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From Concept to Field Trials: Design, Analysis, and Evaluation of a Novel Quadruped robot with Deformable Wheel-Foot Structure

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IEEE Transactions on robotics 2025年 41卷 3143-3161页

作者： Ju, Zhongjin Wei, Ke Xu, Yundou Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Qinhuangdao066004 China

This study introduces a novel quadruped robot, the TerraAdapt, furnished with an innovative deformable wheel-foot integrated structure. This unique design grants the robot the flexibility to alternate between wheeled and footed modes of locomotion, making it efficient in traversing diverse terrains, from smooth indoor floors to challenging outdoor landscapes laden with obstacles. The study delineates an in-depth design and analysis of the deformable wheel and its integrated wheel-foot structure using screw theory. We engineer a 2RRR-RP wheel-foot mode-switching mechanism by modifying a 2RRR spatial six-bar mechanism with an additional RP branch. This mechanism aids in seamless transitioning between different movement modes. Moreover, a 2RRR parallel structure is employed to construct the footed mode *** substantiate the viability and efficacy of the proposed design, we carry out extensive motion simulations and construct an experimental prototype for field testing. The field trials reveal the robot's adeptness in adapting to varied terrains, highlighting the possible advantages of incorporating the proposed deformable wheel into micro mobile robot designs. © 2004-2012 IEEE.

关键词： Machine design

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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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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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Design and Analysis of Single-drive Space Deployable Metamorphic Capture Manipulator

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2025年第1期61卷 30-43页

作者： Han, Bo Yang, Ming Luo, Mingyan Li, Mingyang Yao, Jiantao Zhao, Yongsheng School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China

In order to improve the problems of large volume and complex driving of grasping mechanism in space non-cooperative target capture task, a single-drive space deployable truss capture manipulator is proposed. Based on the scissor mechanism and metamorphic principle, the structure of the deployable basic unit is designed, and the deployable unit is connected by the synchronous hinge to realize the synchronous drive of each deployable unit on the single-branch truss. The characteristics of changing the axis of the revolute joint at a specific position can be realized by using the metamorphic joint in the unit, so that the unfolding motion of the manipulator is transformed into the turning motion of the platform, and the capture action of the manipulator is completed. On the basis of considering the friction, the dynamic model of the basic deployable unit is established by using the Lagrange equation. The position, velocity and acceleration of each connecting rod are obtained by vector operation, and the relationship between the driving force and the equivalent torque is obtained. The single-branch manipulator truss is equivalent to a 4R mechanism, and the dynamic model of the manipulator truss combination is further carried out by Newton-Euler recursive method, and the correctness of the model is verified by software simulation. The proposed space capture manipulator has the advantages of expandable, metamorphic, and small number of drives, which can provide theoretical guidance and reference for the research of related technical fields. © 2025 Chinese Mechanical Engineering Society. All rights reserved.

关键词： Trusses

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Research on the motion-free axis synchronization of a novel translational linear structured light scanning system

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Optik 2025年 327卷

作者： Liu, Jianxin Liu, Xingyu Li, Yanwen Chen, Ziming School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

The line-structured light three-dimensional measurement system has the advantages of non-contact, low cost, and high speed. A line mobile structured light scanner measurement system is designed in this paper. The surface scanning process based on line structured light measurement in the fixed camera coordinate system is realized. The single-line structured light emitter is fixed on the slider of the linear module, and a multi-line structured light emitter is added to assist in calculating the light plane equation of the single-line structured light. The system doesn't need to calibrate the trajectory of the linear module slider in the camera coordinate system, and there is no need to synchronize the timestamps of camera image acquisition and motor encoding reading. The error of calculating the parameters of the light plane equation caused by the time difference between the encoder and image acquisition is eliminated. Experiments show that the design has high precision and dense point clouds. © 2025

关键词： Cameras

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Design and analysis of a deployable parabolic structure based on six-crease thick-panel origami

