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Proceedings Papers

A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs

Jieyu Wang, Xianwen Kong, Yingzhong Tian
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A089, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116500
https://doi.org/10.1115/DETC2023-116500
View Paper titled, A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs
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Topics: Springs, Potential energy, Manipulators, Parallel mechanisms, Algebra, Center of mass, Energy efficiency, Gravity (Force), Linkages
Journal Articles

Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041010.
Paper No: JMR-21-1541
https://doi.org/10.1115/1.4054307
Published Online: June 6, 2022
View Article titled, Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms, Polynomials, Constraint equations
Journal Articles

A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Xianwen Kong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2022, 144(7): 073303.
Paper No: MD-21-1583
https://doi.org/10.1115/1.4053818
Published Online: March 24, 2022
View Article titled, A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations
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Topics: Design, Errors, Finite element analysis, Manipulators, Mirrors, Rotation, Stiffness, Displacement, Actuators, Stress
Journal Articles

Design of Deployable Mechanisms Based on Wren Parallel Mechanism Units

Jieyu Wang, Xianwen Kong, Jingjun Yu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063302.
Paper No: MD-21-1368
https://doi.org/10.1115/1.4053282
Published Online: January 17, 2022
View Article titled, Design of Deployable Mechanisms Based on Wren Parallel Mechanism Units
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Topics: Parallel mechanisms, Shapes, Universal joints, Optimization
Proceedings Papers

Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A051, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70059
https://doi.org/10.1115/DETC2021-70059
View Paper titled, Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms
Proceedings Papers

A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Shuwen Yu, Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A012, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69032
https://doi.org/10.1115/DETC2021-69032
View Paper titled, A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint
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Topics: Manipulators, Mirrors, Stiffness, Symmetry (Physics), Design, Finite element analysis, Rotation, Actuators, Compliant mechanisms, Performance characterization
Journal Articles

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

Kai Liu, Jingjun Yu, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021009.
Paper No: JMR-21-1166
https://doi.org/10.1115/1.4052338
Published Online: September 21, 2021
View Article titled, Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions
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Topics: Algebra, Polynomials, Chain, Kinematics
Journal Articles

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031007.
Paper No: JMR-20-1443
https://doi.org/10.1115/1.4050152
Published Online: March 12, 2021
View Article titled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Construction, Degrees of freedom, Kinematics, Mechanical admittance, Switches, Trajectories (Physics), Algebra, Circuits, Cables, Gears
Journal Articles

Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021013.
Paper No: JMR-20-1019
https://doi.org/10.1115/1.4048262
Published Online: February 16, 2021
View Article titled, Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes
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Topics: Manipulators, Rotation, Kinematics, Polynomials
Proceedings Papers

Classification of 6-SPS Parallel Manipulators According to Their Components

Xianwen Kong, Clément M. Gosselin
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 473-481, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14105
https://doi.org/10.1115/DETC2000/MECH-14105
View Paper titled, Classification of 6-SPS Parallel Manipulators According to Their Components
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Topics: Displacement, Manipulators
Proceedings Papers

Determination of the Uniqueness Domains of 3-RPR Planar Parallel Manipulators With Similar Platforms

Xianwen Kong, Clément M. Gosselin
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 419-426, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14094
https://doi.org/10.1115/DETC2000/MECH-14094
View Paper titled, Determination of the Uniqueness Domains of 3-RPR Planar Parallel Manipulators With Similar Platforms
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Topics: Displacement, Manipulators
Proceedings Papers

An Optimization Method for the Static Balancing of Manipulators Using Springs

Jieyu Wang, Xianwen Kong
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A022, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22217
https://doi.org/10.1115/DETC2020-22217
View Paper titled, An Optimization Method for the Static Balancing of Manipulators Using Springs
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Topics: Manipulators, Matlab, Optimization, Springs
Proceedings Papers

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A091, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22332
https://doi.org/10.1115/DETC2020-22332
View Paper titled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Degrees of freedom, Algebra, Cables, Construction, Gears, Geometry, Screws, Switches, Trajectories (Physics)
Journal Articles

Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages

Yaobin Tian, Xianwen Kong, Kun Xu, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011012.
Paper No: JMR-19-1520
https://doi.org/10.1115/1.4048225
Published Online: October 7, 2020
View Article titled, Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages
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Topics: Kinematics, Linkages, Mechanical admittance, Robots, Design, Chain, Engineering prototypes
Proceedings Papers

Classification of a Class of 3-RER Parallel Manipulators Using Gröbner Cover and Primary Decomposition of Ideals

Xianwen Kong
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A066, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98057
https://doi.org/10.1115/DETC2019-98057
View Paper titled, Classification of a Class of 3-RER Parallel Manipulators Using Gröbner Cover and Primary Decomposition of Ideals
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Topics: Manipulators, Degrees of freedom, Design, Kinematic chains, Polynomials
Journal Articles

A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units

Jieyu Wang, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020907.
Paper No: JMR-18-1372
https://doi.org/10.1115/1.4042458
Published Online: February 22, 2019
View Article titled, A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units
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Topics: Chain, Linkages, Prisms (Optics)
Proceedings Papers

A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units

Jieyu Wang, Xianwen Kong
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A026, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85100
https://doi.org/10.1115/DETC2018-85100
View Paper titled, A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units
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Topics: Additive manufacturing, Construction, Degrees of freedom, Engineering prototypes, Kinematic chains, Linkages, Prisms (Optics), Switches
Proceedings Papers

Type Synthesis of 3-RSR Equivalent 2R1T Parallel Mechanisms

Ziming Chen, Yanwen Li, Zhen Huang, Xianwen Kong
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A027, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85101
https://doi.org/10.1115/DETC2018-85101
View Paper titled, Type Synthesis of 3-RSR Equivalent 2R1T Parallel Mechanisms
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Topics: Parallel mechanisms, Degrees of freedom, Design, Screws
Proceedings Papers

A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF

Xianwen Kong, Andreas Müller
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A070, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85125
https://doi.org/10.1115/DETC2018-85125
View Paper titled, A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF
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Topics: Algebra, Construction, Degrees of freedom, Geometry, Kinematics, Mechanical admittance, Switches
Journal Articles

Type Synthesis of Parallel Mechanisms With a Constant Jacobian Matrix

Yanzhi Zhao, Yachao Cao, Xianwen Kong, Tieshi Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061011.
Paper No: JMR-17-1411
https://doi.org/10.1115/1.4040962
Published Online: September 25, 2018
View Article titled, Type Synthesis of Parallel Mechanisms With a Constant Jacobian Matrix
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Topics: Jacobian matrices, Parallel mechanisms, Screws