2025-09-10 上海交通大学(SJTU)
<関連情報>
- https://en.sjtu.edu.cn/news/5109
- https://www.sciencedirect.com/science/article/abs/pii/S0094114X25002435
- https://www.sciencedirect.com/science/article/abs/pii/S0094114X24002593
1自由度高いペアにおける複雑な運動の解き方:可変瞬間回転中心(VICR)関節のための概念、拘束、および形状閉包 Unlocking complex motion in one DoF higher pairs: Concept, constraint, and form closure for varying instantaneous center of rotation (VICR) joints
Gaohan Zhu, Shixuan Chu, Changjie Zhao, Weizhong Guo, Yinghui Li
Mechanism and Machine Theory Available: online 18 July 2025
DOI:https://doi.org/10.1016/j.mechmachtheory.2025.106154
Highlights
- Concept and classification of planar 1-DoF higher pairs are presented.
- VICR joints are defined as 1-DoF higher pairs enabling varying ICR motion.
- Constraint characteristics of VICR joints are analyzed based on screw theory.
- Generalized pressure angle is utilized for evaluating constraint performance.
- Form closure criteria for ensuring persistent element contact are proposed.
Abstract
This paper investigates one degree of freedom (DoF) higher pairs enabling the complex motion with a varying instantaneous center of rotation (VICR), referred to as VICR joints. Firstly, the conceptual framework and classification for 1-DoF higher pairs with multi-point contact are proposed, introducing the innovative concept of VICR joints that incorporate one DoF to achieve complex motion. A profile synthesis method is further introduced for the geometric design of joint elements. Then, the constraint characteristics of VICR joints are analyzed, and the constraint performance evaluation index based on the generalized pressure angle is proposed, further revealing the geometric nature of constraint performance. Subsequently, the form closure criteria of VICR joints are derived by combining the directionality of constraint forces and restricted motion, ensuring persistent element contact solely through geometric profiles of joint elements. Finally, case studies are conducted to verify the effectiveness of the proposed concepts and methods. This research complements the design possibilities of planar joints by proposing a novel type of 1-DoF higher pair that enables complex motion, providing an innovative joint solution for modern mechanical systems.
生体模倣ロボット関節機構のバイオニック概念と合成手法:ヒト膝関節の運動パターンを正確に再現するために Bionic concept and synthesis methods of the biomimetic robot joint mechanism for accurately reproducing the motion pattern of the human knee joint
Gaohan Zhu, Weizhong Guo, Shixuan Chu
Mechanism and Machine Theory Available online: 12 November 2024
DOI:https://doi.org/10.1016/j.mechmachtheory.2024.105832
Highlights
- Bionic concept of robot joint mimicking the human knee joint is presented.
- The joint mechanism can accurately generate the desired motion in the plane.
- Profile synthesis method for the joint mechanism is provided.
- Task-oriented structural synthesis methods for the joint mechanism are proposed.
Abstract
The human knee joint (HKJ) exhibits a complex motion pattern characterized by a coupling of rolling and sliding movements as well as a moving instantaneous center of rotation. Reproducing this motion pattern in robot joints holds significant scientific and engineering value. This paper addresses two primary challenges in the bionic design of the biomimetic robot joint (BRJ): the difficulty in accurately reproducing the required motion and the absence of systematic structural synthesis methods for joint mechanisms. Firstly, a bionic concept is proposed to develop novel BRJ mechanisms based on the in-depth analysis and understanding of the HKJ, which realizes accurate reproduction of the HKJ motion pattern by introducing the higher pair. Then, task-oriented synthesis methods are further investigated to find innovative design solutions in a systematic and efficient way, including the profile synthesis of the higher pair and the structural synthesis of the overall mechanism. Finally, a case study of the four-link BRJ mechanism validates the effectiveness of the proposed method, resulting in innovative design schemes with potential applications.
