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学者姓名：杨富富
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Abstract ：
Multiple mobile assemblies have been created based on two-dimensional tessellations of linkages for deployable structures. However, few three-dimensional tessellations of linkages have been created, especially mobile assemblies with bifurcation. Here, we proposed four types of mobile assemblies of kaleidocycles, a special type of threefold-symmetric Bricard linkages, based on cubic cellulation and symmetry. Kinematic analysis of them is carried out based on the matrix method and numerical method. Two assemblies have bifurcations with two motion paths following cuboid symmetry and tetrahedral symmetry, respectively. Meanwhile, the other two have one motion path with a single degree-of-freedom. The designing process facilitates the creation of new mobile assemblies under symmetry, and the four assemblies have the potential application for designing metamaterials.
Keyword ：
Bricard linkage Bricard linkage kinematics kinematics mechanism synthesis mechanism synthesis mobile assemblies mobile assemblies origami origami spatial tessellation spatial tessellation symmetry symmetry
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| GB/T 7714 | Zhang, Xiao , Zhou, Xin , Li, Ming et al. Three-Dimensional Mobile Assemblies Based on Threefold-Symmetric Bricard Linkages [J]. | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2024 , 16 (4) . |
| MLA | Zhang, Xiao et al. "Three-Dimensional Mobile Assemblies Based on Threefold-Symmetric Bricard Linkages" . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 16 . 4 (2024) . |
| APA | Zhang, Xiao , Zhou, Xin , Li, Ming , Liu, Tianming , Xing, Jian , Lv, Wei et al. Three-Dimensional Mobile Assemblies Based on Threefold-Symmetric Bricard Linkages . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2024 , 16 (4) . |
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In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a plane-symmetric manner, and a detailed kinematic analysis is conducted which shows that there are six distinct motion modes and three topological structures of the derived mechanism without changing the types of kinematic joints. Explicit relationships among the kinematic variables are obtained with D-H method and various modes are discussed in detail. Bifurcation points are derived and the reconfigurations are analyzed. The result shows that the mechanism has six motion modes which contain a special case of a plane-symmetric 6R mode and a special case of a two-fold symmetric 6R mode, an X-shaped motion mode, and two V-shaped motion modes. A physical prototype is fabricated to verify the derivation and it shows that the mechanism can transform among all the motion modes without the need of reassembling.
Keyword ：
6R linkage 6R linkage Bennett linkage Bennett linkage bifurcation bifurcation kinematics kinematics mechanism design mechanism design overconstrained linkages overconstrained linkages reconfigurable mechanism reconfigurable mechanism theoretical kinematics theoretical kinematics
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| GB/T 7714 | Gao, Yuan , Yang, Fufu , Zhang, Jun . A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures [J]. | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2023 , 15 (5) . |
| MLA | Gao, Yuan et al. "A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures" . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 15 . 5 (2023) . |
| APA | Gao, Yuan , Yang, Fufu , Zhang, Jun . A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2023 , 15 (5) . |
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新型机械超材料结构通常由一些简单的单元(称之为胞元)通过三维规则阵列组合而成。得益于超常的物理特性，这些机械超材料结构往往具有轻质高强度、多稳态、优异能量吸收能力等优点，正成为众多领域的热门研究方向。为进一步丰富超材料结构种类，需探索更多优质胞元结构。折纸结构具有结构简单、便于折叠等优势，为构建超材料胞元提供了一种重要方式。利用一种具有较好对称的剪纸图案——二重对称剪纸图案，提出一种具有负泊松比特性且单自由度折展的二重对称剪纸胞元。通过分析胞元结构的几何参数对折展运动的影响，发现胞元具有一定的拉胀(即负泊松比)特性，当剪纸的设计变量γ趋近于0时，该胞元趋于经典的内凹蜂窝结构。相较于后者，所提出的胞元还具备单自由度折展特性，为快速搭建吸能结构提供了便利。该胞元结构利用折叠后的物理干涉产生的自锁效应，使得其处于折叠极限状态下具有负载能力。通过静态压缩试验，发现二重对称剪纸芯比内凹蜂窝结构具有更优异的负载能力，是一种优异的纸质超材料结构。该胞元的提出，为探索更多新型超材料结构提供了可能，还为之奠定了理论分析基础。
Keyword ：
二重对称Bricard 6R连杆 二重对称Bricard 6R连杆 剪纸图案 剪纸图案 负泊松比 负泊松比 超材料 超材料
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| GB/T 7714 | 杨富富 , 林维炜 , 杨飞雨 et al. 基于二重对称剪纸的新型超材料胞元结构的设计与特性分析 [J]. | 机械工程学报 , 2023 , (17) : 97-108 . |
| MLA | 杨富富 et al. "基于二重对称剪纸的新型超材料胞元结构的设计与特性分析" . | 机械工程学报 17 (2023) : 97-108 . |
| APA | 杨富富 , 林维炜 , 杨飞雨 , 张俊 , 姚立纲 . 基于二重对称剪纸的新型超材料胞元结构的设计与特性分析 . | 机械工程学报 , 2023 , (17) , 97-108 . |
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Mechanisms are prone to stuttering or even jamming due to the deformation of components, especially for overconstrained linkages for which geometric conditions must be strictly satisfied. In this paper, joint clearance is actively introduced to release the local constraint so that the linkages can still achieve general movement under the deformation of components. And a joint clearance model with a revolute joint (R-joint) is built. Based on the model, the minimum joint clearance introduced, which keeps mechanisms moving smoothly, is found when the components of the linkages have a certain deformation. The correctness of the proposed method is verified with a numerical case, and the optimal position for clearance introducing is analyzed. It opens up an important way to solve the phenomenon of stuttering or jamming in overconstrained linkages.
