Mechanism and Machine Theory最新文献

A new safe flexible torsion joint design with softening stiffness characteristics

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106015

Ibrahimcan Görgülü, Mehmet Ismet Can Dede, Gökhan Kiper

{"title":"A new safe flexible torsion joint design with softening stiffness characteristics","authors":"Ibrahimcan Görgülü, Mehmet Ismet Can Dede, Gökhan Kiper","doi":"10.1016/j.mechmachtheory.2025.106015","DOIUrl":"10.1016/j.mechmachtheory.2025.106015","url":null,"abstract":"<div><div>This paper introduces a novel flexible joint design that enhances mechanical versatility. The design shows how to obtain bidirectional deflections from a unidirectional spring. It enables the parallel and serial connections of springs. It features multiple stiffness regions determined by applied load levels, eliminating the need for a clutch mechanism. Mechanical limits can be added to customize stiffness, offering more hardening or softening regions. The design also allows for connecting multiple flexible joint units in series. In a case study, the series flexible joint design is developed with two flexible joint units, providing a softening stiffness characteristic. The joint has rigid, stiff, and soft regions. When used as a series elastic actuator in a robot manipulator, the rigid region aims to conduct the tasks at low torque levels, i.e., trajectory tracking. The stiff region is preserved for collaborative tasks in human–robot interaction, while the soft region enhances the robot’s safety in case of control failure or collision. Static and dynamic test results comply with the ideal model. This flexible joint design improves mechanical performance, safety, and adaptability.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106015"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799599","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

Topological and spatial analysis of self-motion manifolds for global redundancy resolution in kinematically redundant robots

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106020

Marc Fabregat-Jaén , Adrián Peidró , Matteo Colombo , Paolo Rocco , Óscar Reinoso

{"title":"Topological and spatial analysis of self-motion manifolds for global redundancy resolution in kinematically redundant robots","authors":"Marc Fabregat-Jaén , Adrián Peidró , Matteo Colombo , Paolo Rocco , Óscar Reinoso","doi":"10.1016/j.mechmachtheory.2025.106020","DOIUrl":"10.1016/j.mechmachtheory.2025.106020","url":null,"abstract":"<div><div>This paper introduces a novel framework for global redundancy resolution in kinematically redundant robots, which have more degrees of freedom than the dimensions required to complete their task. The method is based on the concept of self-motion manifolds (SMMs), which are subsets of the joint space where the robot can move without affecting the task. Given a task trajectory, a sequence of SMMs is generated by building a graph where each node represents a c-bundle, which are sets of SMMs that share the same topology. The graph is then explored to establish feasible paths, from which preliminary joint trajectories are derived. The joint trajectories undergo an iterative optimization process that moves each joint trajectory point along the SMM of the associated task instant. The method is capable of handling kinematic constraints, such as joint limits and collisions, and it is designed to be adaptable to the kinematic complexity of the robot, real-time requirements, or optimality. The effectiveness and global optimality of the method in solving redundancy is validated through simulations with different robots and degrees of redundancy.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106020"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799727","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

Topology design of high-speed and heavy-duty operation robot driven by trajectory

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106013

Jun Li , Chuanying Wang , Dong Wang , Kaixuan Chen , Yimin Song , Tao Sun

{"title":"Topology design of high-speed and heavy-duty operation robot driven by trajectory","authors":"Jun Li , Chuanying Wang , Dong Wang , Kaixuan Chen , Yimin Song , Tao Sun","doi":"10.1016/j.mechmachtheory.2025.106013","DOIUrl":"10.1016/j.mechmachtheory.2025.106013","url":null,"abstract":"<div><div>This paper proposes a trajectory-driven topology design method for the high-speed and heavy-duty operation robot. Firstly, a topology motion trajectory is generated based on the functional requirements of the robot and the characteristics of the stamping process, including end path and link envelopes. A dual mapping relationship is established between the motion trajectory and the topology composition. From this, basic topologies are derived. Secondly, with the performance of the mechanism as the evolution goal, different topology evolution strategies are generated by optimizing the driving joints and coordinating the joint displacements. Depending on the evolution strategies, different evolution patterns are formed. The evolution topologies are generated from the basic topologies in accordance with the evolution patterns. Finally, a multi-level topology evaluation system is established by considering the stamping scenario characteristics, structural design feasibility, and developing screening and comparison criteria. According to the evaluation system, the superior topologies are selected at different levels.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106013"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799721","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

The novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106019

Zhihao Xia , Chunxu Tian , Yongheng Xing , Jie Gu , Luquan Li , Dan Zhang

{"title":"The novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission","authors":"Zhihao Xia , Chunxu Tian , Yongheng Xing , Jie Gu , Luquan Li , Dan Zhang","doi":"10.1016/j.mechmachtheory.2025.106019","DOIUrl":"10.1016/j.mechmachtheory.2025.106019","url":null,"abstract":"<div><div>Compared with traditional parallel mechanisms, decoupled parallel mechanisms exhibit superior motion control capabilities. In this paper, a novel synthesis method for decoupled generalized parallel mechanisms (DGPMs) based on motion transmission is proposed. This method enables the successful construction of passive chains capable of achieving input-output motions with identical rotational/translational directions and proportional velocities in both planar and spatial configurations. Subsequently, DGPMs with diverse motion types are realized by modifying the drive chain while maintaining invariant passive chains. The proposed methodology modularizes the synthesis process, allowing new mechanism designs to be generated simply by altering the input motion type of the drive chain. Furthermore, coupling chains in each branch are optimized through the integration of multiple DGPMs, where their moving platforms are rigidly interconnected to form a more stable multi-branch DGPM architecture. A representative 6-degree-of-freedom (DOF) mechanism is selected for comprehensive performance analysis. Finally, potential applications in assembly and welding manipulators are discussed to illustrate the practical relevance of this mechanism class.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106019"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799726","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 cheat sheet for probability distributions of orientational data

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.105995

P.C. López-Custodio

引用次数: 0

The terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106018

Bo Hu , Jiahe Zhang

{"title":"The terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints","authors":"Bo Hu , Jiahe Zhang","doi":"10.1016/j.mechmachtheory.2025.106018","DOIUrl":"10.1016/j.mechmachtheory.2025.106018","url":null,"abstract":"<div><div>The previous researches on 3-UPU parallel mechanisms (PMs) mainly focused on mechanisms with force and torque type terminal constraints. However, the 3-UPU PMs with screw type constraints have not been investigated. This paper proposes a novel 3-UPU PM with screw type terminal constraints, and systematically studies its analytical terminal constraints and closed form coupled kinematics. Based on the geometric characteristics of the terminal constraint of the particular UPU leg and the geometric property of the second-order screw system, the analytical form terminal constraints of the 3-UPU PM are derived. This type of PMs has high motion coupling at its moving platform, which is different from the traditional lower mobility PMs. By revealing the multiple coupling principle of the kinematic parameters through the kinematics constraint equations, a pose decoupling model of this mechanism is established and the analytical solution of the inverse position problem is derived. Meanwhile, the closed form forward displacement is derived using the Sylvester dialytic elimination method. The work presented in this article provides new insights into the 3-UPU type PMs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106018"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799723","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

Reviewer acknowledgments and awards: Recognition awards for distinction of reviewing in 2024

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106031

Paulo Flores

引用次数: 0

Projective synthesis of planar compliant mechanisms

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106010

O. Sorgonà , O. Giannini , M. Verotti

引用次数: 0

Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-04 DOI: 10.1016/j.mechmachtheory.2025.106016

Shuai Liu , Molong Duan

引用次数: 0

Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-03 DOI: 10.1016/j.mechmachtheory.2025.106000

Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez

{"title":"Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation","authors":"Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez","doi":"10.1016/j.mechmachtheory.2025.106000","DOIUrl":"10.1016/j.mechmachtheory.2025.106000","url":null,"abstract":"<div><div>Origami, the art of folding paper, has been extensively explored for its potential to produce complex structures and enable rapid and precise movements with few folds. The flexibility and low thickness of paper make it ideal for folding, although most engineering applications require stiffer and thicker materials when drawing inspiration from Origami. For that, several techniques have been developed over the years and the double-hinge technique is one of the least explored techniques for thick Origami, even though it shows a major advantage to obtain a fully flat surface in the unfolded state. This advantage makes it ideal when developing solar panels where flat surfaces are required to maximize the absorbed energy. In this work, the Miura Ori pattern, based on the degree-4 vertex coupled with the double-hinge thickness accommodation technique, is analyzed to obtain relationships between the kinematics, thickness, sector angles, and periodicity. It is found that by releasing certain degrees-of-freedom, the double-hinge technique can be used to fold Origami patterns, with flat-foldability and preserving the Origami motion. The findings of this research contribute to a deeper understanding of thickness implications in the double-hinge technique for Origami-based thickness accommodations. This study presents a novel model that has not been previously explored, establishing key insights that are crucial for future emerging applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106000"},"PeriodicalIF":4.5,"publicationDate":"2025-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143759160","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