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Configuration Analysis of Metamorphic Mechanisms Based on Extended Adjacency Matrix Operations

Chinese Journal of Mechanical Engineering 2011年第5期24卷 767-773页

作者： li duanling ZHANG Zhonghai School of Automation Beijing University of Posts and Telecommunications Beijing 100876 China

The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can easily be simulated by *** the adjacency matrix based on monochrome topological graph is not suitable for the topological representation of mechanisms with multiple *** method of adjacency matrix operations has its own limitations for analysis of configuration transformation of metamorphic mechanisms because it can only be used in the topological representation of mechanisms with single *** order to overcome the drawback of the adjacency matrix,a kind of new matrix named as extended adjacency matrix is proposed to express topological structures of all *** extended adjacency matrix is not only suitable for the topological representation of mechanisms with single joints,but also can be used in that of mechanisms with multiple *** this basis,a method of matrix operations based on the extended adjacency matrix is proposed to analyze the configuration transformation of metamorphic *** method is not only suitable for configuration analysis of metamorphic mechanisms with single joints as well as metamorphic mechanisms with multiple *** method is evaluated by calculating two examples representing metamorphic mechanisms with single joint and multiple joints *** can be concluded that the method is effective and correct for analysis of configuration transformation of all metamorphic *** proposed method is simple and easy to be achieved by computer *** provides a basis for structural synthesis of all metamorphic mechanisms.

关键词： metamorphic mechanism configuration transformation extended adjacency matrix single joint multiple joint

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Design and Research of Form Controlled Planar Folding Mechanism based on 4D Printing Technology

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 281-293页

作者： Wencai Zhang Zhenghao Ge duanling li College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyShaanxi 710021China School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China

The use of non-smart materials in structural components and kinematic pairs allows for flexible assembly in practical applications and is promising for aerospace ***,this approach can result in a complex structure and excessive kinematic pairs,which limits its potential applications due to the difficulty in controlling and actuating the *** smart materials have been integrated into certain mechanisms,such integration is generally considered a unique design for specific cases and lacks ***,organically combining universal mechanism design with smart materials and 4D printing technology,innovating mechanism types,and systematically exploring the interplay between structural design and morphing control remains an open research *** this work,a novel form-controlled planar folding mechanism is proposed,which seamlessly integrates the control and actuation system with the structural components and kinematic pairs based on the combination of universal mechanism design with smart materials and 4D printing technology,while achieving self-controlled dimensional ratio adjustment under a predetermined thermal *** design characteristics of the mechanism are analyzed,and the required structural design parameters for the preprogrammed design are derived using a kinematic *** smart materials and 4D printing technology,folding programs based on material properties and control programs based on manufacturing parameters are encoded into the form-controlled rod to achieve the preprogrammed design of the ***,two sets of prototype mechanisms are printed to validate the feasibility of the design,the effectiveness of the morphing control programs,and the accuracy of the theoretical *** mechanism not only promotes innovation in mechanism design methods but also shows exceptional promise in satellite calibration devices and spacecraft walking systems.

关键词： Form-controlled mechanism Self-folding Smart materials 4D printing Morphing control

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Structural Synthesis of Compliant Metamorphic Mechanisms Based on Adjacency Matrix Operations

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 522-528页

作者： li duanling ZHANG Zhonghai CHEN Guimin School of Automation Beijing University of Posts and Telecommunications Beijing 100876 China School ofMechatronics Xidian University Xi ＇an 710071 China

A compliant metamorphic mechanism attributes to a new type of metamorphic mechanisms evolved from rigid metamorphic mechanisms. The structural characteristics and representations of a compliant metamorphic mechanism are different from its rigid counterparts, so does the structural synthesis method. In order to carry out its structural synthesis, a constraint graph representation for topological structure of compliant metamorphic mechanisms is introduced, which can not only represent the structure of a compliant metamorphic mechanism, but also describe the characteristics of its links and kinematic pairs. An adjacency matrix representation of the link relationships in a compliant metamorphic mechanism is presented according to the constraint graph. Then, a method for structural synthesis of compliant metamorphic mechanisms is proposed based on the adjacency matrix operations. The operation rules and the operation procedures of adjacency matrices are described through synthesis of the initial configurations composed of s＋1 links from an s-link mechanism （the final configuration）. The method is demonstrated by synthesizing all the possible four-link compliant metamorphic mechanisms that can transform into a three-link mechanism through combining two of its links. Sixty-five adjacency matrices are obtained in the synthesis, each of which corresponds to a compliant metamorphic mechanism having four links. Therefore, the effectiveness of the method is validated by a specific compliant metamorphic mechanism corresponding to one of the sixty-five adjacency matrices. The structural synthesis method is put into practice as a fully compliant metamorphic hand is presented based on the synthesis results. The synthesis method has the advantages of simple operation rules, clear geometric meanings, ease of programming with matrix operation, and provides an effective method for structural synthesis of compliant metamorphic mechanisms and can be used in the design of new compliant me

