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Chinese Journal of Mechanical Engineering 2019年第3期32卷 33-41页

作者： Baokun Li guangbo hao School of Mechanical Engineering Anhui University of Science and TechnologyHuainan 232001China School of Engineering University College CorkCork T12K8AFIreland

Being different from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear stiffness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear stiffness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring stiffness on the toque-position angle relation are analyzed. It indicates that corresponding spring stiffness may generate one of four types of nonlinear stiffness characteristics including the bi-stable, local negative-stiffness, zero-stiffness or positive-stiffness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected stiffness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated, where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.

关键词： Kinematic singularity Mechanism with springs Kinetostatic model Nonlinear stiffness

A brief review on nonlinear modeling methods and applications of compliant mechanisms

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Frontiers of Mechanical Engineering 2016年第2期11卷 119-128页

作者： guangbo hao Jingjun YU Haiyang LI School of Engineering University College Cork Cork T12 YN60Ireland School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191 China

因为他们的优点，顺从的机制(厘米) 在机制和机器人学成为了最流行的研究主题之一。这篇论文试图在非线性的静态的建模途径的进展和厘米的应用上提供简短系统的评论为联系理论和另外的新应用支持学科交差 / 多学科的开发。它也预言应用... 详细信息

因为他们的优点，顺从的机制(厘米) 在机制和机器人学成为了最流行的研究主题之一。这篇论文试图在非线性的静态的建模途径的进展和厘米的应用上提供简短系统的评论为联系理论和另外的新应用支持学科交差 / 多学科的开发。它也预言应用和理论开发的可能的未来方向。

关键词：建模方法非线性应用柔顺机构综述兼容机制机器人 CMS

A Large Range Flexure-Based Servo System Supporting Precision Additive Manufacturing

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Engineering 2017年第5期3卷 708-715页

作者： Zhen Zhang Peng Yan guangbo hao State Key Laboratory of Tribology & Institute of Manufacturing Engineering Tsinghua University Beijing 100084 China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control Tsinghua University Beijing 100084 China Department of Mechanical Engineering Tsinghua University Beijing 100084 China Key Laboratory of High-Efficiency and Clean Mechanical Manufacturing Ministry of Education School of Mechanical Engineering Shandong UniversityJinan 250061 China Department of Electrical and Electronic Engineering University College Cork Cork Ireland

This paper presents the design, development, and control of a large range beam flexure-based nano servo system for the micro-stereolithography (MSL) process. As a key enabler of high accuracy in this process, a compact desktop-size beam flexure-based nanopositioner was designed with millimeter range and nanometric motion quality. This beam flexure-based motion system is highly suitable for harsh operation conditions, as no assembly or maintenance is required during the operation. From a mechanism design viewpoint, a mirror-symmetric arrangement and appropriate redundant constraints are crucial to reduce undesired parasitic motion. Detailed finite element analysis (FEA) was conducted and showed satisfactory mechanical features. With the identified dynamic models of the nanopositioner, real-time control strategies were designed and implemented into the monolithically fabricated prototype system, demonstrating the enhanced tracking capability of the MSL process. The servo system has both a millimeter operating range and a root mean square (RMS) tracking error of about 80 nm for a circular trajectory.

关键词： Precision additive manufacturing.Micro-stereolithography.Nanopositioning.Beam flexure

Special Issue on Reconfigurable Robots

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 1-3页

作者： Jinguo Liu Yuwang Liu guangbo hao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China School of Engineering University College CorkCorkIreland

Reconfigurable robots have the characteristics that structures can be changed or reorganized.They can adapt to different environments and tasks through changing configurations or structures,which is a hot research direction in recent years.Existing researches has not yet formed a complete theoretical method system of reconfigurable robots.Therefore,exploring new design theories,key technologies and typical applications is an effective way to promote the rapid development of this field.

