Mechanism and Machine Theory最新文献

A physics-based and data-driven framework providing a guideline for state estimation in active magnetic bearing-supported rotors 基于物理和数据驱动的框架为主动磁轴承转子状态估计提供了指导

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106250

Ali Moharrami , Tuhin Choudhury , Gyan Ranjan , Behnam Ghalamchi , Henrik Ebel , Jussi Sopanen

{"title":"A physics-based and data-driven framework providing a guideline for state estimation in active magnetic bearing-supported rotors","authors":"Ali Moharrami , Tuhin Choudhury , Gyan Ranjan , Behnam Ghalamchi , Henrik Ebel , Jussi Sopanen","doi":"10.1016/j.mechmachtheory.2025.106250","DOIUrl":"10.1016/j.mechmachtheory.2025.106250","url":null,"abstract":"<div><div>This study proposes a low-cost methodology for response estimation in rotor systems supported by active magnetic bearings (AMBs). The methodology forms a framework that integrates multidisciplinary physics-based and data-driven modules, enabling reliable and computationally efficient estimations in various operating conditions (OCs). The developments involve a time-domain simulation based on full rotordynamic finite element (FE) modeling, and rigid body-, Kalman filter (KF)-, and machine learning (ML)-based estimations, to make use of their capabilities in suitable OCs and to highlight their weaknesses. Model and data reductions and inclusion of physical information are incorporated into the framework. As a case study, the methodology is implemented for the estimation of unmeasured translational displacements at the actuator locations. Time- and frequency-domain validations with noisy signals prove that the rigid body and KF estimations are unable to track the system dynamics and diverge from the reference simulation in the vicinity of the critical speeds, where ML provides considerably more precise estimates. The effectiveness of multiple approaches in the framework is concluded with an estimation guideline. Modular developments in the framework are proposed for future studies.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106250"},"PeriodicalIF":4.5,"publicationDate":"2025-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270621","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

One-DOF hexagonal thick-panel origami with uniform thickness, flat deployable surface and compact folding 一自由度六边形厚板折纸，厚度均匀，可展开表面平整，折叠紧凑

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106252

Yuanqing Gu , Li Wen , Jiayao Ma , Xiao Zhang , Zhong You , Yan Chen

{"title":"One-DOF hexagonal thick-panel origami with uniform thickness, flat deployable surface and compact folding","authors":"Yuanqing Gu , Li Wen , Jiayao Ma , Xiao Zhang , Zhong You , Yan Chen","doi":"10.1016/j.mechmachtheory.2025.106252","DOIUrl":"10.1016/j.mechmachtheory.2025.106252","url":null,"abstract":"<div><div>Thick-panel origami considers the panel thickness for engineering requirements such as solar arrays and reflectarray antennas. However, it is still a challenge to generate the flat surface for two-dimensional deployable structures based on thick-panel origami. In this paper, a construction method for a family of one-degree-of-freedom (one-DOF) folding assemblies with uniform thickness, flat deployable surface and compact folding is proposed based on hexagonal thick panels. Taking the spatial 8<em>R</em> linkage as the kinematic model of thick-panel unit, the one-DOF mechanism networks of 8<em>R</em> linkages are investigated to create hexagon-based folding assemblies with kinematic compatibility and folding capability. Through flipping transformations and various connection forms, a total of sixteen cases of folding assemblies and their one-DOF mechanism topologies are developed to present flat deployable surfaces and compactly folded advantages. Furthermore, the surface integrality of folding assemblies is presented without physical interference, and the prototype is fabricated to verify kinematic properties. The newly found design strategy and construction method can be readily extended to other polygon-based assemblies with potential applications such as deployable structures for aerospace exploration and architecture.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106252"},"PeriodicalIF":4.5,"publicationDate":"2025-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270622","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-fidelity harmonic balance method: A non-intrusive approach 多保真谐波平衡法：一种非干扰的方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106251

