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| 1 | Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray显示文摘The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s-1’and thrust coefficient of 0.56 in maximum are achieved in experiments. | Yueri Cai,Shusheng Bi,Licheng Zheng Robotics Institute,Beihang University,Beijing 100191,P.R.China | 2010 | Journal of Bionic Engineering2010，7，2： | 20 |
| 2 | Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators显示文摘Low-degree-of-freedom (Low-DOF) parallel manipulators (PMs) have drawn extensive interests, particularly in type synthesis in which two main formal approaches were established by using the reciprocal screw system theory and Lie group theory. This paper aims at numeration and type synthesis of orthogonal translational parallel manipulators (OTPMs) by resorting to an integration of the group- based method and graphical representation of the topology. For this purpose, the concept of Cartesian DOF-characteristic matrix, orig- inated from displacement subgroup and displacement submanifold, is proposed. A new approach based on the combination of the atlas of Cartesian DOF-characteristic matrix and the displacement group-theoretic method is addressed for both exhaustive classi cation and type synthesis of OTPMs. The proposed approach is prone to construct an orthogonal structure and is easy to realize the complete clas- si cation and exhaustive enumeration of this class of low-DOF PMs. | Jingjun Yu Jian S. Dai Shusheng Bi Guanghua Zong | 2008 | Progress in Natural Science:Materials International2008，18，5： | 10 |
| 3 | A unified approach to type synthesis of both rigid and flexure parallel mechanisms显示文摘Type synthesis of both rigid and compliant parallel mechanisms has become a hot issue in the field of mechanisms and robotics research in recent years. A unified approach to type synthesis of the two classes of mechanisms, however, has not been referred and investigated up to date. Based on the state-of-art analysis for several major type synthesis approaches related to rigid and compliant mechanisms, respectively, it proves feasible to establish a unified methodology for type synthesis of these two classes of mechanisms. That is a synthesis philosophy in terms of the hierarchy mapping between mathematic, physical, and mechanical building blocks in the framework of screw theory, as addressed in this paper. The key point of the proposed method lies in establishing the mapping among three different building blocks (i.e. geometric building block, kinematic or constraint building block, and mechanical building block). As a result, it makes the whole type synthesis process simple and visible. By using the proposed method, two examples are taken to verify the effectiveness for the type synthesis of both rigid and flexure mechanisms. The content of this paper may provide a theoretical frame for constructing a visualized algorithm or software about the unified type synthesis (or conceptual design) of both rigid and flexure parallel mechanisms. | YU JingJun LI ShouZhong PEI Xu BI ShuSheng ZONG GuangHua | 2011 | Science China(Technological Sciences)2011，54，5： | 8 |
| 4 | Novel Annulus-shaped Flexure Pivot in Rotation Application and Dimensionless Design显示文摘Large-deflection flexure pivot is widely used in high precision rotation application, but there are less flexure configurations and simple and convenient design methods. This paper presents a novel large-deflection curved-compliant annulus-shaped flexure pivot composed of six curved beam flexure elements. It can offer more than 10°angular stroke theoretically. Firstly, main-motion pseudo-rigid-body method is introduced to establish the flexure pivot model. Although pseudo-rigid-body method can be used to analyze the large-deformation flexure pivot performance, the method is definitely a laborious and difficult task for designing this novel flexure pivot. In order to simply the designing process, dimension-design graphs based on the parametric models and finite element analysis is presented. Using the dimension-design method as a tool, the designers can determine the optimal geometry rapidly, based on the stiffness and rotation demands of an annulus-shaped flexure pivot. Finally, dimension-design graph examples are given whose primary design aims to achieve a rotation stroke of annulus-shaped flexure pivot. The finite element analysis results show that the relative designing error between anticipative rotation stroke and graph design result is less than 4%. The dimensionless method used in designing annulus-shaped flexure pivot can reduce design process in both time and complexity. The novel annulus-shaped flexure pivot and dimension-design method are helpful supplement to configuration and design method of large-deflection flexure pivot. | BI Shusheng ZHAO Shanshan SUN Minglei YU Jingjun ZONG Guanghua | 2009 | Chinese Journal of Mechanical Engineering2009，22，6： | 7 |
