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Publications:  Dr Ketao Zhang

Wei Y, Chai X, Zhang K(2020). Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism. Mechanism and Machine Theory
10.1016/j.mechmachtheory.2020.103850
https://qmro.qmul.ac.uk/xmlui/handle/123456789/63002
Yang C, Ye W, Zhang K, Huang F, Zhang W(2020). Stiffness Performance Evaluation of 2UPR-RPU Over-constrained Parallel Mechanism. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery vol. 51, (2) 392-401.
10.6041/j.issn.1000-1298.2020.02.043
Zhang K, Althoefer K (2019). Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) (London) from: 03/07/2019 to: 05/07/2019, vol. 11649 LNAI, 138-147.
10.1007/978-3-030-23807-0_12
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59079
Zhang K, Zhu Y, Lou C, Zheng P, Kovac M (2019). A design and fabrication approach for pneumatic soft robotic arms using 3D printed origami skeletons. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. 821-827.
10.1109/ROBOSOFT.2019.8722719
Chermprayong P, ZHANG K, Xiao F, Kovac M(2019). An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System. IEEE Robotics and Automation Magazine
10.1109/MRA.2018.2888911
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55781
Ye W, Li Q, Zhang K(2019). Kinematics and Performance Analysis of 2R2T Parallel Manipulator with Partially Decoupled Motion. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery vol. 50, (1) 374-382.
10.6041/j.issn.1000-1298.2019.01.043
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59059
Althoefer K, Konstantinova J, Zhang K(2019). Preface.
Zhang K, Chermprayong P, Tzoumanikas D, Li W, Grimm M, Smentoch M, Leutenegger S, Kovac M(2018). Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots. Journal of Field Robotics
10.1002/rob.21840
https://qmro.qmul.ac.uk/xmlui/handle/123456789/50263
Tzoumanikas D, Li W, Grimm M, Zhang K, Kovac M, Leutenegger S(2018). Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control. Journal of Field Robotics
10.1002/rob.21821
https://qmro.qmul.ac.uk/xmlui/handle/123456789/50304
Liu J, Zhang X, ZHANG K, Dai JS, Li S, Sun Q(2018). Configuration analysis of a reconfigurable Rubik's snake robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
10.1177/0954406218805112
https://qmro.qmul.ac.uk/xmlui/handle/123456789/56157
Ma X, Zhang K, Dai JS(2018). Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches. Mechanism and Machine Theory vol. 128, 628-647.
10.1016/j.mechmachtheory.2018.05.001
https://qmro.qmul.ac.uk/xmlui/handle/123456789/44723
Zhang K, Chermprayong P, Alhinai TM, Siddall R, Kovac M (2017). SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems. IEEE International Conference on Intelligent Robots and Systems. Conference: IROS2017 vol. 2017-September, 6849-6854.
10.1109/IROS.2017.8206606
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55203
Dams B, Sareh S, Zhang K, Shepherd P, Kovac M, Ball RJ(2017). Remote three-dimensional printing of polymer structures using drones. Proceedings of the Institution of Civil Engineers - Construction Materials1-31.
10.1680/jcoma.17.00013
https://qmro.qmul.ac.uk/xmlui/handle/123456789/45935
Ye W, Fang Y, Zhang K, Guo S(2016). Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs. Robotics and Computer-Integrated Manufacturing vol. 41, Article C, 145-162.
10.1016/j.rcim.2016.03.006
Zhang K, Dai JS(2016). Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one. Mechanism and Machine Theory vol. 106, Article C, 16-29.
10.1016/j.mechmachtheory.2016.08.006
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55247
Salerno M, Zhang K, Menciassi A, Dai JS(2016). A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery. IEEE Transactions on Robotics vol. 32, (3) 484-498.
