Mechanical Sciences最新文献_第4页

Kinematic and dynamic characteristics' analysis of a scissor multi-rod ring deployable mechanism 剪刀式多杆环展开机构的运动学与动力学特性分析

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-04-21 DOI: 10.5194/ms-14-193-2023

Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, Yongsheng Zhao

{"title":"Kinematic and dynamic characteristics' analysis of a scissor multi-rod ring deployable mechanism","authors":"Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, Yongsheng Zhao","doi":"10.5194/ms-14-193-2023","DOIUrl":"https://doi.org/10.5194/ms-14-193-2023","url":null,"abstract":"Abstract. In this paper, the authors developed a double-layer ring truss deployable antenna mechanism (RTDAM) based on a scissor unit, which can be used as the deployment and support mechanism in large-aperture satellite antenna. Firstly, three configuration state diagrams of the scissor multi-rod RTDAM were displayed: folded, half-deployed, and deployed. The mechanism was decomposed into a closed-ring deployable mechanism unit and several non-closed-ring deployable mechanism units. The screw constraint topological diagram of the closed-ring deployable mechanism unit was drawn, and the number of degrees of freedom (DOFs) was calculated via the screw theory method. Then, the expressions for screw velocity and screw acceleration of each component in the resultant mechanism were analyzed, calculated, and solved. The screw velocity and screw acceleration of each component were obtained, and the six-dimensional velocity and acceleration of each component were obtained through screw conversion and recursion. Finally, using the Newton–Euler equation and virtual work principle, the dynamic equation of the RTDAM with an integral scissor multi-rod ring truss mechanism was established, and the theoretical analysis was validated through numerical calculation and simulation results. The RTDAM of the scissor multi-rod ring truss proposed in this paper has a single DOF and can be well applied to the large-aperture satellite antenna.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44522692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck 防止过度约束连杆卡住的运动副间隙综合

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-04-12 DOI: 10.5194/ms-14-171-2023

Jian Qi, Yuan Gao, Fufu Yang

引用次数: 0

Surface quality improvement for 316L additive manufactured prototype based on magnetorheological polishing 基于磁流变抛光的316L增材制造样机表面质量改进

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-04-12 DOI: 10.5194/ms-14-179-2023

N. She, Tao Gong, Bingsan Chen, Minrui Lu, Y. Xu, Xiao-dong Peng

{"title":"Surface quality improvement for 316L additive manufactured prototype based on magnetorheological polishing","authors":"N. She, Tao Gong, Bingsan Chen, Minrui Lu, Y. Xu, Xiao-dong Peng","doi":"10.5194/ms-14-179-2023","DOIUrl":"https://doi.org/10.5194/ms-14-179-2023","url":null,"abstract":"Abstract. Additive manufacturing has attracted increasing attention in recent years due to its flexibility and near-net shaping advantages.\u0000Although recent advancements in metal additive manufacturing accuracy have\u0000met the post-processing requirement for dimensional tolerance, the finishing post-processing of functional surfaces must be further investigated in conjunction with material characteristics. This research aims to investigate the use of a flexible process in the polishing of additive molding samples. As an example, the surface of a 316L stainless steel sample formed by powder\u0000bed laser melting was polished using magnetorheological polishing\u0000technology. Magnetic field simulation was used to create a longitudinally\u0000staggered magnetorheological polishing tool. Surface roughness and residual\u0000stress were studied with process parameters such as abrasive content,\u0000magnetic particle content, machining gap, and spindle speed. Results show\u0000that the polishing effect is better at 4 % and 40 % abrasive and\u0000magnetic particles, respectively. The surface roughness Ra is 99 nm when the working gap is 0.6 mm, the surface roughness Ra value is the lowest when the spindle speed is 600 r min−1. The surface roughness was reduced to 61.43 nm\u0000after polishing the sample under improved processing conditions (4 %\u0000abrasive, 40 % magnetic, 0.6 mm working clearance, 600 r min−1 spindle speed). A nano-scale smooth surface can be obtained by powder bed laser melting and magnetorheological polishing of 316L stainless steel.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48992591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators 基于形状记忆合金弹簧执行器的柔性仿生肘外骨骼设计

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-03-27 DOI: 10.5194/ms-14-159-2023

Qiaolian Xie, Qiaoling Meng, Wenwei Yu, R.-Q. Xu, Zhiyu Wu, Xiaoming Wang, Hongliu Yu

