Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

Ziqiang Zhang, Jinnong Liao, Jing Zhao*, Xingkun Liu, Haiyuan Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)
25 Downloads (Pure)


Bio-inspired mechanism not only needs to be able to reproduce the movement laws of creature, but also has its shape. In order to simplify the design process and improve the design efficiency of one-degree-of-freedom (DOF) bio-inspired mechanism (especially six-bar or eight-bar mechanism), a design method based on layered constraint conditions is proposed in this paper. On the basis of the one-DOF kinematic chain, the frame is selected and the links are added in turn. At the same time, the constraint conditions are given in layers in the form of inequalities. When a closed loop is formed, the kinematic model needs to be established, and the positions of the target points or the attitudes of the target links can be represented by the driving angles or given angles. Thus, the feasible configurations and the ranges of the link lengths can be obtained. By cycling the above process, the target points can approach the reference points quickly and the design efficiency of the mechanism can be improved. The effect of the different basic kinematic chain, closed-loop forms and constraint conditions on configurations and design efficiency is analyzed in detail. It provides a reference for the design of other one-DOF mechanisms with multiple constraint conditions.

Original languageEnglish
Article number454
JournalJournal of the Brazilian Society of Mechanical Sciences and Engineering
Issue number9
Early online date8 Aug 2020
Publication statusPublished - Sept 2020


  • Design efficiency
  • Design method
  • Layered constraint conditions
  • One-DOF bio-inspired mechanism

ASJC Scopus subject areas

  • Mechanical Engineering


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