Working Papers
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Under Review
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Journal Articles
7.
Chaoyang Song, Jianxi Luo, Katja Hölttä-Otto, Warren Seering, Kevin Otto
Crowdfunding for Design Innovation: Prediction Model with Critical Factors Journal Article
In: IEEE Transactions on Engineering Management, vol. 69, iss. August, no. 4, pp. 1565-1576, 2022.
Abstract | Links | BibTeX | Tags: Authorship - Corresponding, Authorship - First Author, JCR Q1, Jour - IEEE Trans. Eng. Manag. (TEM)
@article{Song2022CrowdfunndingFor,
title = {Crowdfunding for Design Innovation: Prediction Model with Critical Factors},
author = {Chaoyang Song and Jianxi Luo and Katja Hölttä-Otto and Warren Seering and Kevin Otto},
doi = {10.1109/tem.2020.3001764},
year = {2022},
date = {2022-08-01},
urldate = {2022-08-01},
journal = {IEEE Transactions on Engineering Management},
volume = {69},
number = {4},
issue = {August},
pages = {1565-1576},
abstract = {Online reward-based crowdfunding campaigns have emerged as an innovative approach for validating demands, discovering early adopters, and seeking learning and feedback in the design processes of innovative products. However, crowdfunding campaigns for innovative products are faced with a high degree of uncertainty and suffer meager rates of success to fulfill their values for design. To guide designers and innovators for crowdfunding campaigns, this article presents a data-driven methodology to build a prediction model with critical factors for crowdfunding success, based on public online crowdfunding campaign data. Specifically, the methodology filters 26 candidate factors in the real-win-worth framework and identifies the critical ones via stepwise regression to predict the amount of crowdfunding. We demonstrate the methods via deriving prediction models and identifying essential factors from three-dimensional printer and smartwatch campaign data on Kickstarter and Indiegogo. The critical factors can guide campaign developments, and the prediction model may evaluate crowdfunding potential of innovations in contexts, to increase the chance of crowdfunding success of innovative products.
},
keywords = {Authorship - Corresponding, Authorship - First Author, JCR Q1, Jour - IEEE Trans. Eng. Manag. (TEM)},
pubstate = {published},
tppubtype = {article}
}
Online reward-based crowdfunding campaigns have emerged as an innovative approach for validating demands, discovering early adopters, and seeking learning and feedback in the design processes of innovative products. However, crowdfunding campaigns for innovative products are faced with a high degree of uncertainty and suffer meager rates of success to fulfill their values for design. To guide designers and innovators for crowdfunding campaigns, this article presents a data-driven methodology to build a prediction model with critical factors for crowdfunding success, based on public online crowdfunding campaign data. Specifically, the methodology filters 26 candidate factors in the real-win-worth framework and identifies the critical ones via stepwise regression to predict the amount of crowdfunding. We demonstrate the methods via deriving prediction models and identifying essential factors from three-dimensional printer and smartwatch campaign data on Kickstarter and Indiegogo. The critical factors can guide campaign developments, and the prediction model may evaluate crowdfunding potential of innovations in contexts, to increase the chance of crowdfunding success of innovative products.
6.
