This paper presents the explicit mapping relations between topological structure and
position and orientation characteristic (POC) of mechanism motion output. It deals with (1) …

This paper deals with the type synthesis and reconfiguration analysis of variable-DOF
(degree-of-freedom) single-loop mechanisms—a class of reconfigurable mechanisms that …

In this work, the kinematics and singularity analyses of a four degrees of freedom parallel
manipulator are investigated using the theory of screws. As an initial step, the forward …

机构拓扑学的核心内容包括: 基于非逻辑思维提出的基本概念(拓扑结构, 运动特征等),
由基本概念导出的机构拓扑学基本公式, 以及由逻辑推理提出的拓扑综合方法 …

对机器人机构结构综合3 种方法(基于螺旋理论的方法, 基于位移子群/子流形的方法和基于方位
特征的方法) 的基本思想与特点进行比较研究. 研究表明, 基于方位特征的方法具有显著的特点 …

In this work, a new basic framework of robotic mechanism topology is proposed, which
includes: ① two important concepts (ie, topological structure and kinematic characteristics) …

对近十年提出的7 种自由度(Degree of freedom, DOF) 公式及其主要特点进行回顾.
给出基于约束分析的DOF 公式的统一形式与基于运动分析的DOF 公式的基本形式 …

Although the serial-parallel manipulators (S-PMs) formed by the symmetric 3-RPS and 3-
SPR PMs have been widely studied, the terminal constraint and mobility criterion for this …

Modeling the instantaneous kinematics of lower pair linkages using joint screws and the
finite kinematics with Lie group concepts is well established on a solid theoretical …

Recently, the truss antennas with deployable tetrahedron unit mechanisms have been
successfully applied in orbit, owing to the advantages of large calibers, high accuracy, and …