Mechanism and Machine Theory最新文献_第10页

A novel multi-pulse friction compensation strategy for hybrid robots 混合动力机器人的新型多脉冲摩擦补偿策略

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-07-11 DOI: 10.1016/j.mechmachtheory.2024.105726

Jiale Han, Hongfei Cheng, Xianlei Shan, Haitao Liu, Juliang Xiao, Tian Huang

{"title":"A novel multi-pulse friction compensation strategy for hybrid robots","authors":"Jiale Han, Hongfei Cheng, Xianlei Shan, Haitao Liu, Juliang Xiao, Tian Huang","doi":"10.1016/j.mechmachtheory.2024.105726","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105726","url":null,"abstract":"<div><p>Friction nonlinearity near zero velocity causes substantial tracking errors during joint motion reversals. For hybrid robots, this phenomenon is further influenced by joint acceleration and robot configuration, unique characteristics of hybrid robots that can degrade the performance of traditional friction compensation methods. This paper presents a novel multi-pulse friction compensation strategy that can adapt to joint acceleration and configuration variations in hybrid robots. Bayesian Optimization is employed to automatically tune all compensation parameters. By analyzing experimental data, a potential relationship between compensation parameters and joint acceleration is explored, leading to a concise and effective method for estimating optimal parameters based on joint acceleration. In addition, the basic idea of cluster analysis is combined with a limited number of experiments to achieve online parameter-to-configuration matching. Experimental results on TriMule-200 hybrid robot demonstrate the outstanding performance of this strategy in suppressing tracking errors during velocity reversals, as well as its robustness to joint acceleration and robot configuration variations.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"201 ","pages":"Article 105726"},"PeriodicalIF":4.5,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141593248","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 tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers 用于机器人手指的悬臂式可变刚度腱驱动致动器

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-07-10 DOI: 10.1016/j.mechmachtheory.2024.105730

Chenning Li , Shangkui Yang , David T. Branson , Zhibin Song , Tao Sun , Jian S. Dai , Rongjie Kang

引用次数: 0

A virtual parallel model for the buffer landing of multi-legged landing gear 多足起落架缓冲着陆的虚拟并行模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-07-06 DOI: 10.1016/j.mechmachtheory.2024.105724

Jian Liu , Dan Zhang , Chunxu Tian , Weizhan Ma , Zhihao Xia

{"title":"A virtual parallel model for the buffer landing of multi-legged landing gear","authors":"Jian Liu , Dan Zhang , Chunxu Tian , Weizhan Ma , Zhihao Xia","doi":"10.1016/j.mechmachtheory.2024.105724","DOIUrl":"10.1016/j.mechmachtheory.2024.105724","url":null,"abstract":"<div><p>Small offshore platforms rock and heave under the impact of waves. The adaptive landing gear should reduce the impact force between the landing legs and the platform while keeping the unmanned aerial vehicle (UAV) level. In this paper, a general virtual parallel model is proposed to describe the coupling relationship between multi-legged landing gear and the platform during buffer landing. Based on Lie group theory, a method of constructing various types of landing gear as a virtual parallel model is proposed. The landing gear base, the legs and the ground can be established as a unified parallel mechanism. Based on the virtual parallel model, the landing stiffness is established to evaluate the buffering performance of the landing gear in the pre-landing posture. A buffer landing surface which can make the landing gear obtain superior buffering effect can be obtained in the workspace through the case analysis. A buffer landing strategy based on virtual parallel model is established. The feasibility and effectiveness of the control strategy is verified by simulations and prototype experiments.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105724"},"PeriodicalIF":4.5,"publicationDate":"2024-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141585170","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

Algebraic synthesis of single-loop 6R spatial mechanisms for constant velocity transmission between two adjacent parallel, intersecting or skew axes 两个相邻平行轴、相交轴或倾斜轴之间匀速传输的单环 6R 空间机构的代数合成

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-07-03 DOI: 10.1016/j.mechmachtheory.2024.105725