Chaoyang Song, Huijuan Feng, Yan Chen, I-Ming Chen, Rongjie Kang
Reconfigurable Mechanism Generated from the Network of Bennett Linkages Journal Article
In: Mechanism and Machine Theory, vol. 88, iss. June, pp. 49-62, 2015.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)
@article{Song2015ReconfigurableMechanism,
title = {Reconfigurable Mechanism Generated from the Network of Bennett Linkages},
author = {Chaoyang Song and Huijuan Feng and Yan Chen and I-Ming Chen and Rongjie Kang},
doi = {10.1016/j.mechmachtheory.2015.02.003},
year = {2015},
date = {2015-06-01},
urldate = {2015-06-01},
journal = {Mechanism and Machine Theory},
volume = {88},
issue = {June},
pages = {49-62},
abstract = {A network of four Bennett linkages is proposed in this paper. Totally five types of overconstrained 5R and 6R linkages, including the generalized Goldberg 5R linkage, generalized variant of the L-shape Goldberg 6R linkage, Waldron's hybrid 6R linkage, isomerized case of the generalized L-shape Goldberg 6R linkage, and generalized Wohlhart's double-Goldberg 6R linkage, can be constructed by modifying this Bennett network. The 8R linkage formed by Bennett network serves as the basic mechanism to realise the reconfiguration among five types of overconstrained linkages by rigidifying some of the eight joints. The work also reveals the in-depth relationship among the Bennett-based linkages, which provides a substantial advancement in the design of reconfigurable mechanisms using overconstrained linkages.},
keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},
pubstate = {published},
tppubtype = {article}
}
A network of four Bennett linkages is proposed in this paper. Totally five types of overconstrained 5R and 6R linkages, including the generalized Goldberg 5R linkage, generalized variant of the L-shape Goldberg 6R linkage, Waldron's hybrid 6R linkage, isomerized case of the generalized L-shape Goldberg 6R linkage, and generalized Wohlhart's double-Goldberg 6R linkage, can be constructed by modifying this Bennett network. The 8R linkage formed by Bennett network serves as the basic mechanism to realise the reconfiguration among five types of overconstrained linkages by rigidifying some of the eight joints. The work also reveals the in-depth relationship among the Bennett-based linkages, which provides a substantial advancement in the design of reconfigurable mechanisms using overconstrained linkages.
5.
Chaoyang Song, Yan Chen, I-Ming Chen
Kinematic Study of the Original and Revised General Line-Symmetric Bricard 6R Linkages Journal Article
In: Journal of Mechanisms and Robotics, vol. 6, iss. August, no. 3, pp. 031002, 2014.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q2, Jour - J. Mech. Robot. (JMR)
@article{Song2014KinematicStudy,
title = {Kinematic Study of the Original and Revised General Line-Symmetric Bricard 6R Linkages},
author = {Chaoyang Song and Yan Chen and I-Ming Chen},
doi = {10.1115/1.4026339},
year = {2014},
date = {2014-08-01},
urldate = {2014-08-01},
journal = {Journal of Mechanisms and Robotics},
volume = {6},
number = {3},
issue = {August},
pages = {031002},
abstract = {In this paper, the solutions to closure equations of the original general line-symmetric Bricard 6R linkage are derived through matrix method. Two independent linkage closures are found in the original general line-symmetric Bricard 6R linkage, which are line-symmetric in geometry conditions, kinematic variables and spatial configurations. The revised general line-symmetric Bricard 6R linkage differs from the original linkage with negatively equaled offsets on the opposite joints. Further analysis shows that the revised linkage is equivalent to the original linkage with different setups on joint axis directions. As a special case of the general line-symmetric Bricard linkage, the line-symmetric octahedral Bricard linkage also has two forms in the closure equations. Their closure curves are not independent but joined into a full circle. This work offers an in-depth understanding about the kinematics of the general line-symmetric Bricard linkages.},
keywords = {Authorship - First Author, JCR Q2, Jour - J. Mech. Robot. (JMR)},
pubstate = {published},
tppubtype = {article}
}
In this paper, the solutions to closure equations of the original general line-symmetric Bricard 6R linkage are derived through matrix method. Two independent linkage closures are found in the original general line-symmetric Bricard 6R linkage, which are line-symmetric in geometry conditions, kinematic variables and spatial configurations. The revised general line-symmetric Bricard 6R linkage differs from the original linkage with negatively equaled offsets on the opposite joints. Further analysis shows that the revised linkage is equivalent to the original linkage with different setups on joint axis directions. As a special case of the general line-symmetric Bricard linkage, the line-symmetric octahedral Bricard linkage also has two forms in the closure equations. Their closure curves are not independent but joined into a full circle. This work offers an in-depth understanding about the kinematics of the general line-symmetric Bricard linkages.
4.