10.1109/TRO.2016.2539373
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55250
Qiu C, Zhang K, Dai JS(2016). Repelling-screw based force analysis of origami mechanisms. Journal of Mechanisms and Robotics vol. 8, (3)
10.1115/1.4031458
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55248
Zhang K, Qiu C, Dai JS(2016). An extensible continuum robot with integrated origami parallel modules. Journal of Mechanisms and Robotics vol. 8, (3)
10.1115/1.4031808
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55249
Zhang K, Dai JS (2016). Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. vol. 230, 473-482.
10.1177/0954406215584396
Zhang K, Müller A, Dai JS(2016). A novel reconfigurable 7R linkage with Multifurcation. Mechanisms and Machine Science, vol. 36,
Müller A, Zhang K, Dai JS(2016). Analysis of the motion mode change of a metamorphic 8R linkage. Mechanisms and Machine Science, vol. 36,
Van Der Wijk V, Zhang K, Dai JS (2016). Force balance of a spatial metamorphic 6R closed-chain linkage with specific kinematic conditions. Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2016,
10.1115/DETC2016-60068
Calzati M, Zhang K, Castelli VP, Dai JS (2016). Kinematics analysis and control of a three-fingered metamorphic robot hand. Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2016,
10.1115/DETC2016-59491
Liu J, Ding X, Jin Y, Zhang K, Hao G(2015). Guest editorial on reconfigurable and deployable mechanisms. Advances in Mechanical Engineering vol. 7, (8)
10.1177/1687814015593884
Zhang K, Dai JS(2015). Screw-system-variation enabled reconfiguration of the bennett plano-spherical hybrid linkage and its evolved parallel mechanism. Journal of Mechanical Design, Transactions of the ASME vol. 137, (6)
10.1115/1.4030015
Zhang K, Qiu C, Dai JS (2015). An origami parallel structure integrated deployable continuum robot. Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015,
10.1115/DETC201546504
Zhang K, Qiu C, Dai JS(2015). Helical kirigami-enabled centimeter-scale worm robot with shape-memory-alloy linear actuators. Journal of Mechanisms and Robotics vol. 7, (2)
10.1115/1.4029494
Zhang K, Dai JS (2015). Reconfiguration analysis of wren platform and its kinematic variants based on reciprocal screw systems. 2015 IFToMM World Congress Proceedings, IFToMM 2015.
10.6567/IFToMM.14TH.WC.OS8.022
Qiu C, Zhang K, Zhao JS, Dai JS (2015). Stiffness design, analysis and validation of a parallel-mechanism equivalent suspension system. Proceedings of the ASME Design Engineering Technical Conference. vol. 5B-2015,
10.1115/DETC201546641
Ye W, Fang Y, Zhang K, Guo S(2014). A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain. Mechanism and Machine Theory vol. 74, 1-9.
10.1016/j.mechmachtheory.2013.11.011
Zhang K, Dai JS(2014). A kirigami-inspired 8R linkage and its evolved overconstrained 6R linkages with the rotational symmetry of order two. Journal of Mechanisms and Robotics vol. 6, (2)
10.1115/1.4026337
Salerno M, Zhang K, Menciassi A, Dai JS (2014). A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2844-2849.
10.1109/ICRA.2014.6907267
Qiu C, Zhang K, Dai JS (2014). Constraint-based design and analysis of a compliant parallel mechanism using sma-spring actuators. Proceedings of the ASME Design Engineering Technical Conference. vol. 5A,
10.1115/DETC2014-34605
Zhang K, Qiu C, Dai JS (2014). Helical kirigami-inspired centimeter-scale worm robot with shape-memory-alloy actuators. Proceedings of the ASME Design Engineering Technical Conference. vol. 5B,
10.1115/DETC201434676
Fang H, Fang Y, Zhang K(2013). Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 227, (3) 620-629.
