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学者姓名：杨富富
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Abstract ：
Screw theory serves as an influential mathematical tool, significantly contributing to mechanical engineering, with particular relevance to mechanism science and robotics. The instantaneous screw and the finite displacement screw have been used to analyse the degree of freedom and perform kinematic analysis of linkage mechanisms with only lower pairs. However, they are not suitable for higher pair mechanisms, which can achieve complex motions with a more concise structure by reasonably designing contact contours, and they possess advantages in some particular areas. Therefore, to improve the adaptability of screw theory, this paper aims to analyse higher kinematic pair (HKP) mechanisms and proposes a method to extend instantaneous screw and finite displacement screw theory. This method can not only analyse the instantaneous degree of freedom of HKP mechanisms but also determine the relationships between the motion variables of HKP mechanisms. Furthermore, this method is applied to calculate the degree of freedom and the relationships between the motion angles in both planar and spatial cam mechanisms, thereby demonstrating its efficiency and advantages.
Keyword ：
degree of freedom degree of freedom finite screw theory finite screw theory higher kinematic pair mechanisms higher kinematic pair mechanisms kinematics kinematics screw theory screw theory
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| GB/T 7714 | Guo, Ruyi , Wang, Jiangyan , Hu, Houhua et al. Extending screw theory for analysing mechanisms incorporating higher kinematic pairs [J]. | ROBOTICA , 2025 . |
| MLA | Guo, Ruyi et al. "Extending screw theory for analysing mechanisms incorporating higher kinematic pairs" . | ROBOTICA (2025) . |
| APA | Guo, Ruyi , Wang, Jiangyan , Hu, Houhua , Zhang, Jun , Yang, Fufu . Extending screw theory for analysing mechanisms incorporating higher kinematic pairs . | ROBOTICA , 2025 . |
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Abstract ：
Deployable structures are widely utilized in various fields due to their ability to switch between a deployed working state and a folded storage state. This paper presents a new method for achieving plate forms in deployable structures, allowing the formation of closed surfaces suitable for covering purposes. Initially, a novel one-degree-of-freedom (one-DOF) deployable network is proposed, employing Bennett linkages and Bennett-based 6R linkages. Subsequently, the shape of the links in the network is modified to obtain a plate form consisting of equilateral triangular panels. The paper also conducts kinematic analysis, motion property examination, and bifurcation condition discussion to demonstrate the folding properties of the proposed mechanism. Additionally, a modified scheme is proposed to enable the structure to form a closed surface, and physical prototypes are used to validate all the results. Overall, the proposed method presents new possibilities for developing practical and versatile deployable structures with broader applications.
Keyword ：
Bennett linkage Bennett linkage mechanism synthesis and analysis mechanism synthesis and analysis overconstrained linkage overconstrained linkage plate network plate network polygon panel polygon panel
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| GB/T 7714 | Gao, Yuan , Qi, Jian , Li, Lin et al. A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form [J]. | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2025 , 17 (2) . |
| MLA | Gao, Yuan et al. "A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form" . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 17 . 2 (2025) . |
| APA | Gao, Yuan , Qi, Jian , Li, Lin , Zhang, Jun , Yang, Fufu . A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2025 , 17 (2) . |
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This paper presents a quantitative analysis comparing the elastodynamic performance of a redundantly actuated parallel manipulator to its non-redundantly actuated counterpart. A unified elastodynamic model is established to encompasses both actuation types, facilitating a comprehensive analysis of their performance characteristics. To assess the impact of redundant actuation, frequency variation indices are defined to measure the influence of the redundantly actuated limbs on the overall system dynamics. Two global sensitivity indices are introduced to quantify how variations in design variables affect elastodynamic performance. An adaptive Kriging-based algorithm is developed to predict elastodynamic behavior, and it is numerically validated for both accuracy and efficiency. Through a detailed elastodynamic comparison and sensitivity analysis, we identify the key effects of redundant actuation and pinpoint the most significant design variables. Our findings reveal that the enhancements in low-order natural frequencies due to redundant actuation are configuration- and order-dependent. The redundantly actuated parallel manipulator demonstrates heightened sensitivity to geometric variables in terms of elastodynamic performance, surpassing that of its non-redundantly actuated variant. The sensitivity analysis provides valuable insights, guiding future improvements in elastodynamic performance. Notably, the thickness of the moving platform emerges as a critical parameter that warrants optimization during the design phase. Therefore, this analysis is particularly pivotal in the initial evaluation stages of parallel manipulators, ensuring that designs are refined for enhanced dynamic responses. With necessary modifications, this work can be applied to other redundantly actuated parallel manipulators to contribute a deeper understanding of how redundancy influences their dynamic characteristics.