Chaoyang Song, Yan Chen, I-Ming Chen
A 6R Linkage Reconfigurable between the Line-Symmetric Bricard Linkage and the Bennett Linkage Journal Article
In: Mechanism and Machine Theory, vol. 70, iss. December, pp. 278-292, 2013.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)
@article{Song2013A6R,
title = {A 6R Linkage Reconfigurable between the Line-Symmetric Bricard Linkage and the Bennett Linkage},
author = {Chaoyang Song and Yan Chen and I-Ming Chen},
doi = {10.1016/j.mechmachtheory.2013.07.013},
year = {2013},
date = {2013-12-01},
urldate = {2013-12-01},
journal = {Mechanism and Machine Theory},
volume = {70},
issue = {December},
pages = {278-292},
abstract = {This paper explores the feasibility of constructing mechanisms reconfigurable between 6R and 4R overconstrained linkages. Spatial triangle and Bennett linkage are used as the building blocks to form the reconfigurable Bricard linkage. Due to the different directions of the joint axes, the Bennett linkage can be setup in either asymmetric or line-symmetric manners. Subsequently, two 6R linkages are constructed in asymmetric and line-symmetric configurations, respectively. Their potential of reconfiguration is investigated through bifurcation analysis. The result shows that the asymmetric one can be reconfigured between Bennett linkage and general line-symmetric Bricard linkage through bifurcation points, while the line-symmetric one only functions as a Bennett linkage with two additional fixed joints.},
keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},
pubstate = {published},
tppubtype = {article}
}
This paper explores the feasibility of constructing mechanisms reconfigurable between 6R and 4R overconstrained linkages. Spatial triangle and Bennett linkage are used as the building blocks to form the reconfigurable Bricard linkage. Due to the different directions of the joint axes, the Bennett linkage can be setup in either asymmetric or line-symmetric manners. Subsequently, two 6R linkages are constructed in asymmetric and line-symmetric configurations, respectively. Their potential of reconfiguration is investigated through bifurcation analysis. The result shows that the asymmetric one can be reconfigured between Bennett linkage and general line-symmetric Bricard linkage through bifurcation points, while the line-symmetric one only functions as a Bennett linkage with two additional fixed joints.
3.
Chaoyang Song, Yan Chen
Multiple Linkage Forms and Bifurcation Behaviours of the Double-Subtractive-Goldberg 6R Linkage Journal Article
In: Mechanism and Machine Theory, vol. 57, iss. November, pp. 95-110, 2012.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)
@article{Song2012MultipleLinkage,
title = {Multiple Linkage Forms and Bifurcation Behaviours of the Double-Subtractive-Goldberg 6R Linkage},
author = {Chaoyang Song and Yan Chen},
doi = {10.1016/j.mechmachtheory.2012.07.002},
year = {2012},
date = {2012-11-01},
urldate = {2012-11-01},
journal = {Mechanism and Machine Theory},
volume = {57},
issue = {November},
pages = {95-110},
abstract = {In this paper, a particular type of double-subtractive-Goldberg 6R linkage is obtained by combining two subtractive Goldberg 5R linkages on the commonly shared ‘roof-links’ through the common link-pair method and common Bennett-linkage method. Two distinct linkage forms are obtained with the identical geometry conditions, yet different closure equations. Bifurcation behaviours of these two forms are analysed, leading to the discovery of two more linkage forms of this linkage, which cannot be constructed with Bennett linkages or Goldberg linkages directly. From the construction process, this 6R linkage belongs to the Bennett-based linkages. But about the bifurcation behaviours, it is closely related to the line-symmetric Bricard linkage because of its hidden symmetric property. Therefore, it could play an important role in exploring the relationship between the Bennett-based linkages and the Bricard linkages.},
keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},
pubstate = {published},
tppubtype = {article}
}
In this paper, a particular type of double-subtractive-Goldberg 6R linkage is obtained by combining two subtractive Goldberg 5R linkages on the commonly shared ‘roof-links’ through the common link-pair method and common Bennett-linkage method. Two distinct linkage forms are obtained with the identical geometry conditions, yet different closure equations. Bifurcation behaviours of these two forms are analysed, leading to the discovery of two more linkage forms of this linkage, which cannot be constructed with Bennett linkages or Goldberg linkages directly. From the construction process, this 6R linkage belongs to the Bennett-based linkages. But about the bifurcation behaviours, it is closely related to the line-symmetric Bricard linkage because of its hidden symmetric property. Therefore, it could play an important role in exploring the relationship between the Bennett-based linkages and the Bricard linkages.
