Robotized manufacturing equipment:A review from the perspective of mechanism topology

In recent years,robots have been extensively applied in the establishment of intelligent manufacturing systems.Many robotized manufacturing equipment have been developed,some of which have gained successful applications.A mechanism is the skeleton of a machine that transfers motion and energy.The topology of a mechanism is an important gene that determines the function and performance of a machine.Although several reviews have focused on robotized manufacturing,an up-to-date review of robotized manufacturing equipment from the perspective of mechanism topology is lacking.This motivated us to present a survey about existing robotics structures used in manufacturing equipment.Relevant studies are classified into three types:serial robot-based manufacturing equipment,parallel kinematic machines,and hybrid robot-based manufacturing equipment.The features and performance behaviour of these equipments,as determined by their mechanism topology,are analyzed.In particular,the influences of joint numbers,rotational axes of output motion,actuation schemes,and topological symmetry on equipment performance are discussed to provide insight into the new development of robotized manufacturing equipment,as well as future research directions on this topic.

TOPOLOGY OPTIMIZATION OF MULTIPLE INPUTS AND MULTIPLE OUTPUTS COMPLIANT MECHANISMS

An optimal topology design method for multiple inputs and multiple outputs compliant micro-manipulation system is presented. Firstly, the topology design problem is posed in terms of a multiple inputs load and several specified output deflections. The compliance and stiffness of the system are expressed by the mutual potential energy and strain energy, respectively, which can be controlled by a multi-critaria objective function. Secondly, based on the optimality criteria method, a model solution algorithm is presented. Finally, a numerical example is presented to show the validity oftbe presented technique. The optimal topology ofa 4 inputs and 4 outputs compliant mechanism is obtained by using the method, and the corresponding micro-positioning stage system is further designed.

METAMORPHIC MECHANISMSAND THEIR CONFIGURATION MODELS

The concept of metamorphic mechanisms is presented, configuration models and configuration transformations relating to a set of new matrix operations are discussed and proposed. The configuration of a metamorphic mechanism reflects the connectivity change in the mechanism during motions which results in mobility change and presents the characteristics of the mechanism which is discussed in various applications particularly in decorative artifacts. The characteristics is further investigated with mobility analysis.

Inner Structure of Statistical Gauge Potential in Chern-Simons-Ginzburg-Landau Theory

Based on the decomposition theory of the U（1） gauge potential, the inner structure of the statistical gauge potential in the Chern-Simons-Ginzburg-Landau （CSGL） theory is studied. We give a new creation mechanism of the statistical gauge potential, Furthermore, making use of the b-mapping topological current theory, we obtain the precise topological expression of the statistical magnetic field, which takes the topological information of the vortices.

Topology optimization of compliant adaptive wing leading edge with composite materials

An approach for designing the compliant adaptive wing leading edge with composite material is proposed based on the topology optimization. Firstly, an equivalent constitutive relationship of laminated glass fiber reinforced epoxy composite plates has been built based on the symmetric laminated plate theory. Then, an optimization objective function of compliant adaptive wing leading edge was used to minimize the least square error（LSE） between deformed curve and desired aerodynamics shape. After that, the topology structures of wing leading edge of different glass fiber ply-orientations were obtained by using the solid isotropic material with penalization（SIMP） model and sensitivity filtering technique. The desired aerodynamics shape of compliant adaptive wing leading edge was obtained based on the proposed approach. The topology structures of wing leading edge depend on the glass fiber ply-orientation. Finally, the corresponding morphing experiment of compliant wing leading edge with composite materials was implemented, which verified the morphing capability of topology structure and illustrated the feasibility for designing compliant wing leading edge. The present paper lays the basis of ply-orientation optimization for compliant adaptive wing leading edge in unmanned aerial vehicle（UAV） field.