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| 1 | Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes显示文摘The two-rotational-degrees-of-freedom(2R) parallel mechanism(PM) with two continuous rotational axes(CRAs) has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained. | XU Yundou ZHANG Dongsheng WANG Min YAO Jiantao ZHAO Yongsheng | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 17 |
| 2 | Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit显示文摘Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified. | Yundou XU Jinwei GUO Luyao GUO Wenlan LIU Jiantao YAO Yongsheng ZHAO | 2019 | Chinese Journal of Aeronautics2019，32，12： | 7 |
| 3 | Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method显示文摘As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of aerospace.In order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative analysis.Then,the screw theory is employed to analyze the mobility of different mechanisms.Furthermore,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division results.Finally,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical perspective.The research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field. | Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI Jiantao YAO | 2021 | Chinese Journal of Aeronautics2021，34，8： | 5 |
| 4 | Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method显示文摘Space deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the earth.In order to enrich the configurations of deployable antennas,the type synthesis of deployable mechanisms for ring truss antenna is conducted in this study.First,the principle of the constraint-synthesis method based on screw theory is briefly described,the structure of the ring truss deployable antenna and its folding principle are analyzed,and the ring truss mechanism is divided into upper edges,lower edges and linkages.Then,based on the constraint-synthesis method,the type synthesis of the basic unit edges is carried out,a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms,and five mechanism units with fewer joints and simple structures are selected.Furthermore,simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software,and the deploying process is verified by the movement simulation.Finally,mechanism characteristics of the five mechanisms are analyzed and discussed,and a prototype is manufactured,verifying the analysis in this paper.This research provides a new way for the type synthesis of spatial deployable mechanisms,and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace. | Bo HAN Yundou XU Jiantao YAO Dong ZHENG Luyao GUO Yongsheng ZHAO | 2020 | Chinese Journal of Aeronautics2020，33，9： | 1 |
| 5 | Inverse Dynamics and Internal Forces of the Redundantly Actuated Parallel Manipulators显示文摘 | Xu Yundou Yao Jiantao Zhao Yongsheng | 2012 | Mechanism and Machine Theory2012，51，： | 1 |
| 6 | InverseDynamics and Internal Forces of the RedundantlyActuated Parallel Manipulators显示文摘 | Xu Yundou Yao Jiantao Zhao Yongsheng | 2012 | Mechanism andMachine Theory2012，51，： | 1 |
| 7 | Hyperstatic analysis of a fully pre-stressed six-axis force/torque sensor显示文摘 | Zhijun Wang Jiantao Yao Yundou Xu Yongsheng Zhao | 2012 | Mechanism and Machine Theory2012，，： | 1 |
| 8 | Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module显示文摘Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable mechanism.Firstly,the basic unit folding principle and expansion method is proposed.The configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic unit.Then,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling method.Next,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried out.Based on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in detail.Finally,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the pyramid.The proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and lightweight.It has a good application prospect in the aerospace field. | Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu | 2023 | Chinese Journal of Mechanical Engineering2023，36，4： | 0 |
| 9 | Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface显示文摘With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical aperture.In this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between plates.To this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is designed.First,two antenna folding schemes and four supporting mechanism schemes are proposed.Through comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are analyzed.Then,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic model.Subsequently,a finite element model of the antenna is developed.Based on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are obtained.Finally,a prototype of the proposed nine-grid planar antenna is fabricated.The feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments. | Bo CHEN Ze JIANG Xinlu WEI Luyao GUO Xin ZHOU Yundou XU Junjie QIAN Yongsheng ZHAO | 2023 | Chinese Journal of Aeronautics2023，36，11： | 0 |
| 10 | Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism显示文摘As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas. | Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao | 2023 | Defence Technology(防务技术)2023，24，6： | 0 |
| 11 | Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation显示文摘Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is proposed.The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations.The relationship between the constraint wrench magnitudes and the external force,limb stiffness is established.The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations.Here,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is investigated.Combining with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is explored.Finally,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.The research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism. | Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao | 2023 | Chinese Journal of Mechanical Engineering2023，36，1： | 0 |
| 12 | Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR显示文摘In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering. | Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao | 2022 | Chinese Journal of Mechanical Engineering2022，35，5： | 0 |
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