Mechanism and Machine Theory最新文献

Design and analysis of modular array deployable antenna mechanism based on one Waterbomb-Ori and four Miura-Ori basic unit mechanism 基于1个水弹- ori和4个Miura-Ori基本单元机构的模块化阵列展开天线机构设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-05-01 Epub Date: 2026-02-05 DOI: 10.1016/j.mechmachtheory.2026.106372

Yan Wang, Yuantu Duan, Hui Yang

{"title":"Design and analysis of modular array deployable antenna mechanism based on one Waterbomb-Ori and four Miura-Ori basic unit mechanism","authors":"Yan Wang, Yuantu Duan, Hui Yang","doi":"10.1016/j.mechmachtheory.2026.106372","DOIUrl":"10.1016/j.mechmachtheory.2026.106372","url":null,"abstract":"<div><div>The advancement of the aerospace industry necessitates the implementation of deployable space mechanisms. Spaceborne planar antennas must exhibit high stiffness, exceptional precision, and robust stability to withstand the harsh conditions of the space environment. This research introduces the design of the modular array deployable antenna (MADA) mechanism. A multi-vertex hybrid crease basic unit with three degrees of freedom (DoFs) is developed, consisting of one Waterbomb-Origami (Waterbomb-Ori) basic unit and four Miura-Origami (Miura-Ori) basic units (1W4M). Employing thick-panel origami theory, a zero-thickness model of the 1W4M crease basic unit is systematically constructed. Based on this model, the MADA mechanism is proposed. A kinematic model of the MADA mechanism is derived using the closed vector method. The theoretical results are validated through simulation studies. A dynamic model of the MADA mechanism is established, and the deployment process is optimized according to mechanism equilibrium theory to improve operational stability. Finally, a prototype of the MADA mechanism is fabricated, and agreement between real models and numerical simulations demonstrates the ability of the proposed methodology to confirm its practical feasibility.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"221 ","pages":"Article 106372"},"PeriodicalIF":4.5,"publicationDate":"2026-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116726","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

Integrating the elastic surroundings into multibody simulation of rolling bearings 将弹性环境融入滚动轴承多体仿真

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-22 DOI: 10.1016/j.mechmachtheory.2026.106365

Tobias Baumann , Bodo Hahn , Stephan Tremmel

{"title":"Integrating the elastic surroundings into multibody simulation of rolling bearings","authors":"Tobias Baumann , Bodo Hahn , Stephan Tremmel","doi":"10.1016/j.mechmachtheory.2026.106365","DOIUrl":"10.1016/j.mechmachtheory.2026.106365","url":null,"abstract":"<div><div>Rolling bearings provide secure guidance and load transmission only with sufficient support from the surrounding components (housing, gear body, shaft). In some cases, such as planetary gear bearings or large-size bearings, the stiffness of the bearing surroundings can affect the internal bearing dynamics. Therefore, this article presents a new, computationally efficient method for integrating elastic surroundings, including the rings, into multibody simulation of rolling bearings. Elastic modeling is based on a component mode synthesis method and the floating frame of reference formulation. For the contact calculation between rolling element and ring, a slice model is extended to deformed ring surfaces. The method is applied to spherical roller bearings. Minor mean errors of <4% in the load distribution verify the implemented contact search and force calculation. Additional evaluations of the rolling element speed confirm the correct kinematics of the rolling elements. A plummer block housing demonstrates that the method can account for inhomogeneous stiffness distributions and is not restricted to simple, symmetrical surroundings. Furthermore, it was found that outer ring deformations can lead to increased bearing vibrations.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106365"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146023468","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

Automated kinetostatic modeling approach for flexure-based mechanisms 基于柔性机构的自动动静力建模方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-14 DOI: 10.1016/j.mechmachtheory.2026.106360

