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学者姓名：杨富富
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Abstract ：
Auxetic materials, a type of mechanical metamaterial with negative Poisson's ratio, are potentially utilized in the realms of energy absorption and engineering structures. However, most of the existing auxetic materials either contain a large amount of rotational motion or still have gaps when fully folded, which is not conducive to lifting loads. Besides, their application is limited to flexible environments due to their single-folding mode. To overcome such limitations, a fully foldable mechanical metamaterial with isotropic auxeticity is proposed by utilizing the Sarrus mechanism, and a derivative multi-mode folding form is obtained in this paper. Then, the degrees-of-freedom (DOF), bistability, and kinematic characterizations are analyzed to show the performance of the proposed structures. Finally, the parameters of the proposed fully foldable mechanical metamaterials are discussed to simplify the structures. Some prototypes are fabricated to validate the effectiveness and performance of the proposed mechanical metamaterials. The proposed mechanical metamaterials have some merits, such as isotropic auxeticity, being fully folded to achieve dense compression, being bistable with load-bearing capacity, multi-mode folding form, and single-DOF, and they have versatile potential applications in complex environments requiring large deformation and flexible adaptation.
Keyword ：
auxetic property auxetic property mechanical metamaterials mechanical metamaterials mechanisms and robots mechanisms and robots mechanism synthesis and analysis mechanism synthesis and analysis multi-mode folding form multi-mode folding form negative Poisson's ratio negative Poisson's ratio Sarrus mechanism Sarrus mechanism single-DOF single-DOF theoretical and computational kinematics theoretical and computational kinematics
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| GB/T 7714 | Li, Lin , Yang, Feiyu , Yang, Fufu et al. Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form [J]. | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2025 , 17 (5) . |
| MLA | Li, Lin et al. "Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form" . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 17 . 5 (2025) . |
| APA | Li, Lin , Yang, Feiyu , Yang, Fufu , Lin, Rongfu , Zhang, Jun . Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form . | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME , 2025 , 17 (5) . |
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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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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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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 , 43 (5) : 1841-1866 . |
| MLA | Guo, Ruyi et al. "Extending screw theory for analysing mechanisms incorporating higher kinematic pairs" . | ROBOTICA 43 . 5 (2025) : 1841-1866 . |
| APA | Guo, Ruyi , Wang, Jiangyan , Hu, Houhua , Zhang, Jun , Yang, Fufu . Extending screw theory for analysing mechanisms incorporating higher kinematic pairs . | ROBOTICA , 2025 , 43 (5) , 1841-1866 . |
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Origami, derived from the Japanese words 'ori' meaning fold and 'kami (gami)' meaning paper, has found extensive engineering applications in modern days. In the last decade, an emerging venue lies in robotics, where origami is taken as an exoskeleton of a robot to generate desired behaviours. The motions of origami are often coupled through in-built folds, leading to lower or more controllable degrees of freedom (DoFs) while still exhibiting shape-changing properties akin to those of soft materials. This unique feature enhances the compliance of robots without compromising their controllability. The prevalent use of zero-thickness sheets makes origami robots prone to fatigue, necessitating the incorporation of origami made from durable thick materials. Whilst substantial attempts have been made in the field of thick-panel origami, the concept was originally conceived for space solar panels. Hence, existing research predominantly focuses on properties such as flat foldability and kinematic equivalence. Consequently, many designs also end up with rigid panels of non-uniform thicknesses, complicating the fabrication process. Asa result, roboticists, who are interested in shape-changing origami as well as its fabrication and control simplicity, often find it challenging to directly implement those thick panels in the robotic design. This work addresses these research gaps by introducing the first systematic approach to designing uniform-thickness origami capable of shape-changing, referred to as morphing surfaces. Such surfaces are enabled by a comprehensive mapping between thick-panel origami and spatial overconstrained linkages, followed by various tessellation methods. Bending, expanding, twisting, and complex motion behaviours will be realised on the proposed surfaces, all with a single DoF. The surfaces are thus readily applicable in robotics for targeted functions.
Keyword ：
Kinematic mapping and analysis Kinematic mapping and analysis Origami tessellation Origami tessellation Programmable shape-changing Programmable shape-changing Spatial overconstrained linkage Spatial overconstrained linkage Thick-panel origami Thick-panel origami Uniform thickness Uniform thickness
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| GB/T 7714 | Liu, Chenying , Yang, Fufu , Maiolino, Perla et al. Morphing surfaces inspired by thick-panel origami [J]. | INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES , 2025 , 289 . |
| MLA | Liu, Chenying et al. "Morphing surfaces inspired by thick-panel origami" . | INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES 289 (2025) . |
| APA | Liu, Chenying , Yang, Fufu , Maiolino, Perla , You, Zhong . Morphing surfaces inspired by thick-panel origami . | INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES , 2025 , 289 . |
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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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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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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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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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Novel mechanical metamaterial structures usually consist of a number of simple cells combined by three-dimensional regular arrays. Due to their extraordinary physical properties, these mechanical metamaterial structures often have the advantages of light weight, high strength, multi-stability, excellent energy absorption capability, etc., and are becoming a research focus in many fields. In order to further enrich metamaterial structures, more high-quality cellular structures need to be explored. Origami structure has the advantages of simple structure and easy folding, which provides an important way to construct metamaterial cells. In this paper, a twofold-symmetric kirigami (Twofold-sym Kiri) pattern with good symmetry is adopted, and a cell with negative Poisson's ratio and single degree of freedom folding is proposed. By analyzing the influence of the geometric parameters of the cell structure on the folding motion, it is found that the cell has a stretching characteristic, namely negative Poisson's ratio. When the variable γ of the kirigami pattern approaches 0, the cell tends to the classical reentrant honeycomb structure. Compared to the classical reentrant honeycomb structure, the proposed cell has the advantage of single DOF which will benefit to construct large deployable energy-absorption structures quickly. With the usage of the self-locking function caused by the physical interference during folding, the cellular structure in the folding limit state has the load capacity. Through the static compression test, it is found that the Twofold-sym Kiri structure has better load capacity than the reentrant honeycomb structure, which is an excellent origami metamaterial structure. The proposed cell provides the possibility for exploring more new metamaterial structures and lays the theoretical analysis foundation for it. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
Keyword ：
Cells Cells Cellular automata Cellular automata Compression testing Compression testing Cytology Cytology Degrees of freedom (mechanics) Degrees of freedom (mechanics) Energy absorption Energy absorption Honeycomb structures Honeycomb structures Metamaterials Metamaterials Poisson ratio Poisson ratio
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| GB/T 7714 | Yang, Fufu , Lin, Weiwei , Yang, Feiyu et al. Design and Characteristic Analysis of a New Metamaterial Cell Structure Based on Twofold-sym Kiri Pattern [J]. | Journal of Mechanical Engineering , 2023 , 59 (17) : 97-108 . |
| MLA | Yang, Fufu et al. "Design and Characteristic Analysis of a New Metamaterial Cell Structure Based on Twofold-sym Kiri Pattern" . | Journal of Mechanical Engineering 59 . 17 (2023) : 97-108 . |
| APA | Yang, Fufu , Lin, Weiwei , Yang, Feiyu , Zhang, Jun , Yao, Ligang . Design and Characteristic Analysis of a New Metamaterial Cell Structure Based on Twofold-sym Kiri Pattern . | Journal of Mechanical Engineering , 2023 , 59 (17) , 97-108 . |
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