Kai Liu , Xianwen Kong , Jingjun Yu

{"title":"Algebraic synthesis of single-loop 6R spatial mechanisms for constant velocity transmission between two adjacent parallel, intersecting or skew axes","authors":"Kai Liu , Xianwen Kong , Jingjun Yu","doi":"10.1016/j.mechmachtheory.2024.105725","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105725","url":null,"abstract":"<div><p>This paper addresses the algebraic synthesis of novel single-loop 6R spatial mechanisms, enabling constant -1:1 or 1:1 velocity ratio transmission between two adjacent axes, whether parallel, intersecting, or skew. Based on the motion polynomial over dual quaternions, an algebraic synthesis method including four steps is presented to construct and optimize single-loop 6R spatial mechanisms with a constant transmission ratio of -1:1 or 1:1 between arbitrarily designated input and output axes. Using this method, several novel single-loop 6R spatial mechanisms for constant velocity transmission are constructed by designating different poses and rotation directions of the input and output axes. Kinematics analysis of single-loop 6R spatial mechanisms is implemented to verify their transmission characteristics. The results reveal that the generated 1-DOF single-loop 6R novel mechanisms can indeed transmit motion with a constant transmission ratio of -1:1 or 1:1 between two adjacent parallel, intersecting, or skew axes. This work provides a framework for further investigation on single-loop mechanisms with special transmission characteristics.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105725"},"PeriodicalIF":4.5,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141539418","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

Novel constant-height deployable mechanisms with only revolute joints and constructed deployable ring trusses for satellite mesh reflector antennas 新颖的恒高可展开机构，仅有旋转接头和用于卫星网状反射天线的可展开环桁架结构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-29 DOI: 10.1016/j.mechmachtheory.2024.105718

Qizhi Meng , Ruijie Tang , Xin-Jun Liu

{"title":"Novel constant-height deployable mechanisms with only revolute joints and constructed deployable ring trusses for satellite mesh reflector antennas","authors":"Qizhi Meng , Ruijie Tang , Xin-Jun Liu","doi":"10.1016/j.mechmachtheory.2024.105718","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105718","url":null,"abstract":"<div><p>Deployable mechanisms play an increasingly crucial role in aerospace, yet their design still faces challenges: 1) The folded height increases while its deployed height decreases, which is not conducive to improving the folding performance; 2) Compared with revolute joints, prismatic joints have relatively weak reliability in complex space environments. To address the above challenges, novel constant-height deployable mechanisms with only revolute joints are proposed in this paper. The deployable mechanisms exhibit one degree of freedom, enabling them to attain modular expansion. Subsequently, the mobility properties of these deployable mechanisms are substantiated through screw theory. Assembly strategies for constant-height deployable mechanisms are proposed, and deployable ring trusses are further constructed to provide support structures for satellite mesh reflector antennas. The kinematics are analyzed to investigate the deployable characteristics of the proposed deployable mechanisms and ring trusses. The prototypes of a deployable mechanism and a ring truss are established to validate the designed deployable mechanisms. This work contributes novel types of deployable mechanisms with potential advantages, aiming to function as valuable references for the design and analysis of deployable trusses.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105718"},"PeriodicalIF":4.5,"publicationDate":"2024-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485462","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

Theoretical and experimental investigation on gearbox vibration signal separation of planetary gear set 行星齿轮组变速箱振动信号分离的理论与实验研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-27 DOI: 10.1016/j.mechmachtheory.2024.105723

Shunan Luo , Yinbo Wang , He Dai , Xinhua Long , Zhike Peng

{"title":"Theoretical and experimental investigation on gearbox vibration signal separation of planetary gear set","authors":"Shunan Luo , Yinbo Wang , He Dai , Xinhua Long , Zhike Peng","doi":"10.1016/j.mechmachtheory.2024.105723","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105723","url":null,"abstract":"<div><p>The gearbox vibration signal of a planetary gear set contains multiple components caused by different excitations. Separating the gearbox vibration signal to decouple its components can provide core information for operational status monitoring. In this paper, we propose an indirect gearbox vibration signal separation method based on parameter identification. A novel vibration signal model is established using the modal shape of ring gear. A parameter identification method is adopted to determine the parameters of the vibration signal model. The vibration signal components are reconstructed based on the vibration signal model and identified parameters. To evaluate the performance of the proposed method, a ring gear response calculation method derived from the elastic theory of ring gear is presented. The influences of unequal load sharing and meshing position errors on vibration signals are studied through numerical simulations using the calculation method. Experiments are conducted in a planetary gear set test rig. Comparisons between the experimental results obtained by the separation and calculation methods indicate the effectiveness of the proposed separation method.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105723"},"PeriodicalIF":4.5,"publicationDate":"2024-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485461","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

Underwater rotorcraft vehicle with a passively adjustable configuration based on a U-joint 基于 U 形接头的被动可调结构水下旋翼飞行器

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-26 DOI: 10.1016/j.mechmachtheory.2024.105705