关键词： Reconfigurable environments robots

Practical Structural Design Approach of Multiconfiguration Planar Single‑Loop Metamorphic Mechanism with a Single Actuator

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 19-33页

作者： Qiang Yang guangbo hao Shujun Li Hongguang Wang Haiyang Li College of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Department of Electrical and Electronic Engineering University College CorkCork T12 K8AFIreland State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

As a type of multiconfiguration mechanism that can operate in an under-actuated state,metamorphic mechanisms were proposed more than two decades ago and attracted significant interest.Studies on structural synthesis of metamorphic mechanisms tend to focus more on metamorphic techniques and the structural synthesis of source mechanisms for metamorphic mechanisms.By designing different constraint architectures of metamorphic joints,multistructures can be obtained from the same source metamorphic mechanism.To determine the constraint architectures of metamorphic joints and their different assembly combinations,a kinematic status matrix and a corresponding constraint status matrix are constructed based on the metamorphic cyclogram of a source mechanism.According to the equivalent resistance gradient model and the constraint status matrix,an equivalent resistance matrix for the metamorphic joints is proposed.A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint form vectors of the metamorphic joints.Furthermore,a kinematic diagram synthesis of the source metamorphic mechanism of a planar single-loop metamorphic mechanism is proposed,which is based on only the 14 one-or zero-degrees-of-freedom linkage groups.The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and is presented as a systematic process.Finally,the proposed structural design approach is illustrated by two examples to verify its feasibility and practicality.This study provides an effective method for designing a practical multi-mobility and multiconfiguration planar single-loop metamorphic mechanism with a single actuator.

关键词： Metamorphic mechanism Structural design Form of metamorphic joints Multiconfiguration Equivalent resistance Single actuator

Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms

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Frontiers of Mechanical Engineering 2016年第2期11卷 129-134页

作者： guangbo hao Haiyang LI Suzen KEMALCAN Guimin CHEN Jingjun YU School of Engineering University College Cork Cork T12 YN60Ireland School of Engineering University College Cork Cork T12 YN60Ireland Department of Mechanical Engineering Trakya UniversityEdirne Turkey School of Mechatronics Xidian University Xi'an 710071 China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191 China

以便精确地为顺从的机制利用建模板弯曲，质的平面压力(幼仔模量) 和平面紧张(板模量) 假设不是可行的。这篇论文用非线性的有限元素分析(FEA ) 调查量的相等的模量在影响建模精确性反映联合因素二典型分布式 -- 依从机制。所有参数与... 详细信息

以便精确地为顺从的机制利用建模板弯曲，质的平面压力(幼仔模量) 和平面紧张(板模量) 假设不是可行的。这篇论文用非线性的有限元素分析(FEA ) 调查量的相等的模量在影响建模精确性反映联合因素二典型分布式 -- 依从机制。所有参数与不同的度在相等的模量上有影响，这被显示出；大使硬负担的效果的存在显著地做相等的模量在二种理想的情形从平面假设背离；并且如果横梁长度大，一个板模量假设为很大的 out-of-plane 厚度是更合理的。

关键词：平面应变耦合因素建模精度柔顺机构非线性有限元分析等效模量板弯曲柔性机构

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

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Frontiers of Mechanical Engineering 2021年第1期16卷 32-45页

作者： Yuwang LIU Dongqi WANG Shangkui YANG Jinguo LIU guangbo hao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Engineering-Electrical and Electronic Engineering University College CorkCorkIreland

Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention.Existing passive variable stiffness joints rely mainly on sensors and special control algorithms,resulting in a bandwidth-limited response speed of the joint.We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm.The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner.The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload,and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow.The response speed is high because sensors and control algorithms are not needed.The variable stiffness principle is explained,and the design of the variable stiffness mechanism is analyzed.A prototype is fabricated,and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism stiffness self-regulation bionic robot modeling

Milling Parameters Optimization of Al-Li Alloy Thin-Wall Workpieces Using Response Surface Methodology and Particle Swarm Optimization

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Computer Modeling in Engineering & Sciences 2020年第9期124卷 937-952页

作者： Haitao Yue Chenguang Guo Qiang Li Lijuan Zhao guangbo hao School of Mechanical Engineering Liaoning Technical UniversityFuxin12300China School of Engineering University College CorkCorkT12 K8AFIreland

