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All Outputs (61)

Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis (2019)
Journal Article
Dobson, A., Wei, G., & Ren, L. (2019). Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis. Journal of Mechanisms and Robotics, 11(4), https://doi.org/10.1115/1.4043603

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a Series-Elastic Actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable... Read More about Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis.

Synthesis and analysis of Fulleroid-like deployable Archimedean mechanisms based on an overconstrained eight-bar linkage (2019)
Journal Article
Xiu, H., Wang, K., Xu, T., Wei, G., & Ren, L. (2019). Synthesis and analysis of Fulleroid-like deployable Archimedean mechanisms based on an overconstrained eight-bar linkage. Mechanism and Machine Theory, 137(7), 476-508. https://doi.org/10.1016/j.mechmachtheory.2019.03.004

This paper presents a novel intuitive synthesis approach for constructing Fulleroid-like Archimedean DPMs based on a Sarrus-like overconstrained spatial eight-bar linkage. Firstly, structure and the associated foundations of the eight-bar linkage are... Read More about Synthesis and analysis of Fulleroid-like deployable Archimedean mechanisms based on an overconstrained eight-bar linkage.

A Sarrus-like overconstrained eight-bar linkage and its associated Fulleroid-like platonic deployable mechanisms (2018)
Journal Article
Xiu, H., Wang, K., Wei, G., Ren, L., & Dai, J. (2020). A Sarrus-like overconstrained eight-bar linkage and its associated Fulleroid-like platonic deployable mechanisms. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 241-262. https://doi.org/10.1177/0954406218816343

This paper, for the first time, presents an overconstrained spatial eight-bar linkage and its application to the synthesis of a group of Fulleroid-like deployable platonic mechanisms. Structure of the proposed eight-bar linkage is introduced, and con... Read More about A Sarrus-like overconstrained eight-bar linkage and its associated Fulleroid-like platonic deployable mechanisms.

A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage (2018)
Journal Article
Luo, Z., Shang, J., Wei, G., & Ren, L. (2018). A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage. Mechanism and Machine Theory, 128(10), 16-32. https://doi.org/10.1016/j.mechmachtheory.2018.04.020

This paper presents the design and development of a novel reconfigurable hybrid wheel-track mobile robot (RHMBot). This new reconfigurable mobile robot is constructed based on a Watt II six-bar linkage; through structure reconfiguration, it can provi... Read More about A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage.

Module-based structure design of wheeled mobile robot (2018)
Journal Article
Luo, Z., Shang, J., Wei, G., & Ren, L. (2018). Module-based structure design of wheeled mobile robot. Mechanical Sciences, 9(1), 103-121. https://doi.org/10.5194/ms-9-103-2018

This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design,... Read More about Module-based structure design of wheeled mobile robot.

Generation of tooth profile for roots rotor based on virtual linkage associated with Assur group (2016)
Journal Article
Cai, Y., Yao, L., & Wei, G. (2016). Generation of tooth profile for roots rotor based on virtual linkage associated with Assur group. Advances in Mechanical Engineering, 8(12), 1-8. https://doi.org/10.1177/1687814016683352

This article, for the first time, presents the generation of Roots rotor tooth profiles based on an Assur-group-associated virtual linkage method. Taking the original Roots rotor as an example, structure and geometry of the Roots rotor are introduc... Read More about Generation of tooth profile for roots rotor based on virtual linkage associated with Assur group.

Design and analysis of a bio-inspired module-based robotic arm (2016)
Journal Article
Luo, Z., Shang, J., Wei, G., & Renaut, L. (2016). Design and analysis of a bio-inspired module-based robotic arm. Mechanical Sciences, 7(2), 155-166. https://doi.org/10.5194/ms-7-155-2016

This paper presents a novel bio-inspired modular robotic arm that is purely evolved and developed from a mechanical stem cell. Inspired by stem cell whilst different from the other robot "cell" or "molecule", a fundamental mechanical stem cell is pro... Read More about Design and analysis of a bio-inspired module-based robotic arm.

Geometry and kinematics for a spherical-base integrated parallel mechanism (2016)
Journal Article
Sun, J., Zhang, X., Wei, G., & Dai, J. (2016). Geometry and kinematics for a spherical-base integrated parallel mechanism. Meccanica, 51(7), 1607-1621. https://doi.org/10.1007/s11012-016-0438-7

Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the... Read More about Geometry and kinematics for a spherical-base integrated parallel mechanism.

Metamorphic hand based grasp constraint and affordance (2015)
Presentation / Conference
Wei, G., Sun, J., Zhang, X., Pensky, D., Piater, J., & Dai, J. (2015, August). Metamorphic hand based grasp constraint and affordance. Presented at American Society of Mechanical Engineers (ASME) 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conferences (IDETC/CIE 2015), Boston, USA

This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three- fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robo... Read More about Metamorphic hand based grasp constraint and affordance.

Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm (2015)
Journal Article
Emmanouil, E., Wei, G., & Dai, J. (2015). Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm. Robotica, 34(12), 2788-2805. https://doi.org/10.1017/S0263574715000399

This work presents a method based on spherical trigonometry for computing all joint angles of the spherical metamorphic palm. The spherical palm is segmented into spherical triangles which are then solved and combined to fully solve the palm configur... Read More about Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm.

System design and implementation of a novel robot for apple harvest (2015)
Journal Article
Luo, H., & Wei, G. (2015). System design and implementation of a novel robot for apple harvest. INMATEH - Agricultural Engineering (Online), 46(2), 85-94

The mechanical design of a novel robot system for apple harvest in orchards is introduced in this paper. A description of the working environment is first provided. The robot system is operated in a master–slave manner, which is widely used in surgic... Read More about System design and implementation of a novel robot for apple harvest.

Inverse kinematics and workspace analysis of the metamorphic hand (2014)
Journal Article
Gao, Z., Wei, G., & Dai, J. (2015). Inverse kinematics and workspace analysis of the metamorphic hand. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(5), 965-975. https://doi.org/10.1177/0954406214541429

This paper investigates for the first time inverse kinematics of a four-fingered metamorphic hand. Compared with the current existing robotic hands, the most significant feature of the metamorphic hand is the introduction of a foldable and reconfigur... Read More about Inverse kinematics and workspace analysis of the metamorphic hand.

Synthesis, mobility and multifurcation of deployable polyhedral mechanisms with radially reciprocating motion (2014)
Journal Article
Wei, G., Chen, Y., & Dai, J. (2014). Synthesis, mobility and multifurcation of deployable polyhedral mechanisms with radially reciprocating motion. Journal of Mechanical Design, 136(9), 091003. https://doi.org/10.1115/1.4027638

Extending the method coined virtual-center-based (VCB) for synthesizing a group of deployable platonic mechanisms with radially reciprocating motion by implanting dual-plane-symmetric 8-bar linkages into the platonic polyhedron bases, this paper prop... Read More about Synthesis, mobility and multifurcation of deployable polyhedral mechanisms with radially reciprocating motion.

Origami-inspired integrated planar-spherical overconstrained mechanisms (2014)
Journal Article
Wei, G., & Dai, J. (2014). Origami-inspired integrated planar-spherical overconstrained mechanisms. Journal of Mechanical Design, 136(5), https://doi.org/10.1115/1.4025821

This paper presents two integrated planar-spherical overconstrained mechanisms that are inspired and evolved from origami cartons with a crash-lock base. Investigating the crash-lock base of the origami cartons, the first overconstrained mechanism is... Read More about Origami-inspired integrated planar-spherical overconstrained mechanisms.

A spatial eight-bar linkage and its association with the deployable platonic mechanisms (2014)
Journal Article
Wei, G., & Dai, J. (2014). A spatial eight-bar linkage and its association with the deployable platonic mechanisms. Journal of Mechanisms and Robotics, 6(2), 021010. https://doi.org/10.1115/1.4025472

This paper presents for the first time a novel two degrees of freedom (2-DOF) single-looped dual-plane-symmetric spatial eight-bar linkage with exact straight-line motion. Geometry and kinematics of the eight-bar linkage are investigated and closed-f... Read More about A spatial eight-bar linkage and its association with the deployable platonic mechanisms.

Reconfigurable and deployable platonic mechanisms with a variable revolute joint (2014)
Book Chapter
Wei, G., & Dai, J. (2014). Reconfigurable and deployable platonic mechanisms with a variable revolute joint. In J. Lenarčič, & O. Khatib (Eds.), Advances in Robot Kinematics (485-495). Springer. https://doi.org/10.1007/978-3-319-06698-1_50

This chapter presents for the first time a variable revolute joint and a group of reconfigurable and deployable Platonic mechanisms. Structure of the variable revolute joint is presented and demonstrated by its application to the construction of a re... Read More about Reconfigurable and deployable platonic mechanisms with a variable revolute joint.

Design and development of an anthropomorphic metamorphic robotic hand
Thesis
Marcenko, O. (in press). Design and development of an anthropomorphic metamorphic robotic hand. (Dissertation). University of Salford

This work presents analysis of the 4-fingered robotic hand and is a continuation of the Bachelor’s thesis “Design and Development of an Anthropomorphic Metamorphic Robotic Hand”. First, general comparison between scientific and commercial robotic han... Read More about Design and development of an anthropomorphic metamorphic robotic hand.

Multi operation modes of 4-CRU parallel mechanism for 3D-printing building
Presentation / Conference
Putrayudanto, P., Nurahmi, L., & Wei, G. Multi operation modes of 4-CRU parallel mechanism for 3D-printing building. Presented at Asian Conference on Mechanism and Machine Science 2018, Bengaluru, India

This paper deals with the operation modes analysis of a 4-CRU parallel mechanism for 3D printing building as a new technology for constructing the sustainable houses. The analysis is based upon an algebraic approach, namely the Euler parameters quate... Read More about Multi operation modes of 4-CRU parallel mechanism for 3D-printing building.