| 5 | Effect of Spanwise Flexibility on Propulsion Performance of a Flapping Hydrofoil at Low Reynolds Number显示文摘Spanwise flexibility is a key factor influencing propulsion performance of pectoral foils.Performances of bionic fish with oscillating pectoral foils can be enhanced by properly selecting the spanwise flexibility.The influence law of spanwise flexibility on thrust generation and propulsion efficiency of a rectangular hydro-foil is discussed.Series foils constructed by the two-component silicon rubber are developed.NACA0015 shape of chordwise cross-section is employed.The foils are strengthened by fin rays of different rigidity to realize variant spanwise rigidity and almost the same chordwise flexibility.Experiments on a towing platform developed are carried out at low Reynolds numbers of 10 000,15 000,and 20 000 and Strouhal numbers from 0.1 to 1.The following experimental results are achieved: (1) The average forward thrust increases with the St number increased;(2) Certain degree of spanwise flexibility is beneficial to the forward thrust generation,but the thrust gap is not large for the fins of different spanwise rigidity;(3) The fin of the maximal spanwise flexibility owns the highest propulsion efficiency;(4) Effect of the Reynolds number on the propulsion efficiency is significant.The experimental results can be utilized as a reference in deciding the spanwise flexibility of bionic pectoral fins in designing of robotic fish prototype propelled by flapping-wing. | BI Shusheng CAI Yueri | 2012 | Chinese Journal of Mechanical Engineering2012，25，1： | 5 |
| 6 | Modeling of Cross-Spring Pivots Subjected to Generalized Planar Loads显示文摘Cross-spring pivots, formed by crossing two identical flexural beams at their midpoint, have been broadly used in precision engineering and aerospace fields. Many researches have been conducted on modeling and analysis of cross-spring pivots. However the influence of application position and magnitude of the external loads on the load-rotation and parasitic motion characteristics has not yet been discussed. In order to reveal the effect of the external loads, this paper develops the accurate load-rotation and center shift models of cross-spring pivots, with generalized planar loads applied including bending moment, horizontal and vertical forces. Firstly, by using the energy method, the load-displacement models of the pivot are derived with the assumption of small rotational angles. Based on the models, the influence of generalized planar loads on the load-rotation relationship is discussed, which shows that both application position and magnitude of the vertical and horizontal forces influence the load-rotation behaviors. Then the accurate center shift expressions of the pivot with generalized planar loads are developed, which shows that the rotational angle is the dominant term for both components of the center shift while the vertical and horizontal forces are small. Finally, the accuracy of the proposed model is validated by finite element analysis(FEA). Comparing the model data with the results obtained from FEA, the relative error of the load-rotation is less than 6% even if the rotational angle reaches 20°; the relative errors of the two components of center shift are less than 5% and 10% respectively when the rotational angle reaches 10°. The proposed model and analytical conclusions can be used to analyze and preliminarily design the compliant mechanisms containing cross-spring pivots. | BI Shusheng YAO Yanbin ZHAO Shanshan YU Jingjun | 2012 | Chinese Journal of Mechanical Engineering2012，25，6： | 4 |
| 7 | Prioritization of liver MRI for distinguishing focal lesions显示文摘Liver cancer is one of the leading causes of cancer-related mortality worldwide.Magnetic resonance imaging(MRI) is a non-invasive imaging technique that is often used by radiologists for diagnosis and surgical planning.Analysis of a large amount of liver MRI data for each patient limits the radiologist's efficiency and may lead to misdiagnoses.The redundant MRI data,especially from dynamic contrast enhanced(DCE) sequences,is also a bottleneck in transmitting the images via the internet or PACS for remote consultancy in a reasonable amount of time.This study included 25 patients(aged between 20 and 70years) with liver cysts(seven cases),hemangiomas(eight cases),or hepatic cell carcinomas(10 cases).DCE T1 WI MRI was performed for all the patients.The diagnosis reference included typical MRI findings and post-surgery pathology.The methods were as follows:(i) MRI sequence pre-processing based on large vessels variation level set method to remove non-liver parts from MRI images;(ii) human visual model features(luminance,motion,and contour) extraction and fusion;(iii) anomaly-based MRI ranking;and(iv) methods assessment with the 25 patients' DCE MRI data.The prioritization methods applied to the DCE images could automatically assimilate and determine the content of the medical images,identifying the liver cysts,hemangiomas,and carcinomas.The average uniformity between radiologists and prioritization with the proposed method was 0.805,0.838,and0.818 for cysts,hemangiomas,and carcinomas,respectively,which indicates that the proposed method is an efficient method for liver DCE image prioritization. | Qinghua Su Shusheng Bi Xuedong Yang | 2017 | Science China(Life Sciences)2017，60，1： | 3 |
