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Type Synthesis for 4-DOF Parallel Press Mechanism Using G_F set Theory

Chinese Journal of Mechanical Engineering 2015年第4期28卷 851-859页

作者： HE Jun GAO Feng MENG Xiangdun GUO Weizhong State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Parallel mechanisms is used in the large capacity servo press to avoid the over-constraint of the traditional redundant actuation. Currently, the researches mainly focus on the performance analysis for some specific parallel press mechanisms. However, the type synthesis and evaluation of parallel press mechanisms is seldom studied, especially for the four degrees of freedom（DOF） press mechanisms. The type synthesis of 4-DOF parallel press mechanisms is carried out based on the generalized function（gf） set theory. Five design criteria of 4-DOF parallel press mechanisms are firstly proposed. The general procedure of type synthesis of parallel press mechanisms is obtained, which includes number synthesis, symmetrical synthesis of constraint gf sets, decomposition of motion gf sets and design of limbs. Nine combinations of constraint gf sets of 4-DOF parallel press mechanisms, ten combinations of gf sets of active limbs, and eleven combinations of gf sets of passive limbs are synthesized. Thirty-eight kinds of press mechanisms are presented and then different structures of kinematic limbs are designed. Finally, the geometrical constraint complexity（GCC）, kinematic pair complexity（KPC）, and type complexity（TC） are proposed to evaluate the press types and the optimal press type is achieved. The general methodologies of type synthesis and evaluation for parallel press mechanism are suggested.

关键词： parallel mechanism type synthesis gf set type evaluation press mechanism

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Innovative Group-Decoupling Design of a Segment Erector Based on G_F set Theory

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 264-274页

作者： GUO Wentao GUO Weizhong GAO Feng MO Pinxi State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University

The segment erector is a key part of the shield machines for tunnel engineering. The available segment erectors are all of serial configuration which is suffering from the problems of low rigidity and accumulative motion errors. The current research mainly focuses on improving assembly accuracy and control performance of serial segment erectors. An innovative design method is proposed featuring motion group-decoupling, based on which a new type of segment erector is developed and investigated. Firstly, the segment installation manipulation is analyzed and decomposed into three motion groups that are decoupled. Then the type synthesis for the 4-DOF motion group is performed based on the general function（gf） set theory and a new configuration of （1T？1R？1PS3UPS） is attained according to the segment manipulation requirements. Consequently, the kinematic models are built and the reducibility and accuracy are analyzed. The dexterity is verified though numerical simulation and no singular points appear in the workspace. Finally, a positioning experiment is carried out by using the prototype developed in the lab that demonstrates a 13.1% improvement of positioning accuracy and the feasibility of the new segment erector. The presented group-decoupling design method is able to invent new type of hybrid segment erectors that avoid the accumulative motion error of erecting.

关键词： segment erector group-decoupling design type synthesis parallel mechanism gf set

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Type Synthesis of Walking Robot Legs

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 53-65页

作者： Da Xi Feng Gao State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function(gf) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of *** synthesis problem is decomposed into two stages, actuation and constraint synthesis by name,corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots.

关键词： Type synthesis Robot leg gf set Number synthesis Linear Diophantine equation

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State Classification and Motion Description for the Lower Extremity Exoskeleton SJTU-EX

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Journal of Bionic Engineering 2014年第2期11卷 249-258页

作者： Yunjie Miao Feng Gao Dalei Pan State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 P. R. China

A lower extremity exoskeleton, SJTU-EX, is proposed, which mainly aims to help soldiers and workers to support a payload in motions. To solve the issues of the exoskeleton-environment and exoskeleton-human interactions, four types of foot contact are proposed based on their different kinematic characteristics. By the combination of single leg states, sixteen exo- skeleton states are presented using a series of meaningful notations from the topological point of view. The generalized function set （gf set） theory is employed to achieve the kinematic characteristics of the end effectors in different states. Moreover six mathematical formulations of the dynamics of the exoskeleton and its interactions with the human wearer are developed for different exoskeleton states. The applicability and potential of the proposed classification method are demonstrated by analyzing common lower limb motions, which are described concisely by a sequence of notations. Finally, a new concept of characteristic state is put forward to uniquely indicate the type of motion.

关键词： exoskeleton topological states lower limb motions dynamics gf set

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Type Synthesis for Bionic Quadruped Walking Robots

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Journal of Bionic Engineering 2015年第4期12卷 527-538页

作者： Jun He Feng Gao State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

Regarding walking robots, biomimetic design has attracted a great deal of attention. Currently, studies have focused mainly on performance analysis and the design of some specific biomimetic walking robots. However, the systematic type synthesis of bionic quadruped robots has seldom been studied. In this paper, a new approach to type synthesis for quadruped walking robots is proposed based on the generalized fimction （Ge） set theory. The current types of typical walking robots are analyzed using the Ge set theory. The research status and existing problems are investigated. The skeletal systems of quadruped mammals are analyzed. The motion characteristics of all joints of quadruped mammals are denoted by 6;F sets. A process of conversion from biological types to serial, parallel and hybrid types is proposed. Limb types in serial, parallel and hybrid topology are synthe- sized. Finally the quadruped robots with serial, parallel and hybrid topology are produced. Two of these types have been suc- cessfully used for the design of walking rescue robots that is suitable for responding to nuclear accidents.

关键词： type synthesis bionic design quadruped robot parallel mechanism gf set

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