Houqi Wu, Guimin Chen

{"title":"Automated kinetostatic modeling approach for flexure-based mechanisms","authors":"Houqi Wu, Guimin Chen","doi":"10.1016/j.mechmachtheory.2026.106360","DOIUrl":"10.1016/j.mechmachtheory.2026.106360","url":null,"abstract":"<div><div>Modeling the kinetostatics of a flexure-based mechanism is crucial for characterizing its performances and optimizing its parameters. However, the kinetostatic modeling is always a very complicated and error-prone process because it involves formulating not only the loop-closure equations, but also a large number of load equilibrium equations. In this work, we present a general approach that can automatically generate kinetostatic models for planar flexure-based mechanisms. The proposed approach represents the topological structure of a flexure-based mechanism using an incidence matrix and a path matrix, based on which the loop-closure equations and load equilibrium equations are uniformly formulated. These equations are simultaneously solved for the kinetostatic behaviors of the mechanism. All the load equilibrium equations are formulated at vertices instead of links, which eliminates the need of introducing virtual hinges. The automated approach is implemented in an integrated software package with graphical user interface to facilitate the kinetostatic modeling of various flexure-based mechanisms. The effectiveness of the proposed approach is demonstrated by three examples, including a flexure-based displacement amplifier, a microscopic rotation converter, a planar parallel 3-DOF nanopositioner, and a double-output mechanism showing its accuracy and broad applicability.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106360"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145978998","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 bi-level geometrical optimization framework for tailoring kinetostatic behavior of compliant bistable mechanisms 柔性双稳机构动静态行为裁剪的双层几何优化框架

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-03 DOI: 10.1016/j.mechmachtheory.2025.106338

Tinghao Liu , Ming Zhou , Guangbo Hao

{"title":"A bi-level geometrical optimization framework for tailoring kinetostatic behavior of compliant bistable mechanisms","authors":"Tinghao Liu , Ming Zhou , Guangbo Hao","doi":"10.1016/j.mechmachtheory.2025.106338","DOIUrl":"10.1016/j.mechmachtheory.2025.106338","url":null,"abstract":"<div><div>Compliant bistable mechanisms possess two distinct stable equilibrium configurations and can remain in either state without continuous external energy input, making them attractive for compact and energy-efficient applications. However, many existing designs are constrained by limited design flexibility due to simple geometries or are highly sensitive to manufacturing errors. Lumped-compliance mechanisms provide a balanced solution, combining ease of fabrication, moderate complexity and tunability. Leveraging these advantages, this work proposes a bi-level optimization framework to tailor the kinetostatic behavior of bistable mechanisms. For upper level, heuristic algorithms are applied to explore distinct configurations of bistable mechanisms, while the lower level employs the CoSCME method to evaluate large-deformation kinetostatic responses for each candidate configuration. The framework is demonstrated in two case studies that target bistable mechanisms with symmetric switching forces and approximately linear negative stiffness. The optimized designs are further validated through nonlinear FEA simulations and experimental tests, confirming the accuracy and practical feasibility of the approach. This study thus establishes a performance-driven and extensible methodology for compliant mechanism design, with promising applications in multistable structures, mechanical metamaterials, and programmable systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106338"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145886040","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

Spectral distribution decomposition and its application in gearbox fault diagnosis 谱分布分解及其在齿轮箱故障诊断中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-15 DOI: 10.1016/j.mechmachtheory.2026.106359

Decai Li , Guofeng Wang , Mian Zhang , Wei Dai

{"title":"Spectral distribution decomposition and its application in gearbox fault diagnosis","authors":"Decai Li , Guofeng Wang , Mian Zhang , Wei Dai","doi":"10.1016/j.mechmachtheory.2026.106359","DOIUrl":"10.1016/j.mechmachtheory.2026.106359","url":null,"abstract":"<div><div>Existing signal decomposition algorithms suffer from mode mixing, decomposition instability, and poor noise resistance, hindering subsequent feature extraction and fault diagnosis. To address these issues, this paper proposes a spectral distribution decomposition (SDD) algorithm based on the spectral probability density function (SPDF) for gearbox fault diagnosis. The proposed SDD employs a spectral distribution strategy utilizing maximum broadcasting and Gaussian kernel convolution to transform raw spectra into the SPDF, which characterizes signal distribution properties. Integrating the SPDF with the expectation-maximization (EM) algorithm, SDD decomposes signals into multiple distribution mode functions (DMFs) with well-defined frequency boundaries and a residual signal. For gearbox fault diagnosis, an adaptive filtering strategy incorporating SDD is developed to extract fault-related frequency bands and diagnosis indicators. Comparative simulations with well-known decomposition techniques, together with experimental tests on the fault diagnosis of laboratory gearboxes and actual wind turbine gearboxes, demonstrate the effectiveness and superiority of the proposed approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106359"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145979000","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