Hady Mohamed , Nils Brödling , Fabian Duddeck

{"title":"Multi-fidelity harmonic balance method: A non-intrusive approach","authors":"Hady Mohamed , Nils Brödling , Fabian Duddeck","doi":"10.1016/j.mechmachtheory.2025.106251","DOIUrl":"10.1016/j.mechmachtheory.2025.106251","url":null,"abstract":"<div><div>This paper presents a novel non-intrusive hierarchical multi-fidelity harmonic balance method (HBM) framework for efficient uncertainty quantification (UQ) of nonlinear frequency response functions (FRFs) with application to gear transmission dynamics. The framework uniquely combines proper orthogonal decomposition (POD) to reduce the dimensionality of HBM-derived Fourier coefficients, enable efficient surrogate modeling in latent space, and retain access to both time- and frequency-domain responses. A key innovation is aligning low- and high-fidelity Fourier coefficient latent spaces via Procrustes analysis to improve the construction of a multi-fidelity surrogate using hierarchical Kriging with polynomial chaos Kriging (PCK) as the trend function. Further, computational efficiency in low-fidelity evaluations is achieved by integrating POD with linear regression for rapid compliance matrix estimation in loaded tooth contact analysis (LTCA). Numerical results demonstrate significant computational savings for uncertain FRF predictions of 5000 Monte Carlo (MC) samples. The proposed novelties represent the first application of hierarchical Kriging across aligned Fourier latent spaces and accelerated LTCA within a scalable framework for moderate-dimensional, vector-valued FRF uncertainty analysis, supporting broad applicability to nonlinear dynamical systems modeled with Frequency domain solvers.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106251"},"PeriodicalIF":4.5,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270644","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

Design and analysis of a portable wrist rehabilitation instrument based on Bricard linkage 基于Bricard连杆的便携式腕部康复仪的设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106253

Shun Yao , Jinyi Lv , Zhuoni Liu , Yuqiao Jiang , Jiangming Kan

引用次数: 0

A Multi-Facet-Effector Soft Robot in Polyhedral Configuration for Multidirectional Function Reuse 面向多面体结构的多面效应软机器人多方位功能复用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106240

Yige Wu , Nan Huang , Shaowu Tang , Xiaohuang Liu , Xianxu Li , Sicong Liu , Juan Yi , Zheng Wang , Jian S Dai

{"title":"A Multi-Facet-Effector Soft Robot in Polyhedral Configuration for Multidirectional Function Reuse","authors":"Yige Wu , Nan Huang , Shaowu Tang , Xiaohuang Liu , Xianxu Li , Sicong Liu , Juan Yi , Zheng Wang , Jian S Dai","doi":"10.1016/j.mechmachtheory.2025.106240","DOIUrl":"10.1016/j.mechmachtheory.2025.106240","url":null,"abstract":"<div><div>Soft robots offer flexibility in unstructured environments, though many designs remain tailored to specific tasks. In this paper, we propose an innovative approach employing Multi-Facet-Effectors (MFEs) in polyhedral configuration for the design of a soft robot. In particular, three Soft-Bellowed Actuators (SBAs) constitute the identical triangle effector in each facet of an octahedral-shaped configuration. Utilizing the effector’s two distinct motion forms—Uniform Scaling Motion (USM) and Coordinated Deformation Motion (CDM), the MFE robot functions both as gulp grippers (MFG) and parallel arms (MFA), exhibiting versatile capabilities without intricate designs. A topological analysis using the POC equation validates MFE design’s 6 degrees-of-freedom (DOFs) movements. The robot exhibits 5 symmetric DOFs and an asymmetric translational DOF along the Z-axis. The rotation around the Z-axis achieving 35.7°. The robot is able to grasp objects within a diameter range of 36.3-109.1 mm, with the maximum holding force up to 7 N. Forward and inverse kinematics models for the MFA movements are established and validated. An RMS error of 1.6 mm in translation and 0.9° in rotation is achieved, with a maximum in-plane error of 3.97 mm. Demonstrations of multi-facet manipulation, climbing, and object retrieval validate the benefits of multidirectional function reuse.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106240"},"PeriodicalIF":4.5,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270643","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

Design method of a T-shaped passive compliant mechanism using assembly force prediction 基于装配力预测的t型被动柔性机构设计方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-07 DOI: 10.1016/j.mechmachtheory.2025.106222

Beichao Shi , Zhichen Huo , Fujun Wang , Cunman Liang , Xiubing Jing , Yanling Tian