10.1177/0954406212462947
Zhang K, Dai JS (2013). Classification of origami-enabled foldable linkages and emerging applications. Proceedings of the ASME Design Engineering Technical Conference. vol. 6 B,
10.1115/DETC2013-12227
Emmanouil E, Zhang K, Dai JS (2013). Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator. Proceedings of the ASME Design Engineering Technical Conference. vol. 6 B,
10.1115/DETC2013-12445
Zhang K, Dai JS, Fang Y(2013). Geometric constraint and mobility variation of Two 3S<inf>v</inf>PS <inf>v</inf> metamorphic parallel mechanisms. Journal of Mechanical Design, Transactions of the ASME vol. 135, (1)
10.1115/1.4007920
Qin Y, Zhang K, Li J, Dai JS(2013). Modelling and analysis of a rigid-compliant parallel mechanism. Robotics and Computer-Integrated Manufacturing vol. 29, (4) 33-40.
10.1016/j.rcim.2012.10.004
Zhang K, Dai JS (2012). A family of overconstrained 6R linkages with the rotational symmetry of order 2. Proceedings of the ASME Design Engineering Technical Conference. vol. 4, 1527-1534.
10.1115/DETC2012-70544
Zhang K, Fang Y, Wei G, Dai JS (2012). Structural representation of reconfigurable linkages. Advances in Reconfigurable Mechanisms and Robots I. 127-137.
10.1007/978-1-4471-4141-9_13
Zhang K, Emmanouil E, Yuefa F, Dai JS (2012). Type-changeable kinematic pair evolved reconfigurable parallel mechanisms. Advances in Reconfigurable Mechanisms and Robots I. 309-319.
10.1007/978-1-4471-4141-9_28
Fang H, Fang Y, Zhang K(2012). Reciprocal screw theory based singularity analysis of a novel 3-DOF parallel manipulator. Chinese Journal of Mechanical Engineering (English Edition) vol. 25, (4) 647-653.
10.3901/CJME.2012.04.647
Zhang K, Dai JS, Fang Y (2012). Constraint analysis and bifurcated motion of the 3PUP parallel mechanism. Mechanism and Machine Theory. vol. 49, 256-269.
10.1016/j.mechmachtheory.2011.10.004
Zhang K, Dai JS(2012). Kinematics of an overconstrained 6R linkage with 2-fold rotational symmetry. Latest Advances in Robot Kinematics,
Zhang K, Dai JS, Fang Y (2011). Geometry and constraint based design of metamorphic parallel mechanisms. Proceedings of the ASME Design Engineering Technical Conference. vol. 6, 931-940.
10.1115/DETC2011-47703
Zhang K, Dai JS, Fang Y(2010). Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism. Journal of Mechanical Design, Transactions of the ASME vol. 132, (12)
10.1115/1.4002691
Zhang K, Dai JS, Fang Y, Zhu ZQ (2010). Topology and constraint analysis of reconfiguration in metamorphic mechanisms. Proceedings of the ASME Design Engineering Technical Conference. vol. 2, 1689-1698.
10.1115/DETC2010-28434
Zhang K, Fang Y, Fang H, Dai JS(2010). Geometry and constraint analysis of the three-spherical kinematic chain based parallel mechanism. Journal of Mechanisms and Robotics vol. 2, (3)
10.1115/1.4001783
Li D, Zhang Z, Dai J, Zhang K(2010). Overview and prospects of metamorphic mechanism. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering vol. 46, (13) 14-21.
10.3901/JME.2010.13.014
Zhang K, Dai JS, Fang Y (2009). A new metamorphic mechanism with ability for platform orientation switch and mobility change. Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009. 596-602.
Zhang K, Fang Y, Guo S(2009). Design and analyses of a novel 3-DOF parallel mechanism. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering vol. 45, (1) 68-72.
10.3901/JME.2009.01.068
Huai C, Fang Y, Zhang K (2008). Gait design and stable control for a symmetrical four-legged robot on irregular terrain. Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 7455-7459.
10.1109/WCICA.2008.4594082
Zhang K, Fang Y, Fang H(2007). Design and analysis of a rover mechanism based on the metamorphic principle. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics vol. 33, (7) 838-841.
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