2.
Chaoyang Song, Yan Chen
A Family of Mixed Double-Goldberg 6R Linkages Journal Article
In: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol. 468, no. 2139, pp. 871-890, 2012.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q1, Jour - Proc. Math. Phys. Eng. Sci. (RoyalSocA)
@article{Song2012AFamily,
title = {A Family of Mixed Double-Goldberg 6R Linkages},
author = {Chaoyang Song and Yan Chen},
doi = {10.1098/rspa.2011.0345},
year = {2012},
date = {2012-03-08},
urldate = {2012-03-08},
journal = {Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences},
volume = {468},
number = {2139},
pages = {871-890},
abstract = {A complete family of double-Goldberg 6R linkages is reported in this article by combining a subtractive Goldberg 5R linkage and a Goldberg 5R linkage through the common link-pair or common Bennett-linkage method. A number of distinct types of overconstrained linkages are built, namely the mixed double-Goldberg 6R linkages. They all have one degree of freedom and their closure equations are derived in detail. One of them degenerates into a Goldberg 5R linkage. From the construction process and geometry conditions, the corresponding relationship between the newly found 6R linkages and the double-Goldberg 6R linkages, constructed from two Goldberg 5R linkages or two subtractive Goldberg 5R linkages, has been established.},
keywords = {Authorship - First Author, JCR Q1, Jour - Proc. Math. Phys. Eng. Sci. (RoyalSocA)},
pubstate = {published},
tppubtype = {article}
}
A complete family of double-Goldberg 6R linkages is reported in this article by combining a subtractive Goldberg 5R linkage and a Goldberg 5R linkage through the common link-pair or common Bennett-linkage method. A number of distinct types of overconstrained linkages are built, namely the mixed double-Goldberg 6R linkages. They all have one degree of freedom and their closure equations are derived in detail. One of them degenerates into a Goldberg 5R linkage. From the construction process and geometry conditions, the corresponding relationship between the newly found 6R linkages and the double-Goldberg 6R linkages, constructed from two Goldberg 5R linkages or two subtractive Goldberg 5R linkages, has been established.
1.
Chaoyang Song, Yan Chen
A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages Journal Article
In: Mechanism and Machine Theory, vol. 46, iss. August, no. 8, pp. 1097-1106, 2011.
Abstract | Links | BibTeX | Tags: Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)
@article{Song2011ASpatial,
title = {A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages},
author = {Chaoyang Song and Yan Chen},
doi = {10.1016/j.mechmachtheory.2011.03.006},
year = {2011},
date = {2011-08-01},
urldate = {2011-08-01},
journal = {Mechanism and Machine Theory},
volume = {46},
number = {8},
issue = {August},
pages = {1097-1106},
abstract = {In this paper, a subtractive Goldberg 5R linkage is defined as a variation of Goldberg 5R linkage. A spatial 6R linkage is constructed by combining two subtractive Goldberg 5R linkages through a common Bennett linkage. This 6R linkage, namely double subtractive Goldberg 6R linkage, appears to be distinct from other existing spatial 6R overconstrained linkages reported before. Both the overconstrained geometric conditions and the closure equations of the proposed linkage are derived. Physical models are also made to validate the linkage.},
keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},
pubstate = {published},
tppubtype = {article}
}
In this paper, a subtractive Goldberg 5R linkage is defined as a variation of Goldberg 5R linkage. A spatial 6R linkage is constructed by combining two subtractive Goldberg 5R linkages through a common Bennett linkage. This 6R linkage, namely double subtractive Goldberg 6R linkage, appears to be distinct from other existing spatial 6R overconstrained linkages reported before. Both the overconstrained geometric conditions and the closure equations of the proposed linkage are derived. Physical models are also made to validate the linkage.