Keyword ：
Adaptive Kriging Adaptive Kriging Elastodynamic Elastodynamic Parallel manipulator Parallel manipulator Redundant actuation Redundant actuation Sensitivity analysis Sensitivity analysis
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| GB/T 7714 | Tang, Tengfei , Fang, Hanliang , Yang, Fufu et al. Adaptive Kriging elastodynamic modelling and analysis for a redundantly actuated parallel manipulator [J]. | APPLIED MATHEMATICAL MODELLING , 2025 , 142 . |
| MLA | Tang, Tengfei et al. "Adaptive Kriging elastodynamic modelling and analysis for a redundantly actuated parallel manipulator" . | APPLIED MATHEMATICAL MODELLING 142 (2025) . |
| APA | Tang, Tengfei , Fang, Hanliang , Yang, Fufu , Zhang, Jun . Adaptive Kriging elastodynamic modelling and analysis for a redundantly actuated parallel manipulator . | APPLIED MATHEMATICAL MODELLING , 2025 , 142 . |
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Abstract ：
Deployable structures based on rigid mechanisms are unconventional structures that can achieve transformations from compact folded states to fully deployed surfaces. The mechanisms are of very low or even single mobility, making the deployment process simpler. Such structures have found significant applications across various fields such as architecture, aerospace engineering, and robotics. Currently, the constituent mechanisms of these structures often come with symmetric geometric conditions, thereby yielding symmetric contours. However, this symmetry requirement makes it less desirable for specific scenarios where more generalised shapes are required. To fill the gap, this paper introduces two novel asymmetric deployable structures whose outlines can be arbitrary triangles based on the Wohlhart 6R linkage. The first structure is made from rod links, capable of transforming between two plane-like states. The second one is a modified version that incorporates rigid panels of uniform thickness as links, which can be folded from a long triangular prism to a shorter one. Their kinematic behaviours are analyzed in detail and validated by physical prototypes. We have also identified viable approaches to tessellating both structures into networks for large-scale applications. This work lays a crucial step towards the construction of asymmetric deployable structures with generalised contours. © 2025 Elsevier Ltd
Keyword ：
Aerospace applications Aerospace applications Aircraft Aircraft Aviation Aviation Kinematics Kinematics Robot applications Robot applications Spacecraft Spacecraft
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| GB/T 7714 | Zhou, Runjin , Yang, Yuchen , Liu, Chenying et al. Wohlhart 6R linkage-based asymmetric deployable structures with generalised contours [J]. | International Journal of Solids and Structures , 2025 , 317 . |
| MLA | Zhou, Runjin et al. "Wohlhart 6R linkage-based asymmetric deployable structures with generalised contours" . | International Journal of Solids and Structures 317 (2025) . |
| APA | Zhou, Runjin , Yang, Yuchen , Liu, Chenying , Guo, Ruyi , Hu, Houhua , Zhang, Jun et al. Wohlhart 6R linkage-based asymmetric deployable structures with generalised contours . | International Journal of Solids and Structures , 2025 , 317 . |
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Redundantly actuated parallel manipulator (RAPM) has been proved to have comparative advantages of higher rigidity and higher payload over other parallel manipulators. This paper is to establish a sufficient accurate stiffness modelling to evaluate the stiffness of the 2UPR-2RPS RAPM. Firstly, the structure of the 2UPR-2RPS RAPM is briefly introduced, followed by some necessary kinematic definitions. Next, a stiffness modelling of 2UPR-2RPS is established by including the compliances of all joints and limb structures. And a reasonable index is constructed to evaluate the stiffness of the 2UPR-2RPS RAPM. Finally, a set of stiffness experiments is carried out to verify the effectiveness of the proposed stiffness modelling of the 2UPR-2RPS. The results indicate that the relative errors between the proposed stiffness modelling and the experimental value are less than 6%. This indicates that the proposed stiffness modelling possesses sufficient accuracy and thus can be used to analyze the stiffness of the 2UPR-SRPS RAPM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
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| GB/T 7714 | He, Zhen , Chen, Wenlong , Li, Yulu et al. Stiffness Modelling and Analysis of a Redundantly Actuated Parallel Manipulator [C] . 2025 : 715-729 . |
| MLA | He, Zhen et al. "Stiffness Modelling and Analysis of a Redundantly Actuated Parallel Manipulator" . (2025) : 715-729 . |
| APA | He, Zhen , Chen, Wenlong , Li, Yulu , Tang, Tengfei , Fang, Hanliang , Yang, Fufu et al. Stiffness Modelling and Analysis of a Redundantly Actuated Parallel Manipulator . (2025) : 715-729 . |
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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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Abstract ：
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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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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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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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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