An efficient data-driven framework of hybrid dynamics for real-time modeling and control of continuum robots 连续体机器人实时建模与控制的高效数据驱动混合动力学框架

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-16 DOI: 10.1016/j.mechmachtheory.2026.106361

Yuhang Liu , Kai Luo , Qiang Tian , Haiyan Hu

{"title":"An efficient data-driven framework of hybrid dynamics for real-time modeling and control of continuum robots","authors":"Yuhang Liu , Kai Luo , Qiang Tian , Haiyan Hu","doi":"10.1016/j.mechmachtheory.2026.106361","DOIUrl":"10.1016/j.mechmachtheory.2026.106361","url":null,"abstract":"<div><div>Continuum robots exhibit exceptional compliance and adaptability. However, their intrinsic nonlinear dynamics poses significant challenges for real-time control under dynamic conditions. This paper presents a new data-driven framework of hybrid dynamics (HD) for modeling and control of continuum robots. This framework decomposes the nonlinear dynamics of a continuum robot into the nonlinear statics of global deformation and the linear dynamics of relative vibration, and leads to two sub-models of global deformation statics (GDS) and relative motion dynamics (RMD) via different data-driven approaches. The first sub-model uses a deep neural network to predict nonlinear static deformations, while the second sub-model utilizes dynamics mode decomposition for relative vibration compensation. The nonlinear integration of the two sub-models establishes the physics-embedded data-driven model with reduced complexity. Combining quasi-static positioning and model-predictive vibration suppression leads to design of a hierarchical dynamic controller. The experiments of a cable-driven continuum robot demonstrate precise trajectory tracking and effective vibration suppression under payload and high-speed conditions. This data-driven modeling and control framework balances computational efficiency and control performance, enabling practical advances of continuum robots under complex working scenarios.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106361"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145978999","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

An offline path planning framework for reconfigurable cable-driven parallel mechanisms via Lie algebra interpolation 基于李代数插值的可重构缆索驱动并联机构离线路径规划框架

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-14 DOI: 10.1016/j.mechmachtheory.2025.106349

Zhenkun Liang , Zhengtao Chen , Shujie Tang , Lingyu Kong , Hao Wang , Genliang Chen

{"title":"An offline path planning framework for reconfigurable cable-driven parallel mechanisms via Lie algebra interpolation","authors":"Zhenkun Liang , Zhengtao Chen , Shujie Tang , Lingyu Kong , Hao Wang , Genliang Chen","doi":"10.1016/j.mechmachtheory.2025.106349","DOIUrl":"10.1016/j.mechmachtheory.2025.106349","url":null,"abstract":"<div><div>The workspace of cable-driven parallel mechanisms (CDPMs) is generally non-convex. To overcome workspace limitations and cable interference, reconfigurable cable-driven parallel mechanisms (RCDPMs) utilize inherent motion redundancy, which, however, introduces additional complexity into the path planning due to more intricate constraints and increased degrees of freedom. This paper proposes an offline path planner capable of identifying feasible paths within a 6-D non-convex workspace, applicable to both CDPMs and RCDPMs. The kinematic, statics and physical constraints relevant to offline path planning are thoroughly described. Special attention is given to an enhanced method developed for detecting inter-cable interference. Bézier interpolations are employed within Lie algebra space to establish the initial path point sequence. An approach for selecting auxiliary control points is introduced, ensuring that the generated paths maintain <em>C</em><sup>2</sup> continuity. To ensure path feasibility, a transit point search method operating within the orthogonal subspace of the initial path is proposed, effectively relocating points from outside the workspace into feasible regions. The attachment points reconfiguration is treated as a dimensional synthesis problem, integrated into both discrete feasibility checks and global path optimization. The effectiveness of the proposed path planner is validated through extensive cases, including rotational, translational, and 6-D motions. Furthermore, a simple prototype is constructed to verify the correctness.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106349"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145978997","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 model of lubricated contact for spur gears 一种新的正齿轮润滑接触模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-07 DOI: 10.1016/j.mechmachtheory.2025.106334