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| GB/T 7714 | Qi, Jian , Gao, Yuan , Yang, Fufu . Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck [J]. | MECHANICAL SCIENCES , 2023 , 14 (1) : 171-178 . |
| MLA | Qi, Jian et al. "Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck" . | MECHANICAL SCIENCES 14 . 1 (2023) : 171-178 . |
| APA | Qi, Jian , Gao, Yuan , Yang, Fufu . Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck . | MECHANICAL SCIENCES , 2023 , 14 (1) , 171-178 . |
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To meet the increasing requirements for high-performance machine tools in manufacturing industry, a 5-axis hybrid kinematic machining unit (HKMU) is proposed with a topology of 2UPR&1RPS&1RPU-XY. Firstly, the inverse/forward position of the HKMU is analyzed by using the closed-loop vector method. Secondly, based on the position analysis, a 3-axis and a 5-axis reachable workspace are defined to demonstrate the motion capabilities of the proposed HKMU. And a ‘hierarchical’ searching algorithm is proposed to calculate the above two types of reachable workspace. Finally, the relationship between dimensional parameters and reachable workspace is graphically revealed by using an illustrative example of the proposed HKMU. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
Keyword ：
5-axis reachable workspace 5-axis reachable workspace ‘Hierarchical’ searching algorithm ‘Hierarchical’ searching algorithm Hybrid kinematic machining unit Hybrid kinematic machining unit Position analysis Position analysis
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| GB/T 7714 | Su, H. , Fang, H. , Tang, T. et al. Kinematic Modelling and Workspace Prediction of a Hybrid Kinematic Machining Unit Integrating Redundantly Actuated Parallel Manipulator [未知]. |
| MLA | Su, H. et al. "Kinematic Modelling and Workspace Prediction of a Hybrid Kinematic Machining Unit Integrating Redundantly Actuated Parallel Manipulator" [未知]. |
| APA | Su, H. , Fang, H. , Tang, T. , Yang, F. , Zhang, J. . Kinematic Modelling and Workspace Prediction of a Hybrid Kinematic Machining Unit Integrating Redundantly Actuated Parallel Manipulator [未知]. |
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Abstract ：
Joint clearance, which is always being viewed as a negative factor in most machine operations and hoped to be eliminated in previous studies, can be used to release some constraints in mechanisms, especially in overconstrained linkages. It is expected to prevent the movement of the developable structure constructed with overconstrained linkages from being stuck due to the deformation of the components. In this paper, we propose a general comprehensive model of 3D clearance for revolute joints (R-joints) and focus on the kinematic performance. From a kinematical perspective, contact modes of journal and bearing are divided into four cases by treating the point (or line, surface) contact as a single-point contact. Then, the relative motion of journal and bearing is analysed and derived by D-H method. Using the model, we present a method to study the kinematic characteristics of overconstrained mechanisms with joint clearances. The correctness of the proposed method is verified by the comparison with a numerical case. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
Keyword ：
Contract modes Contract modes Deployable mechanisms Deployable mechanisms Joint clearances Joint clearances Kinematic characteristics Kinematic characteristics Overconstrained mechanisms Overconstrained mechanisms
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| GB/T 7714 | Qi, J. , Zhang, J. , Yang, F. et al. Kinematic Modeling of 3D Clearance in Revolute Joint and Its Application in Overconstrained Linkages [未知]. |
| MLA | Qi, J. et al. "Kinematic Modeling of 3D Clearance in Revolute Joint and Its Application in Overconstrained Linkages" [未知]. |
| APA | Qi, J. , Zhang, J. , Yang, F. , Song, Y. . Kinematic Modeling of 3D Clearance in Revolute Joint and Its Application in Overconstrained Linkages [未知]. |
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本实用新型涉及一种轮式二自由度可折展机器人，其特征在于，包括刚性折纸结构的折展主体、四个由电机驱动的麦克纳姆轮和一个能够保持处于水平状态的拓展平台；所述刚性折纸结构的折展主体由两块侧板组成，两块侧板之间由合页连接，以使两块侧板能够相对旋转；四个由电机驱动的麦克纳姆轮连接在两块侧板上，每一块侧板边角上安装两台带有编码器的电机；本实用新型实现机器人可以处于折叠或舒展的工作，满足不同的使用地形；同时折展主体折叠时，利用机构折展将自身动力系统用作抬升动力，节约执行器并以更大的功率提升载荷。
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| GB/T 7714 | 石阮晨 , 杨富富 , 范硕 et al. 一种轮式二自由度可折展机器人 : CN202321624255.6[P]. | 2023-06-26 00:00:00 . |
