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学者姓名:丁华锋
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Abstract :
An integrated type synthesis method for polyhedral mechanisms based on polyhedron is proposed. The properties of the polyhedron are considered and the corresponding generalized mechanism is built based on strategies that geometric components are regarded as construction members. Topological graph and configuration matrix are used to describe the generalized mechanism. The target mechanism and its descriptions are obtained from the generalized mechanism via designing the construction members appropriately. Possible types are then enumerated using set operations according to the configuration matrix. The axes of the kinematic pairs are set based on the geometric properties of the polyhedron. Degrees-of-freedom (DOFs) of those possible types are calculated using the modified G-K criterion based on screw theory, and the type synthesis results with DOF more than 0 are obtained. Tetrahedral mechanisms with revolute and sliding pairs are synthesized, and they have 135 configuration results with lower-mobility, which validates the accuracy and effectiveness of the proposed method. Some application examples of the tetrahedral mechanisms are further illustrated for potential values of synthesized mechanisms in robot field.
Keyword :
type synthesis type synthesis mechanism theory mechanism theory enumeration method enumeration method parallel robots parallel robots mobile robots mobile robots polyhedral mechanisms polyhedral mechanisms tetrahedral mechanisms tetrahedral mechanisms mechanism synthesis mechanism synthesis configuration matrix configuration matrix
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GB/T 7714 | Kong, Fanchen , Liu, Jingfang , Ding, Huafeng et al. Type Synthesis of Modular Polyhedral Mechanisms Based on the Generalized Mechanism Models of Regular Polyhedron [J]. | JOURNAL OF MECHANICAL DESIGN , 2023 , 145 (2) . |
MLA | Kong, Fanchen et al. "Type Synthesis of Modular Polyhedral Mechanisms Based on the Generalized Mechanism Models of Regular Polyhedron" . | JOURNAL OF MECHANICAL DESIGN 145 . 2 (2023) . |
APA | Kong, Fanchen , Liu, Jingfang , Ding, Huafeng , Gao, Guohua . Type Synthesis of Modular Polyhedral Mechanisms Based on the Generalized Mechanism Models of Regular Polyhedron . | JOURNAL OF MECHANICAL DESIGN , 2023 , 145 (2) . |
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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 :
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.
Keyword :
workspace workspace type construction type construction parallel mechanism parallel mechanism parasitic motion parasitic motion
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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 . |
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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.
Keyword :
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
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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 . |
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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 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 :
STL文件的分层算法是3D打印最基本也是最重要的一环。在已有的切片算法的基础上,提出了一种基于MATLAB软件对STL文件的新的分层切片优化算法,可以保证精度和稳定性。此方法的实现过程是:先对三角面片排序,找到所在分层的三角形;然后建立所筛选出这些三角的邻接关系;最后求出交点依次相连,就能直接提取出轮廓线。该算法运用MATLAB软件最基本的编程代码,可以快速准确地提取出轮廓环。通过一个例子来验证该算法的准确性和稳定性。
Keyword :
轮廓线 轮廓线 MATLAB MATLAB STL STL 分层 分层
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GB/T 7714 | 丁华锋 , 王卓 , 刘婧芳 et al. 一种基于MATLAB的STL文件分层切片算法 [J]. | 机床与液压 , 2018 , 46 (05) : 102-105 . |
MLA | 丁华锋 et al. "一种基于MATLAB的STL文件分层切片算法" . | 机床与液压 46 . 05 (2018) : 102-105 . |
APA | 丁华锋 , 王卓 , 刘婧芳 , 孙龙 , 张良安 . 一种基于MATLAB的STL文件分层切片算法 . | 机床与液压 , 2018 , 46 (05) , 102-105 . |
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Abstract :
It has remained a great challenge to develop coupled mechanisms in kinematics. Polyhedrons with various appearance and symmetric configuration attract more and more attentions and provide possible basic modes for the design of coupled mechanisms. Based on the symmetry and duality of the regular dodecahedron, a movable icosahedron mechanism with single mobility was designed, where the coupling nodes were composed of triangles, quadrilaterals and pentagons. Firstly, in order to design the coupling nodes with triangles, quadrilaterals and pentagons, each vertex was added to the ten faces of the icosahedron and the node variety was increased by adding types of vertexes. The common edge of the original regular pentagon was replaced by four edges. Four edges made up a quadrilateral. The common edge of the original regular pentagon became a diagonal of the quadrilateral. Then four kinds of replacement components were designed according to the connection of each component, and the replacement components sequentially were connected by rotational joints to construct a basic model of the coupled mechanism. Secondly, mobility of the mechanism model was calculated by the shunting method based on screw theory. The coupled mechanism was divided into five identical branches according to the shunting tags. As long as the constraints of one branch were determined based on screw theory, the constraints of all branches to the moving platform was obtained. Then mobility of the coupled mechanism was obtained, which showed the coupled mechanism had a translational freedom. Finally, active input selection was analyzed and the three-dimensional model of the coupled mechanism was established. Two opposite driving conditions were set up in the simulation, and position curves of the moving platform and the node components were got by Matlab. The simulation results were consistent with theoretical results. It further showed that the proposed mechanism had the characteristics of stretching motion. © 2017, Chinese Society of Agricultural Machinery. All right reserved.
Keyword :
Motion analysis Motion analysis MATLAB MATLAB Screws Screws
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GB/T 7714 | Liu, Jingfang , Cao, Yake , Ding, Huafeng . Configuration Design and Analysis of Novel Icosahedron Mechanism [J]. | Transactions of the Chinese Society for Agricultural Machinery , 2017 , 48 (10) : 370-379 . |
MLA | Liu, Jingfang et al. "Configuration Design and Analysis of Novel Icosahedron Mechanism" . | Transactions of the Chinese Society for Agricultural Machinery 48 . 10 (2017) : 370-379 . |
APA | Liu, Jingfang , Cao, Yake , Ding, Huafeng . Configuration Design and Analysis of Novel Icosahedron Mechanism . | Transactions of the Chinese Society for Agricultural Machinery , 2017 , 48 (10) , 370-379 . |
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Abstract :
基于具有对称性和对偶性的正十二面体,设计了一种以三、四、五边形为耦合节点的二十面体单移动可展机构。首先,在正十二面体的十个面上添加一种顶点,通过增加顶点种类以增加耦合节点种类,从而得到具有三、四、五边形结构的节点构件。根据构件连接情况设计四类替换构件,将替换构件用转动副(R副)依次连接,构造耦合机构基础模型。其次,基于螺旋理论应用分流法计算其自由度。最后,进行主动输入选取分析及构建耦合机构的三维模型,设置方向相反的驱动条件分别进行仿真运动,应用Matlab得到动平台和节点构件的位置变化曲线,仿真结果与理论分析结果相统一,表明提出的机构具有伸缩运动特性。
Keyword :
运动分析 运动分析 二十面体 二十面体 多环耦合机构 多环耦合机构 自由度 自由度
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GB/T 7714 | 刘婧芳 , 曹亚柯 , 丁华锋 . 二十面体机构构型设计与分析 [J]. | 农业机械学报 , 2017 , 48 (10) : 370-379 . |
MLA | 刘婧芳 et al. "二十面体机构构型设计与分析" . | 农业机械学报 48 . 10 (2017) : 370-379 . |
APA | 刘婧芳 , 曹亚柯 , 丁华锋 . 二十面体机构构型设计与分析 . | 农业机械学报 , 2017 , 48 (10) , 370-379 . |
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