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Underactuated mechanisms are mechanical systems with fewer control inputs than degrees of freedom. As this mechanism has many advantages such as light weight, low cost and low energy consumption, many researches have been focused on it in recent years with many valuable fruits. This paper is devoted to presenting the systemic review of the underactuated mechanisms in following aspects: principle, kinematics and dynamics, and controllability of underactuated mechanism. Finally, further research direction on underactuated mechanism is also discussed.

Conceptual design of mechanical transmission system is an early stage in the product design process, which has an essential effect on product innovation. This paper is devoted to presenting a systematic approach to automated conceptual design of multiple input and multiple output mechanical transmission system, based on the functional decomposition strategy. The transmission functional representations, and the integration of motional function matrix with mechanical transmission knowledge base, are proposed. After the method of single input and single output system is proposed, multiple input and single output system, and single input and multiple output system are simplified into single input and single output system. Then the multiple input and multiple output can be also solved by functional decomposition strategy. The mechanical transmission system of a robot is given as an example, which demonstrates that the methodology is obviously helpful for product innovation.

Conceptual design is an early stage of the whole mechatronics product development process, which has an essential effect on product innovation. Conceptual design is a problem-solving activity based on knowledge. This paper is devoted to presenting a systematic knowledge representation of principle solution in conceptual design. The feature based function model, feature based effect model and feature based physical quantities model are introduced. Then the principle solution representation model based on design catalogue is put forwards. The design catalogue of a new robot is given as an example, which demonstrates that this method is obviously helpful for knowledge-based design system and product innovation.

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