Mechanism and Machine Theory最新文献_第10页

Research on high-smooth walking and adaptive obstacle-crossing of closed-chain multi-legged robot 闭链多足机器人高平滑行走与自适应过障研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-01 DOI: 10.1016/j.mechmachtheory.2025.106123

Hui Yang , Junzhuo Zhou , Jianxu Wu , Yan-an Yao

{"title":"Research on high-smooth walking and adaptive obstacle-crossing of closed-chain multi-legged robot","authors":"Hui Yang , Junzhuo Zhou , Jianxu Wu , Yan-an Yao","doi":"10.1016/j.mechmachtheory.2025.106123","DOIUrl":"10.1016/j.mechmachtheory.2025.106123","url":null,"abstract":"<div><div>The single-degree-of-freedom closed-chain leg mechanism has a limited foot-point trajectory, which leads to insufficient ground adaptability of the robot. This paper proposes a novel adaptive closed-chain leg mechanism that combines single-power swing-driven actuation, high-rigidity stable load-bearing, and adaptive reconfigurable obstacle-crossing characteristics. By establishing a single-power seven-bar nine-joint mechanism configuration and performing dimensional optimization, the lateral stride distance and vertical leg-lifting height are increased, enhancing obstacle-crossing performance. During the walking supporting phase, the non-circular gear profile is designed through dynamic coupling and phase matching to compensate for vertical center-of-mass fluctuation and longitudinal speed fluctuation, effectively reducing energy consumption while improving walking smoothness. An adaptive reconfiguration module is designed and analyzed to enable passive reconfiguration during the swing phase, allowing the robot to adaptively overcome obstacles across varying terrains. A multi-legged robot prototype was constructed, and typical obstacle adaptability experiments were conducted to verify the feasibility of the design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106123"},"PeriodicalIF":4.5,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144517207","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

Analysis of equivalent motion for stable contact in clearance-affected revolute joints 受间隙影响的旋转关节稳定接触的等效运动分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-01 DOI: 10.1016/j.mechmachtheory.2025.106132

Pengfei Yao , Long Li , Shengnan Lyu , Wuxiang Zhang , Xilun Ding

{"title":"Analysis of equivalent motion for stable contact in clearance-affected revolute joints","authors":"Pengfei Yao , Long Li , Shengnan Lyu , Wuxiang Zhang , Xilun Ding","doi":"10.1016/j.mechmachtheory.2025.106132","DOIUrl":"10.1016/j.mechmachtheory.2025.106132","url":null,"abstract":"<div><div>Establishing an error model for clearance-affected revolute (CR) joints that accounts for contact forces is crucial for static and quasi-static mechanism accuracy analysis. This study begins with a force analysis of CR joints, classifying 13 contact modes into stable and unstable categories based on the absence or presence of specific terms in the static equilibrium equations. A kinematic formula for equivalent motion error vectors and the fundamental properties of CR joints during contact are utilized to analyze stable contact modes, deriving geometric constraints and motion error vectors. The relationship between the ranges of contact parameter and stable contact modes is further established, revealing continuous transition patterns between stable modes. By employing screw theory and the product of exponentials formula, a kinematic mapping is formulated to relate stable contact modes, motion error vectors, error twists, and actual poses. Finally, the proposed equivalent motion error model is applied to evaluate actual poses in CR joints within the isosceles trapezoidal Bricard linkage and Sarrus linkage. This work lays the foundation for kinematic-based accuracy analysis of static and quasi-static mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106132"},"PeriodicalIF":4.5,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144522972","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-tooth contact analysis of rough-flank hypoid gears based on non-uniform rational B-splines 基于非均匀有理b样条的粗面准双曲面齿轮多齿接触分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-30 DOI: 10.1016/j.mechmachtheory.2025.106137