Conference Papers
6.
Chaoyang Song, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, Warren Seering
The Design of Crowd-Funded Products Conference
ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC/CIE2015), Boston, Massachusetts, USA, 2015.
Links | BibTeX | Tags: Authorship - First Author, Conf - DETC/CIE
@conference{Song2015TheDesign,
title = {The Design of Crowd-Funded Products},
author = {Chaoyang Song and Jianxi Luo and Katja Hölttä-Otto and Kevin Otto and Warren Seering},
doi = {10.1115/detc2015-46917},
year = {2015},
date = {2015-08-02},
urldate = {2015-08-02},
booktitle = {ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC/CIE2015)},
address = {Boston, Massachusetts, USA},
keywords = {Authorship - First Author, Conf - DETC/CIE},
pubstate = {published},
tppubtype = {conference}
}
5.
Chaoyang Song, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto, Warren Seering
Risk and Innovation Balance in Crowdfunding New Products Honorable Mention Conference
International Conference on Engineering Design (ICED2015), Milan, Italy, 2015.
Abstract | Links | BibTeX | Tags: Authorship - First Author, Award - Paper, Award - Reviewers' Favorites Award, Conf - ICED
@conference{Song2015RiskAnd,
title = {Risk and Innovation Balance in Crowdfunding New Products},
author = {Chaoyang Song and Jianxi Luo and Katja Hölttä-Otto and Kevin Otto and Warren Seering},
url = {https://www.designsociety.org/publication/37919/risk+and+innovation+balance+in+crowdfunding+new+products},
year = {2015},
date = {2015-07-27},
urldate = {2015-07-27},
booktitle = {International Conference on Engineering Design (ICED2015)},
address = {Milan, Italy},
abstract = {Many have considered that innovation through new and small companies is a vital driver for sustainable economic growth. Recent growth in Web 2.0 demands small companies to further incorporate risk management while developing innovative products. How to balance risk and innovation during new product development becomes a priority for small companies to survive the competition. Yet, the approach is not likely similar to that employed by incumbent firms. This paper explores innovation versus risk for small companies using crowdfunding products as a proxy for analysis. A database with 127 consumer electronics, namely 3D printers and smart watches, are collected from Kickstarter and Indiegogo. The metric of Real-Win-Worth is adapted to provide a well-rounded assessment of the product’s innovation, risk and other related business and engineering aspects. Our result suggests a preliminary framework of innovation and risk balance for crowdfunding NPD success. A statistical model is developed to correlate the amount of crowdfunding raised with 64% predictability. These results may contribute to better understand and balance risk and innovation in crowdfunding and small company contexts.},
keywords = {Authorship - First Author, Award - Paper, Award - Reviewers' Favorites Award, Conf - ICED},
pubstate = {published},
tppubtype = {conference}
}
Many have considered that innovation through new and small companies is a vital driver for sustainable economic growth. Recent growth in Web 2.0 demands small companies to further incorporate risk management while developing innovative products. How to balance risk and innovation during new product development becomes a priority for small companies to survive the competition. Yet, the approach is not likely similar to that employed by incumbent firms. This paper explores innovation versus risk for small companies using crowdfunding products as a proxy for analysis. A database with 127 consumer electronics, namely 3D printers and smart watches, are collected from Kickstarter and Indiegogo. The metric of Real-Win-Worth is adapted to provide a well-rounded assessment of the product’s innovation, risk and other related business and engineering aspects. Our result suggests a preliminary framework of innovation and risk balance for crowdfunding NPD success. A statistical model is developed to correlate the amount of crowdfunding raised with 64% predictability. These results may contribute to better understand and balance risk and innovation in crowdfunding and small company contexts.