Laís Carrer , Laís Bittencourt Visnadi , Natalia Akemi Hoshikawa Tsuha , Katia Lucchesi Cavalca , Helio Fiori De Castro

引用次数: 0

Non-inertial multi-DOF dynamic modeling and experimental analysis of marine gear systems subjected to wave-induced motions 船舶齿轮系统受波浪运动影响的非惯性多自由度动力学建模与实验分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-06 DOI: 10.1016/j.mechmachtheory.2025.106343

Yiwei Hu , Zheming Tong , Xianmiao Yang , Shuiguang Tong , Huadong Ying , Peicheng Zhang

{"title":"Non-inertial multi-DOF dynamic modeling and experimental analysis of marine gear systems subjected to wave-induced motions","authors":"Yiwei Hu , Zheming Tong , Xianmiao Yang , Shuiguang Tong , Huadong Ying , Peicheng Zhang","doi":"10.1016/j.mechmachtheory.2025.106343","DOIUrl":"10.1016/j.mechmachtheory.2025.106343","url":null,"abstract":"<div><div>Marine gear transmission systems are subjected to complex dynamic excitations from wave-induced motions. These non-inertial effects lead to nonlinear system behavior and an increased risk of resonance. This study presents a non-inertial multiple degree-of-freedom (DOF) dynamic model for marine gear systems, which incorporates inertial and gyroscopic effects through reference frame transformations and kinematic decomposition. To validate the model, a 6-DOF vibration test platform is developed to simulate periodic platform motions. Experiments under fixed, heaving, and rolling conditions confirm the accuracy of the dynamic model. The results reveal that platform heaving motion primarily excites the lateral bending mode through meshing stiffness modulation, increasing lateral bending vibration by up to 6.06 %, and intensifying meshing impacts. In contrast, rolling motion injects energy into the torsional mode via inertia‑induced phase modulation, producing a 48.23 % amplification of torsional response and a 32.5 % stronger modulation effect than heaving. Time‑frequency results indicate that rolling leads to intensified nonlinear modulation coupling with higher spectral energy and frequency drift. The quantified analysis provides design guidance for optimizing structural stiffness and damping of marine gear systems operating under non‑inertial platform motions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106343"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145927892","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

Obtaining selectable optimal configurations in compliant mechanisms through mapping of load characteristics with higher-order Bézier curves 通过负载特性与高阶bsamzier曲线的映射，获得柔性机构可选择的最优构型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-19 DOI: 10.1016/j.mechmachtheory.2026.106363

Zhenfeng Wu , Jierong Li , Rixin Wang , Yang Shen , Xianmin Zhang , Hai Li , Andrés Kecskeméthy , Benliang Zhu

{"title":"Obtaining selectable optimal configurations in compliant mechanisms through mapping of load characteristics with higher-order Bézier curves","authors":"Zhenfeng Wu , Jierong Li , Rixin Wang , Yang Shen , Xianmin Zhang , Hai Li , Andrés Kecskeméthy , Benliang Zhu","doi":"10.1016/j.mechmachtheory.2026.106363","DOIUrl":"10.1016/j.mechmachtheory.2026.106363","url":null,"abstract":"<div><div>This paper aims to address the challenge of configuration selection for quantitative load output in compliant mechanisms. It generalizes the chained beam constraint model (CBCM) based on high-order Bézier curves and establishes a beam shape optimization model for load characteristics, further obtaining configuration atlases suitable for active selection that correspond to Bézier curves of different orders. Additionally, the study proposes an adaptive node division strategy to ensure model accuracy, derives the gradient information of the CBCM to improve computational efficiency, and clarifies the dimensionality reduction conditions for applying the proposed model to optimization problems. On this basis, it conducts optimization analyses for global and local intervals respectively, targeting linear output and constant output objectives. Rotational hinges and translational hinges are used as case studies, and the accuracy and effectiveness of the proposed method are fully verified through simulations and experiments. Finally, the method is applied to humanoid dexterous finger joint configurations with narrow design spaces, completing application verification for variable-stiffness joint design. This demonstrates the method’s engineering practicality and value, supporting compliant mechanism compatibility design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106363"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146023470","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