Mechanism and Machine Theory最新文献

A methodology for investigating the influence of hydrodynamic effects in gerotor type positive displacement machines 一种研究流体力学效应对转动式容积机影响的方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-16 DOI: 10.1016/j.mechmachtheory.2024.105836

Matthew Read

引用次数: 0

Two PRBMs of Euler spiral segments and their chained models for analyzing general curved beams in compliant mechanisms 两种欧拉螺旋线段 PRBM 及其链式模型，用于分析顺变机构中的一般曲线梁

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-15 DOI: 10.1016/j.mechmachtheory.2024.105838

Weisheng Wang, Mohui Jin, Zewei Li, Mingyu Qu, Xing Xu

{"title":"Two PRBMs of Euler spiral segments and their chained models for analyzing general curved beams in compliant mechanisms","authors":"Weisheng Wang, Mohui Jin, Zewei Li, Mingyu Qu, Xing Xu","doi":"10.1016/j.mechmachtheory.2024.105838","DOIUrl":"10.1016/j.mechmachtheory.2024.105838","url":null,"abstract":"<div><div>Utilizing general curved beams can significantly enhance the mechanical properties of compliant mechanisms. However, the large-deflection analysis of general curved beams is still a challenging task. As one of the corresponding analysis methods for curved beams, chained pseudo-rigid-body model (CPRBM) is easy to implement, but requires a fine discretization to guarantee its analysis accuracy. To solve this problem, this paper proposes a new method for constructing coarse-discretization CPRBMs. The proposed method discretizes a curved beam into several segments, and regards each segment as an Euler spiral beam that can be modeled by PRBM. For this purpose, this paper derives the large-deflection equations of the Euler spiral beams with non-zero initial curvature. A 2R PRBM and a 3R PRBM are proposed for this kind of Euler spiral beams. The relationship between PRBM parameters and the initial shape of Euler spiral beams is established. Analysis cases and experiment are used to verify the chained models based on 2R/3R PRBMs. The results show that the coarse-discretization CPRBMs have higher computational efficiency and accuracy than the traditional CPRBM.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105838"},"PeriodicalIF":4.5,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Human–Machine coupled modeling of mandibular musculoskeletal multibody system and its application in the designation of mandibular movement function trainer 下颌骨肌肉骨骼多体系统的人机耦合建模及其在下颌骨运动功能训练器设计中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-13 DOI: 10.1016/j.mechmachtheory.2024.105848

Xinyue Wang , Jianqiao Guo , Jing Wang , Junpeng Chen , Qiang Tian , Chuanbin Guo

{"title":"Human–Machine coupled modeling of mandibular musculoskeletal multibody system and its application in the designation of mandibular movement function trainer","authors":"Xinyue Wang , Jianqiao Guo , Jing Wang , Junpeng Chen , Qiang Tian , Chuanbin Guo","doi":"10.1016/j.mechmachtheory.2024.105848","DOIUrl":"10.1016/j.mechmachtheory.2024.105848","url":null,"abstract":"<div><div>Many patients suffering from oral and maxillofacial tumors present trismus in the six months following mandibulectomy. Traditional mandibular movement function trainers (MMFT) cannot fulfill patient-specific targeted training, but mandibular musculoskeletal modeling can reveal patient-specific muscle recruitment patterns. This study proposed a digital rehabilitation framework for patients via mandibular musculoskeletal simulations. A flexible MMFT consisting of a soft intraoral airbag and a cable-driven extraoral trainer was designed. A human–machine coupling model was established to estimate the patient-specific muscle activations. Here, the intraoral trainer was modeled as a force vector, and the extraoral trainer was discretized by the flexible cable elements via an arbitrary Lagrangian–Eulerian description. Dynamic optimizations were performed to determine the patient-specific auxiliary forces, and the obtained values were utilized to design a quantitative rehabilitation plan. The effectiveness of the MMFT at increasing the magnitude of mandibular opening was validated with <em>in vitro</em> measurements. Numerical predictions for eight patients demonstrated that the proposed rehabilitation framework could improve the patient's jaw opening magnitude by an average of 3.8 ± 2.0 mm, highlighting the importance of subject-specific musculoskeletal modeling in mandibular rehabilitation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105848"},"PeriodicalIF":4.5,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Multi-objective optimization design method for the dimensions and control parameters of curling hexapod robot based on application performance 基于应用性能的卷曲六足机器人尺寸和控制参数多目标优化设计方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-12 DOI: 10.1016/j.mechmachtheory.2024.105831