4.
Chaoyang Song, Jianxi Luo, Katja Hölttä-Otto, Kevin Otto
Product Innovation Differences between New Ventures and Incumbent Firms Conference
Annual Meeting of the Academy of Management (AoM2014), Philadelphia, PA, USA, 2014.
Links | BibTeX | Tags: Authorship - Corresponding, Authorship - First Author, Conf - AoM
@conference{Song2014ProductInnovation,
title = {Product Innovation Differences between New Ventures and Incumbent Firms},
author = {Chaoyang Song and Jianxi Luo and Katja Hölttä-Otto and Kevin Otto},
doi = {10.5465/ambpp.2014.13204abstract},
year = {2014},
date = {2014-08-01},
urldate = {2014-08-01},
booktitle = {Annual Meeting of the Academy of Management (AoM2014)},
address = {Philadelphia, PA, USA},
keywords = {Authorship - Corresponding, Authorship - First Author, Conf - AoM},
pubstate = {published},
tppubtype = {conference}
}
3.
Chaoyang Song, Yan Chen, I-Ming Chen
Bifurcation Behavior of the Line-Symmetric Bricard Linkage without Offsets Conference
IFToMM International Symposium on Robotics and Mechatronics (ISRM2013), Singapore, 2013.
Links | BibTeX | Tags: Authorship - First Author, Conf - ISRM
@conference{Song2013BirfurcationBehavior,
title = {Bifurcation Behavior of the Line-Symmetric Bricard Linkage without Offsets},
author = {Chaoyang Song and Yan Chen and I-Ming Chen},
doi = {10.3850/978-981-07-7744-9_064},
year = {2013},
date = {2013-10-02},
urldate = {2013-10-02},
booktitle = {IFToMM International Symposium on Robotics and Mechatronics (ISRM2013)},
address = {Singapore},
keywords = {Authorship - First Author, Conf - ISRM},
pubstate = {published},
tppubtype = {conference}
}
2.
Chaoyang Song, Yan Chen
A Special Wohlharts Double-Goldberg 6R Linkage and Its Multiple Operation Forms among 4R and 6R Linkages Honorable Mention Conference
ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR2012), Tianjin, China, 2012.
Links | BibTeX | Tags: Authorship - First Author, Award - Travel Grant, Award - Young Delegate Travel Grant, Conf - ReMAR
@conference{Song2012ASpecial,
title = {A Special Wohlharts Double-Goldberg 6R Linkage and Its Multiple Operation Forms among 4R and 6R Linkages},
author = {Chaoyang Song and Yan Chen},
doi = {10.1007/978-1-4471-4141-9_5},
year = {2012},
date = {2012-07-09},
urldate = {2012-07-09},
booktitle = {ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR2012)},
address = {Tianjin, China},
keywords = {Authorship - First Author, Award - Travel Grant, Award - Young Delegate Travel Grant, Conf - ReMAR},
pubstate = {published},
tppubtype = {conference}
}
1.
Chaoyang Song, Yan Chen
The Original Double-Goldberg 6R Linkage and its Bifurcation Analysis Conference
IFToMM International Symposium on Multibody Systems and Mechatronics (MuSME2011), Valencia, Spain, 2011.
Links | BibTeX | Tags: Authorship - First Author, Conf - MuSME
@conference{Song2011TheOriginal,
title = {The Original Double-Goldberg 6R Linkage and its Bifurcation Analysis},
author = {Chaoyang Song and Yan Chen},
doi = {10.13140/2.1.2041.3764},
year = {2011},
date = {2011-10-25},
urldate = {2011-10-25},
booktitle = {IFToMM International Symposium on Multibody Systems and Mechatronics (MuSME2011)},
address = {Valencia, Spain},
keywords = {Authorship - First Author, Conf - MuSME},
pubstate = {published},
tppubtype = {conference}
}
Extended Abstracts
1.
