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| 1 | A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines显示文摘Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors' previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non?redundant screws in quasi?vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two?translational and three?rotational(2T3R)5?axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthe?sized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs. | Tao Sun Shuo-Fei Yang Tian Huang Jian S.Dai | 2018 | Chinese Journal of Mechanical Engineering2018，31，2： | 8 |
| 2 | Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace显示文摘Current research on robotic dexterous hands mainly focuses on designing new finger and palm structures,as well as developing smarter control algorithms.Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out,research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient.This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand,and explored the geometric design for maximizing the precision manipulation workspace.Different indexes were used to value the workspace of the metamorphic hand,and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored.Based on the fixed total length of the palm member,four nondimensional design parameters that determine the size of the palm were introduced;through the discretization method,the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed.Based on the analysis of the metamorphic multi-fingered hand,the symmetrical structure of the palm was designed,resulting in the largest workspace of the multi-fingered hand,and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers.This research contributed to the dimensional synthesis of metamorphic dexterous hands,with practical significance for the design and optimization of novel metamorphic hands. | Wei An Jun Wei Xiaoyu Lu Jian S.Dai Yanzeng Li | 2021 | Chinese Journal of Mechanical Engineering2021，34，3： | 3 |
| 3 | DOA estimation for uniform linear array with mutual coupling显示文摘 | F.Ye S.Dai X.Xu | | 0，，： | 1 |
| 4 | 查看详情显示文摘 | B.Chen C.Liang J.Yang D.S.Contreras Y.L.Clancy E.B.Lobkovsky O.M.Yaghi and S.Dai | | 0，，09： | 1 |
| 5 | 查看详情显示文摘 | B.Chen C.Liang J.Yang D.S.Contreras Y.L.Clancy E.B.Lobkovsky O.M.Yaghi and S.Dai | | 0，，09： | 1 |
| 6 | Restoration of immunity and reactivation of hepatitis B virus after immunosuppressive therapy in a patient with severe aplastic anaemia显示文摘 | M.‐S.Dai W.‐Y.Kao R.‐Y.Shyu T.‐Y.Chao | 2004 | Journal of Viral Hepatitis2004，，3： | 1 |
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