{"title":"Design method of a T-shaped passive compliant mechanism using assembly force prediction","authors":"Beichao Shi , Zhichen Huo , Fujun Wang , Cunman Liang , Xiubing Jing , Yanling Tian","doi":"10.1016/j.mechmachtheory.2025.106222","DOIUrl":"10.1016/j.mechmachtheory.2025.106222","url":null,"abstract":"<div><div>Passive compliant mechanisms (PCMs) serve as critical components in micro assembly systems by providing autonomous force regulation during component interactions. This study presents an innovative T-shaped PCM (T-SPCM) design methodology that significantly enhances force modulation capabilities. Through analytical modeling of assembly forces across various operational states, the correlation between structural stiffness and resultant assembly forces is systematically investigated. The proposed framework enables precise parameter determination of T-SPCM to simultaneously satisfy compliance requirements and operational stability constraints. Experimental validation using a functional prototype demonstrates remarkable performance improvement, with maximum assembly force for 0.1° misaligned microobjects decreasing by 79.3 % (from 0.58 N to 0.12 N). These findings provides both theoretical insights and practical guidelines for developing advanced PCM architectures, particularly beneficial for handling delicate microobjects with low structural rigidity.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106222"},"PeriodicalIF":4.5,"publicationDate":"2025-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270642","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

Thermo-cavitation study of helical gears caused by vibration 螺旋齿轮振动引起的热空化研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-06 DOI: 10.1016/j.mechmachtheory.2025.106239

Tiancheng Ouyang , Yinxuan Li , Hongyang Tian , Shaohui Qin , Yang Yang , Yong Chen

{"title":"Thermo-cavitation study of helical gears caused by vibration","authors":"Tiancheng Ouyang , Yinxuan Li , Hongyang Tian , Shaohui Qin , Yang Yang , Yong Chen","doi":"10.1016/j.mechmachtheory.2025.106239","DOIUrl":"10.1016/j.mechmachtheory.2025.106239","url":null,"abstract":"<div><div>In the context of high-precision manufacturing, filling the gap in the study of the correlation between helical gear dynamics and thermo-cavitation has a significant impact on the optimal design of transmission systems. For this purpose, a cavitation two-phase flow research system containing fluid energy, temperature and dynamic model is constructed, aiming at studying the phenomenon of vibration-cavitation under the non-constant flow and variable temperature of oil in helical gear system, analyzing the evolution law of cavitation in the meshing region and revealing the thermo-cavitation generation mechanism under the influence of vibration. Besides, the reliability of the numerical method is assessed by the relative error between the experimental and simulation results. The results show that fluid thermal effect has a significant impact on cavitation at extreme operating conditions, with high speeds being the main factor in the dramatic increase in cavitation. The load profoundly affects the fluctuation of cavitation and the contact surface temperature, but there exists an optimal value to achieve a balance between the two, the value of helix angle between 15° and 20° is a well choice.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106239"},"PeriodicalIF":4.5,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270620","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

A novel heterogeneous polyhedral mechanism for shape morphing application 一种新型异质多面体变形机构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-06 DOI: 10.1016/j.mechmachtheory.2025.106237

Weiming Guo, Jianguo Tao, Hong Xiao, Chen Yao, Hongwei Guo, Guang Yang, Rongqiang Liu

{"title":"A novel heterogeneous polyhedral mechanism for shape morphing application","authors":"Weiming Guo, Jianguo Tao, Hong Xiao, Chen Yao, Hongwei Guo, Guang Yang, Rongqiang Liu","doi":"10.1016/j.mechmachtheory.2025.106237","DOIUrl":"10.1016/j.mechmachtheory.2025.106237","url":null,"abstract":"<div><div>Shape morphing mechanisms (SMMs) have attracted significant interest due to their adaptive shape-change capabilities and superior controllability, particularly in aerospace applications. However, most existing rigid-body SMMs consist of planar mechanisms, which inherently limit their deformation to two dimensions. Three-dimensional(3D) SMMs are generally derived from polyhedral truss structures, yet the design methodologies for this transformation remain underexplored. This article introduces an innovative design methodology that employs loop theory and split vertex technology to convert truss structures into kinematic mechanisms, resulting in a novel SMM. The proposed mechanism significantly enhances continuous shape morphing capabilities in higher dimensions than existing SMMs. Then, a kinematic model is established to analyze the relationship between the transformation modes and distributed actuation. Finally, a two-module prototype SMM is fabricated, and morphing experiments are conducted. The results show that the innovative mechanism can achieve shape extension, spanwise bending, chordwise sweeping, twisting, and verify the effectiveness of the shape morphing model. This mechanism holds promise for advancing the rigid–flexible coupled morphing designs in future aircraft.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106237"},"PeriodicalIF":4.5,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270624","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

