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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 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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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 ：
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 . |
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Abstract ：
本发明公开了一种单自由度对称空间RURUR可展单元及基于此的空间可展机构，包括机架、支撑杆、U副杆和平面连杆；所述机架与所述支撑杆铰接连接；所述支撑杆通过U副杆与所述平面连杆铰接连接；所述U副杆为十字形，包括R副I和R副II，R副I的轴线与R副II的轴线为垂直关系。支撑杆进行驱动实现伞形可展机构在收拢和展开的过程中可展单元构件始终保持位于同一平面的特性，且该机构在展开和收拢过程中，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RURUR可展单元及基于此的空间可展机构 : CN202010092623.1[P]. | 2020-02-14 . |
| MLA | 孔凡臣 et al. "一种单自由度对称空间RURUR可展单元及基于此的空间可展机构" : CN202010092623.1. | 2020-02-14 . |
| APA | 孔凡臣 , 刘婧芳 , 丁华锋 . 一种单自由度对称空间RURUR可展单元及基于此的空间可展机构 : CN202010092623.1. | 2020-02-14 . |
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Abstract ：
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 . |
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Abstract ：
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。
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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 . |
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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 ：
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 ：
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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