Article(id=1281608189506458471, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1281608117335068953, articleNumber=null, orderNo=null, doi=10.16265/j.cnki.issn1003-3033.2026.03.0308, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1758124800000, receivedDateStr=2025-09-18, revisedDate=1765555200000, revisedDateStr=2025-12-13, acceptedDate=null, acceptedDateStr=null, onlineDate=1783488803506, onlineDateStr=2026-07-08, pubDate=1774627200000, pubDateStr=2026-03-28, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1783488803506, onlineIssueDateStr=2026-07-08, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1783488803506, creator=13701087609, updateTime=1783488803506, updator=13701087609, issue=Issue{id=1281608117335068953, tenantId=1146029695717560320, journalId=1146031787341344770, year='2026', volume='36', issue='3', pageStart='1', pageEnd='270', issueExtLink='null', onlineDate='null', pubDate='1774627200000', pubDateStr='2026-03-28', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1783488786300, creator='13701087609', updateTime=1783588670896, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1282027063758533259, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1281608117335068953, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1282027063758533260, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1281608117335068953, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=130, endPage=143, ext={EN=ArticleExt(id=1281608189678424936, articleId=1281608189506458471, tenantId=1146029695717560320, journalId=1146031787341344770, language=EN, title=Unified kinematic modeling theory of water bomb wheel structure of rescue robot, columnId=1277328337617941059, journalTitle=China Safety Science Journal, columnName=Safety Technology and Engineering, runingTitle=null, highlight=null, articleAbstract=

To enhance the obstacle-crossing and terrain adaptability of mobile rescue robots in complex environments such as unstructured scenerios and mine disaster roadways, a variable-diameter wheel based on the waterbomb-origami principle was designed. Addressing the limitation of exisiting modeling approaches for waterbomb wheel structures, which rely on a single basic unit, a unified modeling theory was proposed that incorporates square, rectangular and parallelogram units as fundamental elements. By establishing multi-coordinate kinematic models for the wheel axle layer, wheel support layer, and wheel connection layer, and systematically deriving the corresponding constraint equations, a unified description and parametric analysis of the folding and deployment process of waterbomb wheels with different unit configurations was achieved. The variation trends and effective ranges of key state variables during folding and deployment were studied in detail, and deploy ability tests were conducted on prototype robot models fabricated via multi-material 3D printing. The results show that the kinematic modeling method is applicable to waterbomb wheel structures composed of different basic unit types. The maximum deployed diameter obtained from testing is 124.35 mm, with a 2.5% deviation from the design value, and the deployment ratio reaches 2.015. During testing, it was observed that the fold and deployment process of the actual structure closely matches the kinematic model, demonstrating the strong applicability and accuracy of the proposed modeling theory.

, authors=Zuen SHANG, Peng YANG^**, Jiyang MENG, Qian LIU, Xisheng YU, authorsList=Zuen SHANG, Peng YANG, Jiyang MENG, Qian LIU, Xisheng YU, authorCompany=null, correspAuthors=Peng YANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1281608190190130027, articleId=1281608189506458471, tenantId=1146029695717560320, journalId=1146031787341344770, language=CN, title=救援机器人水弹轮式结构统一运动学建模理论, columnId=1277328337940902469, journalTitle=中国安全科学学报, columnName=安全技术与工程, runingTitle=null, highlight=null, articleAbstract=

为提升移动救援机器人在非结构化场景及矿山灾变巷道等复杂环境中的越障与地形适应能力，设计一种基于水弹折纸原理的可变直径轮；针对现有水弹轮式结构建模基本单元单一的问题，提出一套将正方形、矩形和平行四边形作为基本单元的统一建模理论，通过建立轮尾轴层、轮撑地层及轮连接层的多坐标系运动学模型，并系统推导对应的约束方程组，实现对不同单元构型水弹轮折展过程的统一描述与参数化分析。详细研究折展过程中关键状态变量的变化趋势与有效取值范围，并可展性测试多材料3D打印制造的模型。研究结果表明：运动学建模方法适用于不同类型基本单元组成的水弹轮式结构，可展性测试得到最大折展直径为124.35 mm，与设计值误差为2.5%，折展比达到2.015，在测试过程中发现运动学模型与实际结构折展变化过程基本一致，证明该建模理论具有良好的适用性和准确性。

, authors=尚祖恩副教授, 杨鹏^**, 孟纪阳, 刘倩, 于熙盛, authorsList=尚祖恩副教授, 杨鹏, 孟纪阳, 刘倩, 于熙盛, authorCompany=null, correspAuthors=杨鹏, authorNote=, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=S5dVNlKgujF9Bpv9f4BulA==, magXml=ghaiZGYSheZW8C45qVsPgQ==, pdfUrl=null, pdf=CcE3qUoHf7Maih8stlmmvw==, pdfFileSize=10969295, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=4z1qxbhemstqo7zZ0vDz9Q==, mapNumber=null, fund=null)}, authors=[Author(id=1281608190445982576, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1281608189506458471, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=shangzuen@126.com, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1281608190517285746, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1281608189506458471, authorId=1281608190445982576, language=EN, stringName=Zuen SHANG, firstName=Zuen, middleName=null, lastName=SHANG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=null, address=College of Mechanical Engineering, Liaoning Technical University, Fuxin Liaoning 123000, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1281608190588588915, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1281608189506458471, authorId=1281608190445982576, language=CN, stringName=尚祖恩副教授, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=null, address=辽宁工程技术大学 机械工程学院，辽宁 阜新 123000, bio={"content":"

尚祖恩（1994—），男，辽宁阜新人，博士，副教授，主要从事煤矿智能装备、冲击地压吸能结构、煤矿救援机器人等方面的研究。E-mail: shangzuen@126.com。

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尚祖恩（1994—），男，辽宁阜新人，博士，副教授，主要从事煤矿智能装备、冲击地压吸能结构、煤矿救援机器人等方面的研究。E-mail: shangzuen@126.com。

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