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International Journal of Mechanical Sciences 2025年 297-298卷

作者： Chen, Ziming Liu, Xingyu Yang, Xiao Si, Rongqi Zhao, Chen Li, Yanwen School of Mechanical Engineering Yanshan University Hebei Qinhuangdao 066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao 066004 China

A deployed six-crease thick-panel origami model can be approximated as a three-dimensional shape, and therefore has great potential for use in the design of curved-surface deployable structures. In this study, a thick-panel six-crease origami was designed and analysed, which revealed a single degree of freedom during deployment. An analytical relationship between the thick-panel origami and the deployable parabolic structure was established;part of the material on the thick-panel was removed to obtain the parabolic deployable structure. The interference of thick-panel origami and parabolic deployable structure during deployment was analysed, and a strategy to eliminate interference was provided. Finally, the relationship between the design parameters and the deployed/folded ratio of the structure was analysed, and the prototype was manufactured. This study provides a novel reference for the design of deployable rotational parabolic structures. © 2025

关键词： Bricard linkage Deployable mechanism Deployable structure Rotational Paraboloid Six-crease origami Thick-panel origami

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Contact Model of Revolute Joint with Clearance Based on Fractal Theory

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Chinese Journal of Mechanical Engineering 2018年第6期31卷 34-44页

作者： Shi-Hua Li Xue-Yan Han Jun-Qi Wang Jing Sun Fu-Juan Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

The contact sti ness of a mechanical bonding surface is an important parameter in determining the normal and radial contact force. To improve the calculation accuracy of the contact force model, the surface roughness of the bonding surface and the energy loss that necessarily occurs during the impact process should be considered com?prehensively. To study the normal contact force of a revolute joint with clearance more accurately in the case of dry friction, a nonlinear sti ness coe cient model considering the surface roughness was established based on fractal theory, which considers the elastic, elastic?plastic, and plastic deformations of the asperities of the contact surface during the contact process. On this basis, a modified nonlinear spring damping model was established based on the Lankarani–Nikravesh contact force model. The laws influencing the surface roughness, recovery coe cient, initial velocity, and clearance size on the impact force were revealed, and were compared with the Lankarani–Nikravesh model and a hybrid model using MATLAB. The maximum impact force was obtained using a modified contact force model under di erent initial velocities, di erent clearances, and di erent degrees of surface roughness, and the calculated results were then compared with the experiment results. This study indicates that the modified model can be used more widely than other models, and is suitable for both large and small clearances. In particular, the modified model is more accurate when calculating the contact force of a revolute joint with a small clearance.

关键词： Fractal theory Modified contact model Surface roughness Lankarani–Nikravesh model

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Novel Mobility Formula for parallel Mechanisms Expressed with Mobility of General Link Group

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Chinese Journal of Mechanical Engineering 2013年第6期26卷 1082-1090页

作者： ZHANG Yitong LU Wenjuan MU Dejun YANG Yandong ZHANG Lijie ZENG Daxing Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.

关键词： parallel mechanism degree of freedom general link group output parameters

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Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 226-235页

作者： ZHAO Tieshi GENG Mingchao CHEN Yuhang LI Erwei YANG Jiantao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling ***,the traditional representations cannot achieve this because of the absence of coordinate ***,the coordinate invariant method is an important research ***,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is *** on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is ***,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is *** formulae and the dynamics Hessian matrix are proved to be coordinate *** to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is *** index of dynamical coupling based on dynamics Hessian matrix is *** the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics *** screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

关键词： kinematics dynamics Hessian matrix parallel manipulator screw theory

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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed-Loop Units and High Stifness

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 231-247页

作者： Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China

In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stifness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stifness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stifness fully decoupled 3T PM. Kinematic and stifness analyses show that the Jacobian matrix is a diagonal matrix, and the stifness is obviously higher than that of the coupling mechanisms, which verifes the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.

关键词： Screw theory Three translational parallel mechanism Full decoupled Closed-loop units High stifness

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