To improve the milling surface quality of the Al-Li alloy thin-wall workpieces and reduce the cutting energy consumption.Experimental research on the milling processing of AA2195 Al-Li alloy thin-wall workpieces based on Response Surface Methodology was carried out.The single factor and interaction of milling parameters on surface roughness and specific cutting energy were analyzed,and the multi-objective optimization model was constructed.The Multiobjective Particle Swarm Optimization algorithm introducing the Chaos Local Search algorithm and the adaptive inertial weight was applied to determine the optimal combination of milling parameters.It was observed that surface roughness was mainly influenced by feed per tooth,and specific cutting energy was negatively correlated with feed per tooth,radial cutting depth and axial cutting depth,while cutting speed has a non-significant influence on specific cutting energy.The optimal combination of milling parameters with different priorities was obtained.The experimental results showed that the maximum relative error of measured and predicted values was 8.05%,and the model had high reliability,which ensured the low surface roughness and cutting energy consumption.It was of great guiding significance for the success of Al-Li alloy thin-wall milling with a high precision and energy efficiency.

关键词： Al-Li alloy thin-wall workpieces response surface methodology surface roughness specific cutting energy multi-objective particle swarm optimization algorithm

Conceptual design of compliant translational joints for high-precision applications

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Frontiers of Mechanical Engineering 2014年第4期9卷 331-343页

作者： guangbo hao Haiyang LI Xiuyun HE Xianwen KONG School of Engineering-Electrical and Electronic Engineering UniversityCollege Cork Cork Ireland School of Engineering and Physical Sciences Heriot-Watt UniversityEdinburgh EH14 4AS UK

Compliant translational joints （CTJs） have been extensively used in precision engineering and microelectromechanical systems （MEMS）. There is an increasing need for designing higher-performance CTJs. This paper deals with the conceptual design of CTJs via three approaches： parallelogram based method, straight- line motion mechanism based method and combination based method. Typical emerging CTJ designs are reviewed by explaining their design principles and qualitatively analyzing their characteristics. New CTJs are proposed using three approaches, including an asymmetric double parallelogram mechanism with slaving mechanism, several compact and symmetric double parallelogram mechanisms with slaving mechanisms and a general CTJ using the center drift compensation and a CTJ using Roberts linkage and several combination designs. This paper provides an overview of the current advances/progresses of CTJ designs and lays the foundation for further optimization, quantitative analysis and characteristic comparisons.

关键词： compliant mechanisms translational joints,conceptual design parallelogram straight-line motion,combination method

Practical Structural Design Approach of Multicon guration Planar Single-Loop Metamorphic Mechanism with a Single Actuator

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Chinese Journal of Mechanical Engineering 2020年第5期 29-43页

作者： Qiang Yang guangbo hao Shujun Li Hongguang Wang Haiyang Li College of Mechanical Engineering and Automation Northeastern University Department of Electrical and Electronic Engineering University College Cork State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

As a type of multiconfiguration mechanism that can operate in an under-actuated state, metamorphic mechanisms were proposed more than two decades ago and attracted significant interest. Studies on structural synthesis of metamorphic mechanisms tend to focus more on metamorphic techniques and the structural synthesis of source mechanisms for metamorphic mechanisms. By designing di erent constraint architectures of metamorphic joints, multistructures can be obtained from the same source metamorphic mechanism. To determine the constraint architectures of metamorphic joints and their di erent assembly combinations, a kinematic status matrix and a corresponding constraint status matrix are constructed based on the metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint form vectors of the metamorphic joints. Furthermore, a kinematic diagram synthesis of the source metamorphic mechanism of a planar single-loop metamorphic mechanism is proposed, which is based on only the 14 one-or zero-degrees-of-freedom linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and is presented as a systematic process. Finally, the proposed structural design approach is illustrated by two examples to verify its feasibility and practicality. This study provides an effective method for designing a practical multi-mobility and multiconfiguration planar single-loop metamorphic mechanism with a single actuator.

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