Shiyu Li , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song

{"title":"Underwater rotorcraft vehicle with a passively adjustable configuration based on a U-joint","authors":"Shiyu Li , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song","doi":"10.1016/j.mechmachtheory.2024.105705","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105705","url":null,"abstract":"<div><p>This paper proposes a novel underwater rotorcraft vehicle with a passively adjustable configuration based on a universal joint (URV-PAU), which addresses the issue of increased propeller load and control stability caused by the rigid structure of existing vehicles when tilted. Compared with designs that do not incorporate a U-joint structure, this vehicle can reduce energy consumption and enhance system manoeuvrability. First, a kinematic and dynamic model of the URV-PAU is established based on its configuration. Considering the nonlinearity of the system, the modelling errors of the dynamic model, and external disturbances, an adaptive backstepping sliding mode controller(ABSSMC) is designed to achieve motion control in proximity to the seabed. A prototype of the underwater rotorcraft vehicle was constructed according to the principles of modular design. Subsequently, underwater trajectory experiments were carried out within a water tank. The experiments demonstrated that the URV-PAU results in a reduction of approximately 10 % in system energy consumption and an improvement in system manoeuvrability compared with designs without a U-joint structure during motion at a constant depth.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105705"},"PeriodicalIF":4.5,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485457","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 and comparison of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators 2-X 和 2-R 平面缆索驱动张力启发式机械手的优化设计与比较

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-26 DOI: 10.1016/j.mechmachtheory.2024.105721

Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau

{"title":"Optimal design and comparison of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators","authors":"Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau","doi":"10.1016/j.mechmachtheory.2024.105721","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105721","url":null,"abstract":"<div><p>In this paper, we perform the design optimization and comparison of two tensegrity-inspired manipulators, composed of two anti-parallelogram (X) joints and two revolute (R) joints, respectively. These manipulators are equipped with springs and are actuated remotely with four cables each. In our recent article (Muralidharan et al., 2024), the conditions for the mechanical feasibility of springs and bars have been discussed for the two manipulators, followed by the computation of their stable wrench-feasible workspace (SWFW). Building on that work, in the proposed paper, we design the 2-X and 2-R manipulators to carry a given point mass payload over a disk of a specified radius while minimizing their maximal actuation force, moving mass, and size. We present the Pareto optimal fronts for the two manipulators and compare several designs from them. Then, we study the variation of the chosen objectives for different payload and disk radius specifications for the two manipulators to determine which one is better under what circumstances. Finally, we illustrate that the proposed optimization scheme can also be applied to other design scenarios with minimal changes.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105721"},"PeriodicalIF":4.5,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485460","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 robust calculation method of meshing clearance for screw rotor pairs 螺杆转子对啮合间隙的稳健计算方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-26 DOI: 10.1016/j.mechmachtheory.2024.105719

Van-Quyet Tran , Yu-Ren Wu

引用次数: 0

Analysis and synthesis of interconnected hybrid mechanisms using Freedom and Constraint Topologies (FACT) 利用自由与约束拓扑结构 (FACT) 分析和合成互连混合机构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-06-26 DOI: 10.1016/j.mechmachtheory.2024.105722

Nigel C. Archer, Jonathan B. Hopkins

{"title":"Analysis and synthesis of interconnected hybrid mechanisms using Freedom and Constraint Topologies (FACT)","authors":"Nigel C. Archer, Jonathan B. Hopkins","doi":"10.1016/j.mechmachtheory.2024.105722","DOIUrl":"https://doi.org/10.1016/j.mechmachtheory.2024.105722","url":null,"abstract":"<div><p>We introduce visualization-based methods to analyze and synthesize interconnected hybrid (ICH) systems. These systems consist of joints that are not strictly parallel nor serial to one another. We include two types of analysis methods – one that uses joint freedom spaces and another that uses joint constraint spaces. These methods leverage intuition to determine the mobility, under-constraint, over-constraint, transmission, and load paths of any mechanism. The analysis methods are an interpretation of previously established numerical approaches for ICH systems. To adapt the complexities of screw theory and matrix algebra, this work builds off the geometries and systematic rules of the Freedom and Constraint Topologies (FACT) design approach. The synthesis approach is a reversal of the freedom-based analysis method. This synthesis approach takes a designer from any set of desired transmissions to an ICH system capable of achieving them. Both the analysis and synthesis approaches are accompanied by an example compliant mechanism to illustrate their utility and limitations. These methods seek to facilitate the design of emerging mechanism classes, such as metamaterials, and extend the FACT design approach to include ICH systems.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"200 ","pages":"Article 105722"},"PeriodicalIF":4.5,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485459","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