Chaoyang Song
The Design and Learning of Overconstrained Mechanisms towards Overconstrained Robotics Workshop
Mechanism and Machine Theory Symposium, Guimarães, Portugal, 2024, (Extended Abstract accepted to Mechanism and Machine Theory Symposium).
@workshop{Song2024TheDesign,
title = {The Design and Learning of Overconstrained Mechanisms towards Overconstrained Robotics},
author = {Chaoyang Song},
url = {https://mmtsymposium.com/
https://iftomm-world.org/conferences/mmt-symposium/#:~:text=The%20MMT%20Symposium%20will%20be%20held%20in%20Guimar%C3%A3es%20-%20Portugal,},
year = {2024},
date = {2024-06-26},
urldate = {2024-06-26},
booktitle = {Mechanism and Machine Theory Symposium},
address = {Guimarães, Portugal},
abstract = {Overconstrained mechanisms play a pivotal role in mechanism theory, combining mathematical science with engineering design to provide the foundational kinematics for emerging applications in modern machinery and robotic systems. Calculating a mechanism’s mobility is among an engineer’s first steps towards building machines as desired, which can be a challenging task. The paradox of overconstrained mechanisms is, quoting Prof. Andreas Müller, that “although one may not construct a ‘perfectly overconstrained’ mechanism, one will, and this is the design goal, end up with an ‘almost overconstrained’ mechanism ... Therefore, and due to the flexibility of links and joint clearances, the real mechanism will exhibit almost the type of motion of its perfect (overconstrained) prototype. This is why the understanding of overconstrained mechanisms is important though.” The Mechanism and Machine Theory is the leading platform attracting researchers contributing to this research topic. However, a long-standing challenge remains to push the overconstrained mechanisms from theoretical kinematics to engineering applications with advanced robotics, where an emerging field of “overconstrained robotics” may interest researchers in related fields of expertise.},
note = {Extended Abstract accepted to Mechanism and Machine Theory Symposium},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
Overconstrained mechanisms play a pivotal role in mechanism theory, combining mathematical science with engineering design to provide the foundational kinematics for emerging applications in modern machinery and robotic systems. Calculating a mechanism’s mobility is among an engineer’s first steps towards building machines as desired, which can be a challenging task. The paradox of overconstrained mechanisms is, quoting Prof. Andreas Müller, that “although one may not construct a ‘perfectly overconstrained’ mechanism, one will, and this is the design goal, end up with an ‘almost overconstrained’ mechanism ... Therefore, and due to the flexibility of links and joint clearances, the real mechanism will exhibit almost the type of motion of its perfect (overconstrained) prototype. This is why the understanding of overconstrained mechanisms is important though.” The Mechanism and Machine Theory is the leading platform attracting researchers contributing to this research topic. However, a long-standing challenge remains to push the overconstrained mechanisms from theoretical kinematics to engineering applications with advanced robotics, where an emerging field of “overconstrained robotics” may interest researchers in related fields of expertise.
Doctoral Thesis
1.
Chaoyang Song
Kinematic Study of Overconstrained Linkages and Design of Reconfigurable Mechanisms PhD Thesis
Nanyang Technological University, 2013.
