Mechanism and Machine Theory最新文献_第10页

Dynamic modeling and response analysis of cracked herringbone gear transmission systems with installation errors 考虑安装误差的裂纹人字齿轮传动系统动力学建模与响应分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2025.105924

Wenkang Huang , Haodong Hu , Hui Ma

引用次数: 0

Spatial impedance realization by grasps with fingers in soft contact 空间阻抗的实现与手指在软接触的抓握

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105910

Shuguang Huang, Joseph M. Schimmels

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A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment 具有大方位工作空间的三自由度并联连续体机器人：建模、仿真与实验

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105908

Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda

{"title":"A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment","authors":"Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda","doi":"10.1016/j.mechmachtheory.2024.105908","DOIUrl":"10.1016/j.mechmachtheory.2024.105908","url":null,"abstract":"<div><div>Parallel Continuum Robots (PCRs) offer flexibility, safety, and agility due to their continuous structure. The parallel configuration further enhances precision and stiffness, making them particularly suitable for applications in confined spaces and human-contact environments, such as collaborative and surgical robots. In this paper, we conducted thorough investigation of a novel 3-Degree-of-Freedom PCR design with a large orientation workspace which we have proposed before. We first provided a general kineto-static model based on Kirchhoff rod theory, which is a simplified form of Cosserat rod theory. The workspace of the novel PCR design was then analyzed through MATLAB simulations using the developed kineto-static model. Experiments were conducted to validate the twisting motion ability and investigate the motion of the prototype in comparison to model predictions. Additionally, we analyzed several singularity configurations from the perspective of elastic potential energy. The paper concludes with a summary of the behavior of this design and a discussion of future research directions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105908"},"PeriodicalIF":4.5,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100775","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

Systematic mapping of synthesis methods for compliant grippers using PRISMA 利用PRISMA对柔性夹持器的合成方法进行系统映射

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105900

Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena

{"title":"Systematic mapping of synthesis methods for compliant grippers using PRISMA","authors":"Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena","doi":"10.1016/j.mechmachtheory.2024.105900","DOIUrl":"10.1016/j.mechmachtheory.2024.105900","url":null,"abstract":"<div><div>Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105900"},"PeriodicalIF":4.5,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156098","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

Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions 惯性无级变速器优化的行为分析与一般考虑

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-09 DOI: 10.1016/j.mechmachtheory.2025.105918

F.J. Morales, L.M. Romero, F.G. Benitez

{"title":"Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions","authors":"F.J. Morales, L.M. Romero, F.G. Benitez","doi":"10.1016/j.mechmachtheory.2025.105918","DOIUrl":"10.1016/j.mechmachtheory.2025.105918","url":null,"abstract":"<div><div>Inertial Continuous Variable Transmissions (ICVTs) are relatively unknown transmission systems. Based on a generated computational model, calibrated with real-world data, and analytical equations, a parametric analysis reveals the influence of each parameter in ICVTs operation. This research provides a clearer understanding of ICVTs and offers practical insights for future transmission system research and development. The study concludes that the effects of nearly all parameters on the output speed are dualistic, depending on the dominance of specific phenomena related to the chosen parameter value. This indicates that, for a given parameter, there may be a positive correlation between the output speed and certain ranges of values, and a negative correlation for others, while maintaining the engine at the same operating point. This suggests the relation is non-linear. The research differentiates the behavioural nuances between inertial and traditional kinematic CVTs, emphasising how some parameter values adjustments, which can be negative for kinematic CVTs, potentially enhance output speed and the transmitted torque in inertial CVTs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105918"},"PeriodicalIF":4.5,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156093","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

Inverse and forward kinematic analysis of a 6-DOF foldable mechanism with a circular rail (FoldRail mechanism) 带圆轨的六自由度可折叠机构（folrail机构）运动学逆正分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-08 DOI: 10.1016/j.mechmachtheory.2024.105904

Anton Antonov, Alexey Fomin, Sergey Kiselev

{"title":"Inverse and forward kinematic analysis of a 6-DOF foldable mechanism with a circular rail (FoldRail mechanism)","authors":"Anton Antonov, Alexey Fomin, Sergey Kiselev","doi":"10.1016/j.mechmachtheory.2024.105904","DOIUrl":"10.1016/j.mechmachtheory.2024.105904","url":null,"abstract":"<div><div>This article considers an inverse and forward kinematic analysis of a recently proposed foldable parallel mechanism with a circular rail (FoldRail mechanism). The mechanism has six degrees of freedom and three RRRS kinematic chains. Here, R and S indicate revolute and spherical joints, respectively, and the first and third R joints of each chain are actuated. First, the paper presents an algorithm to find a closed-form solution to the inverse kinematic problem. The analysis shows there can be four different solutions for each kinematic chain. Next, the paper studies forward kinematics and develops an elimination-based approach to handle this problem. The proposed method relies on the vector convolution operation and avoids symbolic computations inherent to most other similar techniques. It is shown that the forward kinematics has up to 16 distinct solutions, corresponding to 16 different assembly modes of the mechanism. Numerical examples illustrate the developed techniques for both the inverse and forward kinematic problems. The proposed algorithms provide the basis for subsequent performance evaluation and design optimization, and they can be applied to other parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105904"},"PeriodicalIF":4.5,"publicationDate":"2025-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156094","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