{"title":"Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators","authors":"Qiaolian Xie, Qiaoling Meng, Wenwei Yu, R.-Q. Xu, Zhiyu Wu, Xiaoming Wang, Hongliu Yu","doi":"10.5194/ms-14-159-2023","DOIUrl":"https://doi.org/10.5194/ms-14-159-2023","url":null,"abstract":"Abstract. Shape memory alloy (SMA) is a kind of active deformation\u0000material with a self-sensing and driving ability. It is very similar to the\u0000performance of human muscles, and through temperature changes to produce phase\u0000changes to output force and displacement, it has the ability to restore the\u0000initial shape and size. The combination of SMA and wearable robotic\u0000technology has the advantages of being light weight, energy-saving, and having great\u0000human–exoskeleton interaction. However, the existing flexible exoskeletons\u0000driven by SMA are only designed with bionic primary muscles, ignoring the\u0000role of antagonistic muscles. This study presents a novel soft bionic elbow\u0000exoskeleton based on SMA spring actuators (Sobee-SMA). The exoskeleton\u0000adopts a bionic design, combining active deformation material SMA and a high-elastic-material rubber band to simulate the contraction and relaxation of elbow skeletal muscles. Through a pulse width modulation (PWM) experiment, the driving voltage\u0000is selected as 12 V, the PWM duty cycle is 90 % during heating, and the\u0000PWM duty cycle is 18 % during heat preservation. In a relaxed state of\u0000healthy subjects, the range of motion of the elbow is about 0–80∘, and the maximum temperature is about 60–70 ∘C. During the\u0000circular movement of the elbow, the maximum temperature can be maintained\u0000within the SMA operating temperature without a high temperature. In\u0000conclusion, the exoskeleton provides elbow-assisted motion and ensures the\u0000safety of the heating process.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43429160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Composite synchronization of three inductor motors with a circular distribution by a fuzzy proportional–integral–derivative method in a vibration system 用模糊比例-积分-导数法实现振动系统中三台圆形分布电感电机的复合同步

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-03-23 DOI: 10.5194/ms-14-143-2023

Lei Jia, Jiankang Yang, Xiaojiao Gu, Ziliang Liu, Xiaoying Ma

{"title":"Composite synchronization of three inductor motors with a circular distribution by a fuzzy proportional–integral–derivative method in a vibration system","authors":"Lei Jia, Jiankang Yang, Xiaojiao Gu, Ziliang Liu, Xiaoying Ma","doi":"10.5194/ms-14-143-2023","DOIUrl":"https://doi.org/10.5194/ms-14-143-2023","url":null,"abstract":"Abstract. In this article, the composite synchronization of three inductor motors with a circular distribution by a fuzzy PID (proportional–integral–derivative) method in a vibration system is investigated. The composite synchronization motion is comprised of self-synchronization and controlled synchronization motions. In the self-synchronization section, the electromechanical coupling dynamical model of the vibration system is established by introducing an inductor motor model into the dynamic model. The responses of the vibrating system are calculated, and the synchronous condition and stability criterion are both derived. With the controlled synchronization section, a\u0000master–slave controlling strategy and fuzzy PID method are applied on the\u0000controlling model. The stability of the control system is proved by the\u0000Lyapunov stability theory. A series of simulations are employed to demonstrate the practicability of the designed method. Finally, some experiments are conducted to verify the effectiveness of the proposed control method in practical application. The proposed control method exhibits a superior ability to satisfy the control of multiple motors, to be accurate in targeting the rotational speed arrival, and to be strongly robust against uncertainties and disturbances. The composite synchronization theory introduces a novel concept to design and develop types of vibration equipment.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45707602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dimensional synthesis of a spherical linkage crank slider mechanism for motion generation using an optimization algorithm 采用优化算法对球面连杆曲柄滑块机构的运动生成进行了尺寸综合

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-03-17 DOI: 10.5194/ms-14-125-2023