Ji-Xuan Yang , Hong-Bo Yang , Zhi-Yong Chen , Wen-Ku Shi , Hai-Sheng Song

{"title":"Multi-tooth contact analysis of rough-flank hypoid gears based on non-uniform rational B-splines","authors":"Ji-Xuan Yang , Hong-Bo Yang , Zhi-Yong Chen , Wen-Ku Shi , Hai-Sheng Song","doi":"10.1016/j.mechmachtheory.2025.106137","DOIUrl":"10.1016/j.mechmachtheory.2025.106137","url":null,"abstract":"<div><div>In this study, a tooth flank modelling and contact analysis method for hypoid bevel gears is introduced using the non-uniform rational B-splines (NURBS) surface-fitting technique. Based on the effect of weighting factor variations on NURBS geometry, the local tooth-fitting accuracy is optimised while maintaining acceptable computational complexity. The simulations of meshing characteristic and flank micro-modification is conducted. The computational model for the loaded tooth contact analysis (LTCA) of a gear pair incorporates tangential friction at the contact point, and the influence of the friction one simulation results is thoroughly examined. Additionally, an iterative method is employed to extend the single-tooth LTCA to multi-tooth scenarios, which enables the calculation of tooth load distribution at a lower computational cost. The transmission error, meshing stiffness, and contact area obtained using the proposed rough-flank LTCA (R-LTCA) model agree better with experimental measurements than the results of finite-element simulation. The findings indicate that proposed R-LTCA method outperforms the finite-element method in terms of simulation accuracy and computation cost.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106137"},"PeriodicalIF":4.5,"publicationDate":"2025-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144517002","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

Kinematic/stiffness analysis, comparison and optimization of a redundantly actuated ankle rehabilitation robot and its non-redundantly actuated form 一种冗余驱动踝关节康复机器人及其非冗余驱动形式的运动学/刚度分析、比较与优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-26 DOI: 10.1016/j.mechmachtheory.2025.106131

Xiaoshu Zhang , Yi Sun , Andong Jiang , Qian Qi , Huan Shen , Aihong Ji

{"title":"Kinematic/stiffness analysis, comparison and optimization of a redundantly actuated ankle rehabilitation robot and its non-redundantly actuated form","authors":"Xiaoshu Zhang , Yi Sun , Andong Jiang , Qian Qi , Huan Shen , Aihong Ji","doi":"10.1016/j.mechmachtheory.2025.106131","DOIUrl":"10.1016/j.mechmachtheory.2025.106131","url":null,"abstract":"<div><div>This paper proposes a novel three degrees of freedom (3-DoF) redundantly actuated parallel ankle rehabilitation manipulator PUPaR-2PRPaU-PU and its non-redundantly actuated form, PUPaR-PRPaU-PU. The proposed parallel ankle rehabilitation manipulators (PARMs) feature two rotational motions (2R) for plantarflexion/dorsiflexion (PL/DO) and inversion/eversion (IN/EV) of the ankle, as well as one translational motion (1T) for traction along the longitudinal axis of the lower leg. First, mobility analysis, inverse and forward kinematics, singularity analysis, and workspace analysis are presented for the two PARMs. Then, the transmission index and the good transmission workspace are selected to evaluate the transmission performance of the two PARMs. Next, the stiffness models are derived through the virtual joint method, and the stiffness performance of the two PARMs is evaluated via the virtual stiffness index. The analysis results demonstrate that the redundantly actuated PARM can achieve better transmission and stiffness performance than its non-redundantly actuated counterpart, despite a slight reduction in its reachable workspace. Finally, the parameter-fitness normalization method is applied to optimize the transmission and stiffness performance of the two PARMs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106131"},"PeriodicalIF":4.5,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144491467","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

Integrated optimization synthesis of linkage mechanism structures and dimensions free from kinematic defects 无运动缺陷连杆机构结构与尺寸的综合优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-26 DOI: 10.1016/j.mechmachtheory.2025.106121