@phdthesis{Song2013KinematicStudy,
title = {Kinematic Study of Overconstrained Linkages and Design of Reconfigurable Mechanisms},
author = {Chaoyang Song},
url = {https://hdl.handle.net/10356/55261},
year = {2013},
date = {2013-02-14},
urldate = {2013-02-14},
address = {Singapore},
school = {Nanyang Technological University},
abstract = {This dissertation explores the possibilities to design reconfigurable mechanisms using the kinematic and geometric properties of existing overconstrained linkages with revolute joints. Despite the large number of overconstrained linkages reported in literatures, there lacks of a comprehensive study into the relationship among them, which limits the understanding of the overconstrained linkages and their potential applications. The first part of this dissertation has been devoted to the systematic generalization of a series of double-Goldberg linkage families, in which the relationship between a number of existing linkages and their variational cases has been revealed. The common link-pair and common Bennett-linkage methods have been proposed to connect a Goldberg 5R linkage and a subtractive Goldberg 5R linkage to form six types of overconstrained linkage closures. Three sub-families, Wohlhart’s double-Goldberg linkages, mixed double-Goldberg linkages and double-subtractive-Goldberg linkages, have been generalized to represent the original cases, variational cases and subtractive cases of double-Goldberg linkage family. A substantial source of design for reconfigurable mechanisms in the Bennett-based linkage family has been presented in this part. In the second part, the kinematic study has been focused on the general line-symmetric Bricard linkage. The closure equations of the original and revised general line-symmetric Bricard linkages have been derived in explicit forms. For the general line-symmetric Bricard linkage, two independent and distinct linkage closures have been discovered. It has also been revealed that the revised cases are equivalent to the original cases with different setups on joint-axis directions. The potential of designing the reconfigurable mechanism through kinematic singularity has been demonstrated with the bifurcation behavior of the special line-symmetric Bricard linkage with zero offsets. The conceptual designs of reconfigurable mechanisms based on overconstrained linkages have been explored in the final part. Both the analytical and construct method have been presented to design morphing structures using overconstrained linkages. Based on the double-Goldberg linkage and the general line-symmetric Bricard linkage, reconfigurable mechanisms have been designed with multiple operation forms between 6R and 4R linkages. Furthermore, a generic method of link-pair replacement has been developed for reconfiguration purpose, which has been applied to reconfigure the topology of different Bennett linkage networks in order to obtain different overconstrained mechanisms. Results in this dissertation could lead to the substantial advancement in the design of reconfigurable mechanism with kinematic singularities. In the future work, the methods could be applied to design advanced reconfigurable robotic platforms with less actuators but more structural support.},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
This dissertation explores the possibilities to design reconfigurable mechanisms using the kinematic and geometric properties of existing overconstrained linkages with revolute joints. Despite the large number of overconstrained linkages reported in literatures, there lacks of a comprehensive study into the relationship among them, which limits the understanding of the overconstrained linkages and their potential applications. The first part of this dissertation has been devoted to the systematic generalization of a series of double-Goldberg linkage families, in which the relationship between a number of existing linkages and their variational cases has been revealed. The common link-pair and common Bennett-linkage methods have been proposed to connect a Goldberg 5R linkage and a subtractive Goldberg 5R linkage to form six types of overconstrained linkage closures. Three sub-families, Wohlhart’s double-Goldberg linkages, mixed double-Goldberg linkages and double-subtractive-Goldberg linkages, have been generalized to represent the original cases, variational cases and subtractive cases of double-Goldberg linkage family. A substantial source of design for reconfigurable mechanisms in the Bennett-based linkage family has been presented in this part. In the second part, the kinematic study has been focused on the general line-symmetric Bricard linkage. The closure equations of the original and revised general line-symmetric Bricard linkages have been derived in explicit forms. For the general line-symmetric Bricard linkage, two independent and distinct linkage closures have been discovered. It has also been revealed that the revised cases are equivalent to the original cases with different setups on joint-axis directions. The potential of designing the reconfigurable mechanism through kinematic singularity has been demonstrated with the bifurcation behavior of the special line-symmetric Bricard linkage with zero offsets. The conceptual designs of reconfigurable mechanisms based on overconstrained linkages have been explored in the final part. Both the analytical and construct method have been presented to design morphing structures using overconstrained linkages. Based on the double-Goldberg linkage and the general line-symmetric Bricard linkage, reconfigurable mechanisms have been designed with multiple operation forms between 6R and 4R linkages. Furthermore, a generic method of link-pair replacement has been developed for reconfiguration purpose, which has been applied to reconfigure the topology of different Bennett linkage networks in order to obtain different overconstrained mechanisms. Results in this dissertation could lead to the substantial advancement in the design of reconfigurable mechanism with kinematic singularities. In the future work, the methods could be applied to design advanced reconfigurable robotic platforms with less actuators but more structural support.