| 8 | Design of Compliant Straight-line Mechanisms Using Flexural Joints显示文摘Straight-line compliant mechanisms are important building blocks to design a linear-motion stage,which is very useful in precision applications.However,only a few configurations of straight-line compliant mechanisms are applicable.To construct more kinds of them,an approach to design large-displacement straight-line flexural mechanisms with rotational flexural joints is proposed,which is based on a viewpoint that the straight-line motion is regarded as a compromise of rigid and compliant parasitic motion of a rotational flexural joint.An analytical design method based on the Taylor series expansion is proposed to quickly obtain an approximate solution.To illustrate and verify the proposed method,two kinds of flexural joints,cross-axis hinge and leaf-type isosceles-trapezoidal flexural(LITF)pivot are used to reconstruct straight-line flexural mechanisms.Their performances are obtained by analytic and FEA method respectively.The comparisons of the results show the accuracy of the approach.Both examples show that the proposed approach can convert a large-deflection flexural joint into approximate straight-line mechanism with a high linearity that is higher than 5 000within 5 mm displacement.This can lead to a new way to design,analyze or optimize straight-line flexure mechanisms. | PEI Xu YU Jingjun ZONG Guanghua BI Shusheng | 2014 | Chinese Journal of Mechanical Engineering2014，27，1： | 3 |
| 9 | Accuracy characteristics of the generalized cross-spring pivot显示文摘 | ZHAO Hongzhe BI Shusheng | 2010 | Mechanism and Machine Theory2010，45，10： | 1 |
| 10 | Stiffness and stress characteristics of the generalized cross-spring pivot显示文摘 | ZHAO Hongzhe Bi Shusheng | 2010 | Mechanism and Machine Theory2010，45，3： | 1 |
| 11 | Analysis of annulus-shaped compliant pivot with series-paral- lel leaves显示文摘 | BI Shusheng QIAO Tao ZHAO Horgzhe | 2013 | J Meeh EngSei2013，227，5： | 1 |
| 12 | Accuracy characteristics of the generalized cross-spring pivot显示文摘 | ZHAO Hongzhe BI Shusheng | 2010 | Mechanism and Machine Theory2010，45，： | 1 |
| 13 | Stiffness and stress characteristics of the generalized cross-spring pivot显示文摘 | ZHAO Hongzhe BI Shusheng | 2010 | Mechanism and Machine Theory2010，45，3： | 1 |
| 14 | Design and experiment of generalized triple-cross-spring flexure pivots applied to the ultra-precision instruments显示文摘 | LIU Lang BI Shusheng YANG Qizi | 2014 | Review of Scientific Instruments2014，85，10： | 1 |
| 15 | Stiffness and stress characteristics of the generalized cross-spring pivot显示文摘 | Zhao Hongzhe Bi Shusheng | 2009 | Mechanism and Machine Theory2009，45，3： | 1 |
| 16 | Experimental studies and optimization of process parameters for burrsin dry drilling of stacked metal materials 显示文摘 | BI SHUSHENG LIANG JIE | 2011 | The International Journal of Advanced Manufacturing Technology2011，53，912： | 1 |
| 17 | A novel compliant linear-motion mechanism based on parasitic motion compensation显示文摘 | ZHAO Hongzhe BI Shusheng YU Jingjun | 2012 | Mechanism and Machine Theory2012，50，： | 1 |
| 18 | Robotic Drilling System for Titanium Structures 显示文摘 | Shusheng Bi Jie Liang | 2011 | The International Journal of Advanced Manufacturing Technology2011，54，58： | 1 |
| 19 | Robotic drilling system for tita- nium structures显示文摘 | Shusheng Bi Jie Liang | 2011 | Springer2011，，54： | 1 |
| 20 | Bionic Flapping Pectoral Fin with Controllable Spatial Deformation显示文摘This paper presents the design of a bionic pectoral fin with fin rays driven by multi-joint mechanism.Inspired by the cownose ray,the bionic pectoral fin is modeled and simplified based on the key structure and movement parameters of the cownose ray's pectoral fin.A novel bionic propulsion fin ray composed of a synchronous belt mechanism and a slider-rocker mechanism is designed and optimized in order to minimize the movement errors between the designed fin rays and the spanwise curves observed from the cownose ray,and thereby reproducing an actively controllable flapping deformation.A bionic flapping pectoral fin prototype is developed accordingly.Observations verify that the bionic pectoral fin flaps consistently with the design rule extracted from the cownose ray.Experiments in a towing tank are set up to test its capability of generating the lift force and the propulsion force.The movement parameters within the usual propulsion capabilities of the bionic pectoral fm are utilized:The flapping frequency of 0.2 Hz-0.6 Hz,the flapping amplitude of 3°-18°,and the phase di^rence of 10°-60°.The results show that the bionic pectoral fin with actively controllable spatial deformation has expected propulsion performance,which supports that the natural features of the cownose ray play an important role in designing and developing a bionic prototype. | Yueri Cai Lingkun Chen Shusheng Bi Guoyuan Li Houxiang Zhang | 2019 | Journal of Bionic Engineering2019，16，5： | 1 |
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