Wei Zhang, Z. Liu, Wenrui Liu, Jianwei Sun, He Lu

{"title":"Dimensional synthesis of a spherical linkage crank slider mechanism for motion generation using an optimization algorithm","authors":"Wei Zhang, Z. Liu, Wenrui Liu, Jianwei Sun, He Lu","doi":"10.5194/ms-14-125-2023","DOIUrl":"https://doi.org/10.5194/ms-14-125-2023","url":null,"abstract":"Abstract. In the present study, Fourier theory is applied to establish the expression of rigid-body poses of a spherical four-bar crank slider rigid-body guidance mechanism. According to an analysis of the harmonic components of the trajectory curve and rigid-body rotation angle, it has a certain relationship with the geometric parameters of the mechanism. On this basis, the rigid-body poses are normalized by preprocessing. Then, the rotation angle of the curve around the y axis and z axis is determined, respectively. The theoretical formulas used for calculating the real sizes\u0000and the installation position parameters of the desired spherical four-bar\u0000crank slider rigid-body guidance mechanism are established. Besides this, a\u0000genetic optimization algorithm and theoretical formulas are applied to solve the dimensional synthesis of motion generation for the spherical four-bar crank slider mechanism. The effectiveness of the proposed method is\u0000illustrated by an example. The maximum Euclidean distance error of the rigid-body position of the results with the highest similarity is 0.0086, and the\u0000average Euclidean distance error is 0.0044. The maximum error of the rigid-body orientation is 0.0179, and the average error is 0.0065.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48423682","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A versatile end effector for grabbing and spreading of flaky deformable object manipulation 一种用于抓取和展开片状可变形物体的通用末端执行器

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-03-13 DOI: 10.5194/ms-14-111-2023

Yuan Huan, Gongchang Ren, Xiangyu Su, W. Tian

引用次数: 0

Design and kinematics of a lightweight cruciform continuum robot 轻型十字形连续体机器人的设计与运动学

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-03-02 DOI: 10.5194/ms-14-99-2023

Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi Kong, Kunming Zhu

{"title":"Design and kinematics of a lightweight cruciform continuum robot","authors":"Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi Kong, Kunming Zhu","doi":"10.5194/ms-14-99-2023","DOIUrl":"https://doi.org/10.5194/ms-14-99-2023","url":null,"abstract":"Abstract. The design of new lightweight and dexterous configurations is a major\u0000research focus for continuum robotics. This work proposes a cruciform\u0000continuum robot. Its unique feature is that it is formed by multiple\u0000cruciform-arranged elastic sheets with a single dimension of motion\u0000connected in series, and thus it has low-coupling motion characteristics. In\u0000addition, the cruciform continuum robot has the advantages of lighter weight\u0000(65 g), better dexterity, and higher motion accuracy. In this paper, the\u0000forward and inverse kinematics models of the cruciform continuum robot are\u0000established by geometric methods based on the assumption of constant\u0000curvature, and its workspace is analysed. It is experimentally verified that\u0000the tip position errors are less than 1 mm, and the cable length errors are\u0000less than 0.4 mm. Further, the cruciform continuum robot is successfully\u0000used for the nucleic acid detection simulation experiment, which confirms\u0000its good dexterity and man–machine safety. The main contribution of this\u0000paper is to provide a new configuration for the lightweight and dexterous\u0000continuum robots, and to further provide a reference method for improving their\u0000modelling accuracy from the perspective of structure.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43015942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot 基于改进人工势场的5自由度弯曲机器人避障路径规划

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-02-24 DOI: 10.5194/ms-14-87-2023

Q. Jiang, Kai Cai, Fengyu Xu

引用次数: 1

Parameter optimization of a pure electric sweeper dust port by a backpropagation neural network combined with a whale algorithm 基于反向传播神经网络和鲸鱼算法的纯电动清扫器除尘口参数优化

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2023-02-23 DOI: 10.5194/ms-14-47-2023

Jiabao Pan, Jin Ye, Hejin Ai, Jiamei Wang, You Wan

{"title":"Parameter optimization of a pure electric sweeper dust port by a backpropagation neural network combined with a whale algorithm","authors":"Jiabao Pan, Jin Ye, Hejin Ai, Jiamei Wang, You Wan","doi":"10.5194/ms-14-47-2023","DOIUrl":"https://doi.org/10.5194/ms-14-47-2023","url":null,"abstract":"Abstract. Optimizing the structure of the suction port is the key to effectively improving the performance of the sweeping vehicle. The CFD (computational fluid dynamics) method and gas–solid two-phase flow model are used to analyse the influence rule of the structural parameters and the height above ground on the cleaning effect, which is verified by real vehicle tests. The data set was established by an orthogonal test method, and a\u0000BP (backpropagation) neural network was used to fit the structural\u0000parameters and evaluation indexes. The fitting errors were all within 5 %,\u0000indicating that the fitting results of this method were good. According to\u0000the fitting relation of the BP neural network output, the whale algorithm should\u0000be further used to solve the optimal structural parameters. The results show\u0000that the optimal parameter combination is β=63∘, d=168 mm and h=12 mm. The energy consumption of the optimized model is reduced,\u0000and the internal airflow loss is reduced. The particle residence time\u0000becomes shorter, and the particle can flow out from the outlet faster, thus\u0000improving the dust absorption effect. The research can provide a theoretical\u0000reference for performance optimization and parameter matching of sweepers.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45803062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0