Yuguang Xiao , Ke Yin , Xianbao Chen , Zhijun Chen , Feng Gao

{"title":"Multi-objective optimization design method for the dimensions and control parameters of curling hexapod robot based on application performance","authors":"Yuguang Xiao , Ke Yin , Xianbao Chen , Zhijun Chen , Feng Gao","doi":"10.1016/j.mechmachtheory.2024.105831","DOIUrl":"10.1016/j.mechmachtheory.2024.105831","url":null,"abstract":"<div><div>The curling hexapod robot is different from previous curling robots, which can mimic the throwing actions of curlers. To ensure its performance, the size and control parameters of the robot need to be optimized. However, there is still a lack of parameter design optimization methods for hexapod curling robots based on application performance and considering the coupling effects of size and control parameters. To meet this demand, this paper combines Simscape Multibody simulation modeling and genetic algorithm to propose a multi-objective optimization method for the dimensions and control parameters of curling hexapod robot based on application performance. This method uses Simscape Multibody to establish a parametric model of the curling robot, and proposes an optimization search method using genetic algorithms based on constraints and objective functions. Finally, the dimensions and control parameters of the curling robot that meet the application performance requirements are solved through the optimization method.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105831"},"PeriodicalIF":4.5,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651273","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators 7-DOF 旋转机械手的冗余参数化和逆运动学

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-12 DOI: 10.1016/j.mechmachtheory.2024.105824

Alexander J. Elias, John T. Wen

{"title":"Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators","authors":"Alexander J. Elias, John T. Wen","doi":"10.1016/j.mechmachtheory.2024.105824","DOIUrl":"10.1016/j.mechmachtheory.2024.105824","url":null,"abstract":"<div><div>Seven-degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance which must be parameterized to fully specify the joint angles for a given end effector pose. Commonly used 7-DOF revolute (7R) industrial manipulators from ABB, Motoman, and KUKA and space manipulators like SSRMS or FREND are conventionally parameterized by the shoulder–elbow–wrist (SEW) angle for path planning and teleoperation. We introduce the general SEW angle which generalizes the conventional SEW angle with an arbitrary reference direction function. Redundancy parameterizations such as the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line which can be out of reach, enlarging the usable workspace. We prove all parameterizations have an algorithmic singularity. Finally, using the general SEW angle and subproblem decomposition, we provide efficient singularity-robust inverse kinematics solutions which are often closed-form but may involve a 1D or 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105824"},"PeriodicalIF":4.5,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bionic concept and synthesis methods of the biomimetic robot joint mechanism for accurately reproducing the motion pattern of the human knee joint 精确再现人体膝关节运动模式的仿生机器人关节机构的仿生概念和合成方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-12 DOI: 10.1016/j.mechmachtheory.2024.105832

Gaohan Zhu, Weizhong Guo, Shixuan Chu

{"title":"Bionic concept and synthesis methods of the biomimetic robot joint mechanism for accurately reproducing the motion pattern of the human knee joint","authors":"Gaohan Zhu, Weizhong Guo, Shixuan Chu","doi":"10.1016/j.mechmachtheory.2024.105832","DOIUrl":"10.1016/j.mechmachtheory.2024.105832","url":null,"abstract":"<div><div>The human knee joint (HKJ) exhibits a complex motion pattern characterized by a coupling of rolling and sliding movements as well as a moving instantaneous center of rotation. Reproducing this motion pattern in robot joints holds significant scientific and engineering value. This paper addresses two primary challenges in the bionic design of the biomimetic robot joint (BRJ): the difficulty in accurately reproducing the required motion and the absence of systematic structural synthesis methods for joint mechanisms. Firstly, a bionic concept is proposed to develop novel BRJ mechanisms based on the in-depth analysis and understanding of the HKJ, which realizes accurate reproduction of the HKJ motion pattern by introducing the higher pair. Then, task-oriented synthesis methods are further investigated to find innovative design solutions in a systematic and efficient way, including the profile synthesis of the higher pair and the structural synthesis of the overall mechanism. Finally, a case study of the four-link BRJ mechanism validates the effectiveness of the proposed method, resulting in innovative design schemes with potential applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105832"},"PeriodicalIF":4.5,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Reconfiguration and compensation design method for single-DoF closed-chain leg mechanism 单道岔闭链支腿机构的重构和补偿设计方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-08 DOI: 10.1016/j.mechmachtheory.2024.105834

Jianxu Wu , Liang Zeng , Qiang Ruan , Jianduo Guo , Hui Yang , Liping Jing , Yan-an Yao

{"title":"Reconfiguration and compensation design method for single-DoF closed-chain leg mechanism","authors":"Jianxu Wu , Liang Zeng , Qiang Ruan , Jianduo Guo , Hui Yang , Liping Jing , Yan-an Yao","doi":"10.1016/j.mechmachtheory.2024.105834","DOIUrl":"10.1016/j.mechmachtheory.2024.105834","url":null,"abstract":"<div><div>Compared with a wheeled robot propelled by a rotary drive, a legged robot equipped with multiple motors on a single leg possesses superior adaptability, while at the cost of high energy consumption and less velocity. Inspired by the California mite, the design method of reconfigurable closed-chain leg mechanism with single degree of freedom (DoF) is proposed for effective striding and smooth propelling. Furthermore, the lower-mobility closed-chain leg mechanism is more appropriate for obtaining high frequency and fast movement with the merits of simple control system and rotary drive. Firstly, a reconfigurable design is performed in the swing phase for a high-knee motion intermittently driven by a walking motor through dynamic coupling. Secondly, its fluctuations in vertical displacement and horizontal speed are compensated through the contact outline curve and variable speed input in the supporting phase. Finally, the simulated performance is analyzed and compared, and a prototype is fabricated for fluctuating and obstacle-crossing experiments.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105834"},"PeriodicalIF":4.5,"publicationDate":"2024-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Inertial analyses based on the generalized inertia matrix for parallel robots 基于广义惯性矩阵的并联机器人惯性分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-07 DOI: 10.1016/j.mechmachtheory.2024.105827