Meng Ao , Gaohong Yu , Lei Wang , Liang Sun , Bingliang Ye

{"title":"Integrated optimization synthesis of linkage mechanism structures and dimensions free from kinematic defects","authors":"Meng Ao , Gaohong Yu , Lei Wang , Liang Sun , Bingliang Ye","doi":"10.1016/j.mechmachtheory.2025.106121","DOIUrl":"10.1016/j.mechmachtheory.2025.106121","url":null,"abstract":"<div><div>This paper presents a novel methodology for the integrated optimization synthesis of linkage mechanism structures and dimensions, utilizing a kinematic defect-free dyad comprising two bars with three revolute joints (3R dyad). The approach overcomes the challenges associated with designing single structure linkages, kinematic defects, and optimization issues common in traditional multi-bar mechanisms. By standardizing the parameterization of defect-free 3R dyads, this methodology facilitates the uniform mapping of structural and dimensional parameters into a consolidated design variable space, enabling simultaneous optimization of topological structures and dimensions—a significant advancement over traditional methods that address these aspects separately. Moreover, the proposed method fundamentally prevents kinematic defects by ensuring that all generated mechanisms inherently satisfy kinematic constraints throughout the optimization process, thereby eliminating the need for defect screening during or after optimization. The synthesis method for linkage structures, based on the 3R dyad and its unified dimension parameterization strategy, is detailed. To substantiate the proposed methodology, experimental tests were conducted on two six-bar mechanisms for path generation tasks and two eight-bar mechanisms for rigid-body guidance tasks. The outcomes confirm that the optimized linkage mechanisms precisely fulfill diverse motion requirements without kinematic defects. Additionally, the optimization design of a six-bar leg rehabilitation mechanism demonstrates the practicality and efficiency of this approach, further validating its superiority in real-world applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106121"},"PeriodicalIF":4.5,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144480836","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

Optimal design strategy for gear pairs integrating macro and micro geometry optimization 宏观与微观几何优化相结合的齿轮副优化设计策略

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-26 DOI: 10.1016/j.mechmachtheory.2025.106119

Suchul Kim, Sanggon Moon, Chan-ho Choi, Jonghyeon Sohn

引用次数: 0

Omni: A low-backlash planetary Wolfrom gearbox with beveloid gears for robotic applications Omni：一种低间隙行星Wolfrom齿轮箱，用于机器人应用的斜面齿轮

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-25 DOI: 10.1016/j.mechmachtheory.2025.106098

Giuseppe Sciarra , Giovanni Mottola , Gustavo Casamenti , Marco Carricato

{"title":"Omni: A low-backlash planetary Wolfrom gearbox with beveloid gears for robotic applications","authors":"Giuseppe Sciarra , Giovanni Mottola , Gustavo Casamenti , Marco Carricato","doi":"10.1016/j.mechmachtheory.2025.106098","DOIUrl":"10.1016/j.mechmachtheory.2025.106098","url":null,"abstract":"<div><div>This article presents an innovative Wolfrom planetary gearbox for robotic applications, named “Omni”. It combines the Wolfrom planetary architecture with beveloid gears to achieve small transmission ratios (up to 1:160) in a compact shape. The key advantage of beveloid gears lies in their ability to adjust their contact position through axial movements, thus ensuring minimal torsional backlash (under 0.6 arcmin) over the entire lifespan of the gearbox. A comparison of the technologies for robot gearboxes is first reported, highlighting the advantages of the proposed solution. The article then presents the architecture and the main characteristics of the new gearbox, with a focus on the kinetostatic analysis. Two designs are proposed: one with solid and coaxial input and output shafts, and another with hollow and parallel shafts to accommodate data and supply cables. Finally, the results of validation experiments are discussed. Endurance and characterization tests confirm that Omni reaches the target performances, such as very low backlash, high stiffness, smooth motion transmission, long lifespan, and low transmission error.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106098"},"PeriodicalIF":4.5,"publicationDate":"2025-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470811","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

Computerized design and mathematical modeling of spherical pivoting gears for variable shaft angles 变轴角球面旋转齿轮的计算机设计与数学建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-25 DOI: 10.1016/j.mechmachtheory.2025.106117