σ-modified Lie group generalized-α methods for constrained multibody systems 约束多体系统的σ-修正李群广义-α方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-06 DOI: 10.1016/j.mechmachtheory.2025.106236

Stefan Holzinger , Martin Arnold , Johannes Gerstmayr

{"title":"σ-modified Lie group generalized-α methods for constrained multibody systems","authors":"Stefan Holzinger , Martin Arnold , Johannes Gerstmayr","doi":"10.1016/j.mechmachtheory.2025.106236","DOIUrl":"10.1016/j.mechmachtheory.2025.106236","url":null,"abstract":"<div><div>Efficient and accurate time integration methods are crucial for real-time simulation, optimization and control of constrained multibody systems. This paper presents new Lie group generalized-<span><math><mi>α</mi></math></span> methods that improve accuracy for multibody systems with large rotations. The proposed methods extend the widely used <em>geom1</em> scheme by Brüls and Cardona by introducing a <span><math><mi>σ</mi></math></span>-modification that allows to systematically eliminate a Lie group-specific part of the leading error term without compromising second-order accuracy or zero stability. While optimal accuracy is achieved for a specific choice of <span><math><mi>σ</mi></math></span>, the special case <span><math><mrow><mi>σ</mi><mo>=</mo><mn>1</mn></mrow></math></span> offers notable algorithmic simplicity and minimal computational overhead. The original <em>geom1</em> scheme is recovered by setting <span><math><mrow><mi>σ</mi><mo>=</mo><mn>0</mn></mrow></math></span>. Several numerical benchmarks demonstrate the potential of the proposed Lie group integrators compared to both the original <em>geom1</em> method and conventional formulations based on Euler parameters or Cardan/Tait-Bryan angles.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106236"},"PeriodicalIF":4.5,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270625","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

Dynamic responses and non-probabilistic reliability analysis of flexible manipulator considering clearance joint and multiple uncertainties 考虑间隙关节和多重不确定性的柔性机械臂动态响应及非概率可靠性分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-10-04 DOI: 10.1016/j.mechmachtheory.2025.106235

Zhengfeng Bai , Yuxin Niu , Lewen Cui

{"title":"Dynamic responses and non-probabilistic reliability analysis of flexible manipulator considering clearance joint and multiple uncertainties","authors":"Zhengfeng Bai , Yuxin Niu , Lewen Cui","doi":"10.1016/j.mechmachtheory.2025.106235","DOIUrl":"10.1016/j.mechmachtheory.2025.106235","url":null,"abstract":"<div><div>Joint clearances and uncertain parameters in the space manipulator are inevitable, which adversely affect the motion accuracy and reliability of the manipulator system. In this paper, dynamic model and a novel reliability calculation method are presented to analyze the performance of the flexible manipulator considering clearance joint and multiple uncertainties. Firstly, the nonlinear contact-impact model in the clearance joint is established. Based on the Euler-Bernoulli beam theory, the deformation of the flexible arm is modeled using assumed-mode method. Furthermore, dynamics equations of two-link manipulator are established by utilizing the Lagrange method. The uncertainties are defined as interval parameters, and a Chebyshev-based interval method is proposed to calculate the dynamic response bound of flexible manipulator system with high-dimensional uncertainties. To predict the motion reliability, a limit state function and an innovative non-probabilistic reliability index are proposed. Finally, numerical simulations are implemented to verify the effectiveness of the proposed approaches. Results show that the proposed methods can effectively obtain accurate dynamic responses and reliability prediction, which provide basis for performance evaluation and motion control of manipulator systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106235"},"PeriodicalIF":4.5,"publicationDate":"2025-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145223143","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