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SSRN 2024年

作者： Lv, Weilin Nie, Wansui Wei, Jun Zhang, Jianjun Meng, Chuizhou Liu, Teng Sui, Jin Guo, Shijie Engineering Research Center The Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei University of Technology Tianjin300401 China Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion Hebei University of Technology Tianjin300401 China School of Mechanical Engineering Hebei University of Technology Tianjin300401 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Kirigami has been utilized in designing deployable mechanisms for various engineering applications. This paper presents a novel construction method for one-degree-of-freedom (1-DOF) multi-loop kirigami mechanisms whose folding motions are kinematically equivalent to their original degree-4 rigid origami. Firstly, we introduce a family of single-loop kirigami (SLK) as the main loop of 1-DOF multi-loop kirigami. Secondly, the coupling-constraint properties of multi-DOF SLKs are clarified, and the structural characteristics of the 1-DOF multi-loop kirigami are defined, based on which, the construction method for the 1-DOF multi-loop kirigami is proposed. Thirdly, the representative models are selected and their kinematics are presented to demonstrate their capability to achieve folding motion equivalent to their origami prototypes, thus verifying the validity of our proposed methodology. Fourthly, the non-constraint condition of the 1-DOF multi-loop kirigami is presented. Finally, we propose extended configurations of 1-DOF multi-loop kirigami and provide the forward and inverse design methods for constructing kirigami meshes. The proposed methodology facilitates the design of large-scale deployable structures. © 2024, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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Grassmann Line Geometry Based Configuration Synthesis of Equivalent Uu Parallel Mechanisms with Two Virtual Center-of-Motion

SSRN

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SSRN 2022年

作者： Wei, Jun Yu, Bin Liu, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

This paper investigates a class of equivalent UU parallel mechanisms with two virtual center-of-motions (VCMs) in terms of the Grassmann line geometry principle, which its configuration synthesis is carried out by using geometric characteristics of the equivalent UU model. First, the equivalent UU model is proposed concerning the analysis of ankle rehabilitation and the ankle UU model, which three geometric characteristics and four classes of motion and constraint characteristics of the equivalent UU model are given. Second, the motion principle of equivalent UU parallel mechanism is proposed with respects to the characteristics of motion and constraint, which provides a theoretical method for configurable synthesis. Third, a series of constraint limbs satisfying the motion and constraint characteristics of equivalent UU parallel mechanism are synthesized by using the constraint screw synthesis method in terms of the screw theory and Grassmann line geometry principle. Finally, the concept of multiset is introduced into mechanism synthesis, and a series of equivalent UU parallel mechanisms are synthesized based on the method of constraint screw multiset. © 2022, The Authors. All rights reserved.

关键词： Screws

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