| MLA | 石阮晨 et al. "一种轮式二自由度可折展机器人" : CN202321624255.6. | 2023-06-26 00:00:00 . |
| APA | 石阮晨 , 杨富富 , 范硕 , 陈德兰 . 一种轮式二自由度可折展机器人 : CN202321624255.6. | 2023-06-26 00:00:00 . |
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本发明涉及一种轮式移动机器人折展结构，包括折展主体模块、运动结构模块、监测平台模块；折展主体模块由基板组成，四个基板分别位于折展主体模块的左前、左后、右前、右后，相邻的基板分别通过转动副相连接，共四个转动副，该四个转动副的轴线交于一点，形成球面四杆机构；运动结构模块由四个运动结构单元组成，每个基板下端安装有一个运动结构单元；本发明通过单自由度驱动机器人躯干变形，实现机器人在三维方向上的尺寸改变，从而通过复杂路径，结构简单，三维折展比大，运动高效，在探测、检测以及救援等工程领域具有广泛的应用潜力。
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| GB/T 7714 | 杨富富 , 卢帅龙 , 宋振鲁 et al. 轮式移动机器人折展结构 : CN202210053236.6[P]. | 2022-01-18 00:00:00 . |
| MLA | 杨富富 et al. "轮式移动机器人折展结构" : CN202210053236.6. | 2022-01-18 00:00:00 . |
| APA | 杨富富 , 卢帅龙 , 宋振鲁 , 张俊 . 轮式移动机器人折展结构 : CN202210053236.6. | 2022-01-18 00:00:00 . |
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Tessellation is an efficient and convenient way to construct large mobile mechanisms with less DOF and has been widely adopted in large deployable structures, in which origami/kirigami is usually adopted as units due to its better symmetric properties. However, the existing origami/ kirigami units are quite limited because the discovery mainly depends on the inspiration of designers. In this paper, we propose a new way to find units by setting link lengths to be zero with overconstrained linkages. A kirigami pattern is obtained from twofold-symmetric Bricard 6R linkage and two kinds of novel tessellations are subsequently constructed. Kinematic analysis shows that the obtained tessellations can be folded as tubular and eggbox-like structures. Meanwhile, the folding performance of these tessellations on geometric parameters is analysed for potential applications, and the results are validated by fabricating some prototypes. Therefore, the proposed kirigami pattern and the corresponding tessellations extend the family of large deployable structures.
Keyword ：
Deployable structure Deployable structure Kirigami Kirigami Miura-ori Miura-ori Overconstrained linkage Overconstrained linkage Tessellation Tessellation Twofold-symmetric Bricard linkage Twofold-symmetric Bricard linkage
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| GB/T 7714 | Lin, Weiwei , Yang, Fufu , Zhang, Jun . A twofold-symmetric kirigami pattern and its mobile tessellations [J]. | MECHANISM AND MACHINE THEORY , 2022 , 174 . |
| MLA | Lin, Weiwei et al. "A twofold-symmetric kirigami pattern and its mobile tessellations" . | MECHANISM AND MACHINE THEORY 174 (2022) . |
| APA | Lin, Weiwei , Yang, Fufu , Zhang, Jun . A twofold-symmetric kirigami pattern and its mobile tessellations . | MECHANISM AND MACHINE THEORY , 2022 , 174 . |
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As a series of tessellation origami patterns consisting of more than one type of polygons, Resch patterns are generally rigid foldable but with a large number of degrees of freedom (DOFs). The patterns are not flat foldable, instead the fully folded configuration is a sandwich style in flat profile. In order to achieve one-DOF forms of triangular Resch pattern units, the thick-panel technique is employed at vertices to replace spherical linkages with spatial linkages. The compatibility among all the vertices is studied by a systematic kinematic analysis of the thickpanel Resch pattern. Finally, two design schemes are obtained to form a one-DOF origami structure between the initial planar structure and the fully folded 3D sandwich structure with dome-curved intermediate folded configurations. The one-DOF Resch pattern structure can be used to generate reliable shape transformation.
Keyword ：
plane-symmetric Bricard linkage plane-symmetric Bricard linkage thick-panel origami thick-panel origami threefold-symmetric Bricard linkage threefold-symmetric Bricard linkage Triangular Resch patterns Triangular Resch patterns
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| GB/T 7714 | Yang, Fufu , Zhang, Miao , Ma, Jiayao et al. Design of Single Degree-of-Freedom Triangular Resch Patterns with Thick-panel Origami [J]. | MECHANISM AND MACHINE THEORY , 2022 , 169 . |
| MLA | Yang, Fufu et al. "Design of Single Degree-of-Freedom Triangular Resch Patterns with Thick-panel Origami" . | MECHANISM AND MACHINE THEORY 169 (2022) . |
| APA | Yang, Fufu , Zhang, Miao , Ma, Jiayao , You, Zhong , Yu, Ying , Chen, Yan et al. Design of Single Degree-of-Freedom Triangular Resch Patterns with Thick-panel Origami . | MECHANISM AND MACHINE THEORY , 2022 , 169 . |
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