Tom Abraham , Ignacio Gonzalez-Perez , Alfonso Fuentes-Aznar

引用次数: 0

Influence of profile modifications on spur gear sliding power losses: An integrated approach with advanced mesh stiffness and partial EHL 齿形修改对正齿轮滑动功率损失的影响：先进啮合刚度和部分EHL的综合方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-24 DOI: 10.1016/j.mechmachtheory.2025.106118

Matteo Autiero, Giovanni Paoli, Marco Cirelli, Pier Paolo Valentini

{"title":"Influence of profile modifications on spur gear sliding power losses: An integrated approach with advanced mesh stiffness and partial EHL","authors":"Matteo Autiero, Giovanni Paoli, Marco Cirelli, Pier Paolo Valentini","doi":"10.1016/j.mechmachtheory.2025.106118","DOIUrl":"10.1016/j.mechmachtheory.2025.106118","url":null,"abstract":"<div><div>This study investigates the impact of profile modifications on sliding power loss in cylindrical gears, a critical aspect of gear efficiency. Profile modifications are widely adopted in gear design to improve load distribution, mitigate noise and vibrations, and enhance durability. Although much of the existing research has focused on their dynamic benefits, such as reducing noise and vibration, their influence on gear meshing efficiency, particularly sliding power losses, remains insufficiently quantified. Leveraging an original advanced mesh stiffness model sensitive to microgeometry modifications, this work integrates an analytical load-sharing model with a partial elastohydrodynamic lubrication framework to evaluate the instantaneous friction coefficient. The analysis reveals that certain profile modifications, specifically tip relief and profile barreling, can significantly reduce sliding power losses, often by more than 20%. In contrast, pressure angle modification has a negligible effect on power loss, especially at higher torques. These findings demonstrate that profile modifications can substantially alter gear mechanical efficiency and must be considered in design. Neglecting them may lead to significant over- or underestimation of energy losses. Although based on static analysis, the identified trends are robust and generalizable across gear types and load conditions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106118"},"PeriodicalIF":4.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144365320","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 indirect muscle force sensing approach tailored for biomechanical multibody systems with equality and inequality constraints 一种新的间接肌肉力传感方法，为具有相等和不相等约束的生物力学多体系统量身定制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-24 DOI: 10.1016/j.mechmachtheory.2025.106115

Rocco Adduci, Domenico Mundo

{"title":"A novel indirect muscle force sensing approach tailored for biomechanical multibody systems with equality and inequality constraints","authors":"Rocco Adduci, Domenico Mundo","doi":"10.1016/j.mechmachtheory.2025.106115","DOIUrl":"10.1016/j.mechmachtheory.2025.106115","url":null,"abstract":"<div><div>Muscle forces play a crucial role in daily activities, enhancing physical efficiency, musculoskeletal health, and performance in sports, work, and rehabilitation. The direct measure of muscle forces is impractical due to anatomical and ethical constraints, leading researchers to rely on indirect methods like electromyography-based techniques. While these methods capture muscle activities, they are prone to noise and require extensive post-processing. Alternatively, biomechanical multibody models faithfully represent human movement, enabling detailed kinematic and dynamic analyses. However, they suffer the redundancy in muscle recruitment, making inverse dynamics problems underdetermined. Optimization-based approaches are often used to solve this problem, but they lean on multi-layer solutions that overlook possible model drift and measurement noise. Recent approaches employ Kalman filters to indirectly estimate the system dynamics. While effective for joint force reconstruction, their application to muscle force estimation is limited by redundancy issues. This study proposes a novel Kalman filter-based framework for constrained multibody models, leveraging non-invasive sensors to estimate system dynamics and muscle forces. The framework is benchmarked using OpenSim simulations of an upper-limb muscular-skeletal model, focusing on shoulder and elbow movements.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106115"},"PeriodicalIF":4.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470979","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