关键词： compliant metamorphic mechanism structural synthesis constraint graph adjacency matrix

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Constraint and Mobility Change Analysis of Rubik’s Cube-inspired Reconfigurable Joints and Corresponding Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 51-61页

作者： duanling li Pu Jia Jiazhou li Dan Zhang Xianwen Kong School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China Beijing Post Intelligent Equipment Engineering Technology Research Center Beijing 100876China Department of Mechanical Engineering York UniversityTorontoCanada School of Engineering and Physical Sciences Heriot-Watt UniversityEdinburgh EH144ASUK.

The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable *** with the method of changing the mobility by physical locking joints,the geometric constraint has good controllability,and the constructed parallel mechanism has more configurations and wider application *** paper presents a reconfigurable axis(rA)joint inspired and evolved from Rubik’s Cubes,which have a unique feature of geometric and physical constraint of axes of *** effectiveness of the rA joint in the construction of the limb is analyzed,resulting in a change in mobility and topology of the parallel *** rA joint makes the angle among the three axes inside the groove changed *** change in mobility is completed by the case illustrated by a 3(rA)P(rA)reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations,pure *** underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors,leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute *** reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different *** prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.

关键词： Reciprocal screws Reconfigurable-axis(rA)joint Metamorphic parallel mechanism Constraint analysis

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Design and analysis of a novel hinged boom based on cable drive

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Chinese Journal of Aeronautics 2022年第3期35卷 592-606页

作者： Kaijie DONG duanling li Qiuhong liN Hui QIU Qiang CONG Xiao li School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China Beijing Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China

Hinged booms are widely used in astrophysics missions;however,the trajectory and deployment velocity are difficult to control because they are usually driven by springs,which limits their application in narrow ***,a novel hinged boom is highly required to achieve motion *** an equivalent substitution between the cable drive loop and the binary link in topology,a type synthesis method for the cable-driven single-degree-of-freedom chain is proposed based on the single-open-chain(SOC)adding *** to the configuration design,a novel cable-driven hinged boom is proposed,aiming to achieve boom ***,to preload easily,a method that preload is applied and measured at the cable ends is adopted and the relationship between the initial preload and the target preload is *** analyzing the distribution of cable tension,a new stiffness model is proposed thus a stiffness equation is ***,the dynamic simulation analysis and zero-gravity deployment experiment of the hinged boom is carried out to verify its *** research provides a new way for the type synthesis of cable-driven single-degree-of-freedom chain and a new model for analyzing cable-driven ***,the novel cable-driven hinged boom obtained in this study can be well-applied in the field of aerospace.

关键词： Cable drive Deployable structure Dynamic simulation Hinged boom Stiffness Type synthesis

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Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2022年第3期35卷 148-160页

作者： Kaijie Dong duanling li Xingyu Xue Chang Xu Haowei Wang Xianming Gao School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China th Research Institute of China Electronics Technology Group Corporation Hefei 340100China Beijing Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical *** bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and ***,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force *** optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search *** study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large ***,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU *** to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is *** proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

关键词： Medical robot Bone-attached robot Parallel manipulator Workspace analysis Accuracy analysis

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Experimental and Numerical Analysis of the Influence ofMicrochannel Size and Structure on Boiling Heat Transfer

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Computer Modeling in Engineering & Sciences 2023年第9期136卷 3061-3082页

作者： Ningbo Guo Xianming Gao duanling li Jixing Zhang Penghui Yin Mengyi Hua School of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an710021China