Zhou Zhou, Clément Gosselin

{"title":"Inertial analyses based on the generalized inertia matrix for parallel robots","authors":"Zhou Zhou, Clément Gosselin","doi":"10.1016/j.mechmachtheory.2024.105827","DOIUrl":"10.1016/j.mechmachtheory.2024.105827","url":null,"abstract":"<div><div>Analyzing the inertial properties is meaningful for parallel robots, especially those interacting with the environment. This paper provides tools for the analysis of the inertial properties of parallel robots based on the generalized inertia matrix (GIM). Since most interactions between the environment and robots happen through the mobile platform, the inertia of the whole robot reflected at the platform is considered. In this framework, the GIM is expressed in Cartesian space to yield inertial characteristics with a clear physical meaning. Then, the inertia of the whole robot is thereby reduced to an equivalent mass/inertia at the platform. Unlike for serial robots, obtaining the GIM of parallel robots in Cartesian space is complex due to the inherent closed-loop structures and the possibility of including two different types of redundancy. Two methods are proposed to solve the mentioned problems, which can simplify the derivations of the required GIMs for parallel robots. Detailed analysis and usages of the proposed methods are given based on different examples, and the results demonstrate the effectiveness of the proposed approaches.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105827"},"PeriodicalIF":4.5,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142651271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft fingers with variable stiffness for space gripping tasks: An assessment 用于空间抓取任务的硬度可变的软手指：评估

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-06 DOI: 10.1016/j.mechmachtheory.2024.105830

Alfredo Puente-Flores, Hirohisa Kojima, Sajjad Keshtkar

{"title":"Soft fingers with variable stiffness for space gripping tasks: An assessment","authors":"Alfredo Puente-Flores, Hirohisa Kojima, Sajjad Keshtkar","doi":"10.1016/j.mechmachtheory.2024.105830","DOIUrl":"10.1016/j.mechmachtheory.2024.105830","url":null,"abstract":"<div><div>The miniaturization of satellites and the problem of uncontrolled space debris demand highly flexible methods for space grippers. Soft grippers have surged as viable alternatives to overcome the limitations of traditional rigid grippers, such as lack of adaptability and dexterity. Although existent models have shown promising features, most have a high part count or make use of actuation systems that are inadequate for space, like pneumatic pumps or temperature-dependent materials. This work introduces novel designs of soft fingers that address the inherent challenges of grasping objects in space while overcoming these limitations. The proposed fingers use compliant structures based on several geometries of metamaterials. A detailed compliance and compressibility analysis is conducted using finite element methods to highlight the performance and behavior of each proposed design. Prototypes were fabricated, and their ability to exhibit different modes of actuation (variability in stiffness) by tendon compression was confirmed. The most apt design was selected and showcased in a three-fingered gripper to demonstrate the ability to grasp a given set of geometries with different sizes.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"203 ","pages":"Article 105830"},"PeriodicalIF":4.5,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142592633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Tensor based approach for tooth contact analysis of planar and spatial gearing contact 基于张量的平面和空间齿轮接触齿接触分析方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-06 DOI: 10.1016/j.mechmachtheory.2024.105828

Michał Batsch

{"title":"Tensor based approach for tooth contact analysis of planar and spatial gearing contact","authors":"Michał Batsch","doi":"10.1016/j.mechmachtheory.2024.105828","DOIUrl":"10.1016/j.mechmachtheory.2024.105828","url":null,"abstract":"<div><div>This paper presents a new method for analysing gear tooth contact, leveraging tensor notation and discrete differential geometry. Existing analytical and numerical methods often face challenges in convergence and computational efficiency. Our proposed approach involves defining a novel tensor notation and applying it to the gear tooth contact kinematics problem. By discretizing the tooth surfaces and using tensor operations, we can accurately determine the kinematics, path of contact, and transmission error of the gear pair. To validate our approach, we compared its results with those obtained from commercial software, KISSsoft and KiMOS. The results demonstrated high accuracy, with mean absolute errors below 0.08 for specific sliding, 0.003 for sliding factor, and <span><math><mrow><mn>0</mn><mo>.</mo><mn>1</mn><mspace></mspace><mi>μ</mi><mi>m</mi></mrow></math></span> for transmission error. Furthermore, we applied our method to analyse non-involute gear types, such as S-gears, pin gearing and cosine gears. Our findings revealed the kinematic performance and contact characteristics of these gear types, providing valuable insights for gear design and optimization. In conclusion, the proposed tensor-based approach offers a promising alternative for gear tooth contact analysis, providing accurate and efficient results for a wide range of gear types.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"203 ","pages":"Article 105828"},"PeriodicalIF":4.5,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142592627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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