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Novel Design of Wrist With Gripper: Type Synthesis of a 2R1T parallel Mechanism Possessing One Actuation Degree-of-Freedom

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Journal of Mechanical Design 2025年第7期147卷 073301页

作者： Zhang, Jingyao Yao, Jiantao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University No. 438 West Section of Hebei Street Hebei Province Qinhuangdao City066004 China

The parallel mechanism (PM) with a configurable movable platform (CMP) holds the potential for achieving a high-response speed and high-stiffness integrated design of a gripper-wrist system. The motion of two rotations and one translation (2R1T), closely resembling the movement of a human wrist joint, is highly complex. Therefore, research on 2R1T PM with CMP remains unexplored. Additionally, a systematic method for constructing PM with CMP is also lacking. This paper proposes fundamental design principles for PM with CMP. The topological arrangements of 2R1T PM with CMP are classified according to the number of limbs, their types, and the CMP structure. The basic constraint conditions and the redundant constraint conditions of 2R1T PM are analyzed. By establishing the relationship between finite motions, joint geometric parameters, and constraint screws, a series of limb structures that provide specific constraints in finite motions are constructed. Several configuration examples of gripper-wrist mechanism are provided, which can serve as a guide for subsequent researches. The design approach of CMP is discussed. The performance advantages of such mechanisms are validated through simulation-based comparisons. Copyright © 2025 by ASME.

关键词： Degrees of freedom (mechanics)

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Evaluation on Configuration Stiffness of Overconstrained 2R1T parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： parallel mechanism Stiffness Over-constrained Three degrees of freedom

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An Untethered Soft-Swallowing robot with Enhanced Heat Resistance,Damage Tolerance,and Impact Mitigation

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Chinese Journal of Mechanical Engineering 2024年第6期37卷 456-465页

作者： Haili Li Xingzhi Li Pan Zhou Jiantao Yao Zhejiang Provincial Key Laboratory of Part Rolling Technology School of Mechanical Engineering and MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties and ***,improving the robustness of soft robots in hostile environmental conditions has always been a *** methods usually improve this robustness through damage isolation,material elasticity,and self-healing *** contrast to existing methods,this paper proposes a method to improve the robustness of an untethered soft-swallowing robot based on the physical properties of fluids,such as the high specific heat capacity of water,the viscosity of soft glue,and the shear thickening of non-Newtonian *** on this method,we developed a soft-swallowing robot with enhanced heat resistance,damage tolerance,and impact mitigation capability by only replacing its fluid working *** show that the developed soft-swallowing robot can withstand high temperatures above 600°C,maintain high performance even after enduring hundreds of damages,and protect grasped object from more than 90%of external *** principle extends beyond the three fluids used in this *** fluids,such as magnetic fluid,can increase adhesion to metal materials,whereas oily fluids can reduce frictional resistance between soft ***,other solid materials with elasticity and compliance can serve as alternative working mediums for the soft-swallowing *** work contributes an effective method for fluid-dependent soft robotic systems to resist the damage from uncertain factors in harsh environments.

关键词： Soft gripper Untethered design Heat resistance Damage tolerance Impact mitigation

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence Technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

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A 0.5-meter-scale,high-load,soft-enclosed gripper capable of grasping the human body

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Science China(Technological Sciences) 2023年第2期66卷 501-511页

作者： LI HaiLi ZHANG Shuai ZHANG XuanHao ZHAO WuMian YAO JianTao Zhejiang Provincial Key Laboratory of Part Rolling Technology Faculty of Mechanical Engineering&MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Developing large,soft grippers with high omnidirectional load(above 40 kg)has always been *** address this challenge by developing a powerful soft gripper that can grasp the human body based on a soft-enclosed grasping structure and a soft-rigid coupling *** envelope size of the proposed soft gripper is 611.6 mm×559 mm×490.7 mm,the maximum grasping size is 417 mm,and the payload on the human body is more than 90 kg,which has exceeded most existing soft ***,the grasping force prediction of the gripper is achieved through theoretical *** primary contribution of this work is to overcome the size and payload limits of current soft grippers and implement a human-grasping experiment based on the soft-grasping method.

关键词： soft gripper large size high-load soft-enclosed grasping

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Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom parallel Mechanism

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 91-99页

作者： Ziming Chen Xuechan Chen Min Gao Chen Zhao Kun Zhao Yanwen Li School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004HebeiChina Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004HebeiChina

Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other ***,compared with the SPM,the structure types and research contents of the SPM are not abundant *** this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and ***,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and ***,the workspace of the mechanism is obtained according to inverse kinematics and link interference ***,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the ***,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion ***,some variant mechanisms can be *** work lays the foundation for the motion control and practical application of this 2DOF SPM.

关键词： Spherical parallel mechanism 2DOF Workspace Equivalent rotation

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Finite-step-integration:An original method for the forward kinematics analysis of parallel manipulators

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Frontiers of Mechanical Engineering 2025年第1期20卷 129-146页

作者： Yuan JIANG Bo HAN Xiaohan LIU Meng HAN Jiantao YAO Yongsheng ZHAO School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China College of Information Science and Engineering Northeastern UniversityShenyang 110819China

In today’s society,parallel manipulators(PMs)are widely used in industrial production,aerospace,and other fields,where their forward kinematic analyses often serve as the foundation for various tasks,such as design,calibration,and *** the past few decades,this issue has seemingly been repeatedly addressed using various numerical methods,intelligent algorithms,and algebraic *** it is undeniable that solving the equations is easier with current technology,the problem of“how to formulate solvable equations”is often *** analysis issue typically involves establishing non-linear,multi-parameter,high-dimensional,and strong-coupled mathematical equations,which,from a geometric perspective,is also considered a process of solving a spatial *** considering the temporal dimension of motion between two isomorphic polytopes,based on calculus theory,it has been found that this non-linear problem can be transformed into the superposition of multiple iteratively linear ***,we propose an original method for the forward kinematic analysis of PMs,namely the finite-step-integration(FSI)*** this study,the mathematical principles and modeling methods of the FSI method are elucidated,and the modeling and programming processes of the FSI method are demonstrated using general 6-UPS and 3-UPS/S manipulators as *** the analysis of its unique algebraic structure,the methods for singularity determination and motion tracking characteristic analysis are *** method addresses the long-standing challenges in the forward kinematic modeling of PMs,which is applicable for design,calibration,and control,while also offering novel insights for modeling and solving certain non-linear engineering problems.

关键词： finite-step-integration forward kinematic analysis parallel manipulator singularity determination motion tracking

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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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Development of a Wearable Upper Limb Rehabilitation robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

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