-loop coupled mechanisms with translational degrees of freedom is proposed in the paper. The novel class of spatial multi-loop coupled mechanisms has a stable topology layout which consists of three branches and three coupled chains. The basic idea of the new structural synthesis method lies at replacing the inputs of one mechanism by the outputs of another, thereby combining several mechanisms, where the topology split method for the topological layout and corresponding degree of freedom splitting principle are provided. The synthesis of the target mechanism is transformed into synthesis of corresponding serial and parallel mechanisms thereby, and a class of spatial multi-loop coupled mechanisms is synthesized. To validate the new synthesis method and to present a theoretical basis for future application, kinematic analysis of a single translational mobility (1T) spatial multi-loop coupled mechanism and a symmetrical two translational degrees of freedom (2T) spatial multi-loop coupled mechanism is performed. This article enriches the family of the spatial mechanisms for further instructing the study of spatial multi-loop coupled mechanisms.
Keyword ：
kinematic analysis kinematic analysis spatial multi-loop coupled mechanism spatial multi-loop coupled mechanism topology layout topology layout translational degree of freedom translational degree of freedom Type synthesis Type synthesis
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng . Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis [J]. | ADVANCES IN MECHANICAL ENGINEERING , 2018 , 10 (8) . |
| MLA | Zhang, Shuang et al. "Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis" . | ADVANCES IN MECHANICAL ENGINEERING 10 . 8 (2018) . |
| APA | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng . Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis . | ADVANCES IN MECHANICAL ENGINEERING , 2018 , 10 (8) . |
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Abstract ：
A symmetrical deployable coupled mechanism with one translational degree of freedom (DOF) is proposed based on the particularity and symmetry of a regular dodecahedron. According to the spatial arrangement of all component geometrical elements in a regular dodecahedron, the construction of coupled framework is established. All component parts can be defined and motion chains can be obtained correspondingly. Three types of substitutive components are designed on the basis of the merging condition of above defined parts in coupled framework. The equivalent geometrical model is spliced with the given substitutive parts just by rotation joints (R). The DOF of the model is calculated and the output motion is analyzed under the condition that the elementary loop corresponding to a regular pentagon in a regular dodecahedron is movable. The expected symmetrical coupled mechanism can be established based on the mobility analysis of the entire model. The three-dimensional SolidWorks model of the coupled mechanism is build. The displacement variations of the end and nodes under different driving conditions are simulated and revealed with time-displacement curves by Matlab. Simulation results show that the novel mechanism is a symmetrical deployable coupled mechanism with one translation DOF. © 2018 Journal of Mechanical Engineering.
Keyword ：
Degrees of freedom (mechanics) Degrees of freedom (mechanics) MATLAB MATLAB
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| GB/T 7714 | Gao, Huifang , Liu, Jingfang , Yu, Yueqing . Design of a 1-DOF Symmetrical Deployable Coupled Mechanism [J]. | Journal of Mechanical Engineering , 2018 , 54 (5) : 62-73 . |
| MLA | Gao, Huifang et al. "Design of a 1-DOF Symmetrical Deployable Coupled Mechanism" . | Journal of Mechanical Engineering 54 . 5 (2018) : 62-73 . |
| APA | Gao, Huifang , Liu, Jingfang , Yu, Yueqing . Design of a 1-DOF Symmetrical Deployable Coupled Mechanism . | Journal of Mechanical Engineering , 2018 , 54 (5) , 62-73 . |
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