Computational fluid dynamics was used and a numerical simulation analysis of boiling heat transfer in microchannels with three depths and three cross-sectional profiles was *** heat transfer coefficient and bubble generation process of three microchannel structures with a width of 80μm and a depth of 40,60,and 80μm were compared during the boiling process,and the factors influencing bubble generation were studied.A visual test bench was built,and test substrates of different sizes were prepared using a micro-nano *** the test,the behavior characteristics of the bubbles on the boiling surface and the temperature change of the heated wall were collected with a high-speed camera and a temperature *** was found that the microchannel with a depth of 80μm had the largest heat transfer coefficient and shortest bubble growth period,the rectangular channel had a larger peak heat transfer coefficient and a lower frequency of bubble occurrence,while the V-shaped channel had the shortest growth period,i.e.,the highest frequency of bubble occurrence,but its heat transfer coefficient was smaller than that of the rectangular channel.

关键词： Microchannel boiling heat transfer bubble numerical simulation visual experiment

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单层及多层平面图形放缩机构的构造方法

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机械工程学报 2008年第6期44卷 43-48页

作者：廖启征李端玲北京邮电大学自动化学院北京100876

针对采用剪刀机构作为基本单元构造平面图形放缩机构时至少需要上下两层互相铰接的构件的缺点,提出一种只由刚性杆件和柔性铰链组成平面放缩机构的方法,可以避免十字交叉的铰接,只用一层平板材料就可加工完成。该方法的基本原理是,取任... 详细信息

针对采用剪刀机构作为基本单元构造平面图形放缩机构时至少需要上下两层互相铰接的构件的缺点,提出一种只由刚性杆件和柔性铰链组成平面放缩机构的方法,可以避免十字交叉的铰接,只用一层平板材料就可加工完成。该方法的基本原理是,取任意四边形的中点构成平行四边形机构,完成平面任意四边形的放缩,然后推广到任意图形,把任意图形划分为多个三角形、四边形的组合,从而可以完成其图形的放缩。该研究为平面任意形状可展式机构的设计以及机构的惯性力平衡设计提供了一种通用性方法。

关键词：平行四边形机构平面放缩惯性力平衡组合

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平面图形放缩机构

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机械工程学报 2005年第8期41卷 140-143页

作者：廖启征李端玲北京邮电大学自动化学院北京100876

放大尺是由单个平行四边形机构组成的,它可以对两点间的距离进行按比例的放大或缩小,但是不能对平面上的几个点间的距离同时进行放大或缩小,如果将多个平行四边形按照一定的顺序和角度连接起来,再加上一个驱动就可以完成这一工作。按这... 详细信息

放大尺是由单个平行四边形机构组成的,它可以对两点间的距离进行按比例的放大或缩小,但是不能对平面上的几个点间的距离同时进行放大或缩小,如果将多个平行四边形按照一定的顺序和角度连接起来,再加上一个驱动就可以完成这一工作。按这种方式构成的机构既可以是单自由度的普通机构,也可以是单自由度的过约束机构。加上一些带标记的滑动副,这种机构可以组成一些由直线段构成的大小可变的图形。

关键词：平行四边形机构平面放缩过约束机构

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空间并联机构运动学分析的共形几何代数方法

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农业机械学报 2015年第4期46卷 325-330页

作者：张忠海李端玲北京邮电大学自动化学院北京100876 北京航天测控技术有限公司北京100041

提出了空间并联机构运动学分析的集几何表示和计算为一体的共形几何代数方法。以动平台上的坐标原点描述动平台的位置,以欧拉角描述动平台的姿态,给出了动平台上任意一点在定坐标系中位置的共形几何代数表达式,进而提出了一种建立空间... 详细信息

提出了空间并联机构运动学分析的集几何表示和计算为一体的共形几何代数方法。以动平台上的坐标原点描述动平台的位置,以欧拉角描述动平台的姿态,给出了动平台上任意一点在定坐标系中位置的共形几何代数表达式,进而提出了一种建立空间并联机构运动学方程的数学建模方法。根据所建立的运动学方程,可进行空间并联机构的运动学正解和运动学反解分析。通过一种4-UPU空间并联机构运动学分析,进一步阐述了所提出的共形几何代数运动学分析方法,通过数值实例验证了所提出方法的正确性和有效性。

关键词：空间并联机构运动学分析运动学正解运动学反解共形几何代数

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