Type synthesis of variable-DOF single-loop spatial mechanisms using Bennett 4R mechanisms and Goldberg 5R mechanisms 基于Bennett 4R机构和Goldberg 5R机构的变自由度单回路空间机构型综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-08 DOI: 10.1016/j.mechmachtheory.2024.105902

Xianwen Kong

引用次数: 0

Kinematics and performance analysis for single-loop deployable polygonal mechanisms based on deployable paths 基于可展开路径的单环可展开多边形机构运动学与性能分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-07 DOI: 10.1016/j.mechmachtheory.2024.105907

Hao Chen , Gaohan Zhu , Weizhong Guo , Zhenghao Weng , Caizhi Zhou , Mingxuan Wang

{"title":"Kinematics and performance analysis for single-loop deployable polygonal mechanisms based on deployable paths","authors":"Hao Chen , Gaohan Zhu , Weizhong Guo , Zhenghao Weng , Caizhi Zhou , Mingxuan Wang","doi":"10.1016/j.mechmachtheory.2024.105907","DOIUrl":"10.1016/j.mechmachtheory.2024.105907","url":null,"abstract":"<div><div>Deployable polygonal mechanisms (DGMs) are widely used in various fields; however, their performance evaluation remains challenging due to limitations in existing indices. To address these shortcomings, this paper innovatively proposes several new evaluation indices for DGMs, aiming to improve the precision and comprehensiveness of performance analysis. Firstly, a velocity analysis method for single-loop DGMs based on deployable paths is introduced, eliminating the need to solve joint angle analytical expressions, reducing computational effort. Secondly, a method for calculating the transmission wrench screw of single-loop mechanisms is proposed. This method is applicable to overconstrained, non-overconstrained, and reconfigurable mechanisms, regardless of whether they possess a single or multiple degrees of freedom. Thirdly, an index for evaluating the deploying performance of <span><math><mi>n</mi></math></span>R DGMs that deploy into general planar polygons is developed, along with an algorithm for calculating folding length. Furthermore, novel evaluation indices for deploying<span><math><mo>/</mo></math></span>folding performance in various application scenarios, motion<span><math><mo>/</mo></math></span>force transmission performance, and transmission ratio stability are proposed. Finally, detailed analyses of deploying<span><math><mo>/</mo></math></span>folding performance, transmission ratio stability, global extreme velocity, global extreme stiffness, and motion<span><math><mo>/</mo></math></span>force transmission performance of <span><math><mi>n</mi></math></span>R DGMs are provided.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105907"},"PeriodicalIF":4.5,"publicationDate":"2025-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156095","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 multi-state meshing and dynamic stability of herringbone gears considering friction based on nonlinear dynamics 基于非线性动力学的考虑摩擦的人字齿轮多态啮合及动态稳定性分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-06 DOI: 10.1016/j.mechmachtheory.2024.105909

Zongxiang Yue , Zengcheng Wang , Zhaobo Chen , Jianjun Qu , Guangbin Yu , Jiazhi Wang , Shuai Mo

{"title":"Analysis of multi-state meshing and dynamic stability of herringbone gears considering friction based on nonlinear dynamics","authors":"Zongxiang Yue , Zengcheng Wang , Zhaobo Chen , Jianjun Qu , Guangbin Yu , Jiazhi Wang , Shuai Mo","doi":"10.1016/j.mechmachtheory.2024.105909","DOIUrl":"10.1016/j.mechmachtheory.2024.105909","url":null,"abstract":"<div><div>During the operation of herringbone gears some phenomena such as gear disengagement and back-side meshing (BSM) can lead to dynamic instability. Precise description of the behavior of multi-state meshing (MSM) is essential for the optimization of structures and for evaluation of its performance. In this article a nonlinear dynamic model for a herringbone gear is introduced. This model includes MSM and takes backlash and friction into account. MSM behavior is identified, and a dynamic stability rate (DSR) is calculated using various Poincaré maps. In addition, a number of bifurcation diagrams and phase diagrams are examined as well as the correlation between MSM characteristics and DSR. The study reveals that as the meshing frequency increases, the system transitions from stable periodic motion to complex periodic and chaotic responses before stabilizing into periodic motion. Transmission errors significantly influence MSM characteristics, with smaller errors making the DSR more sensitive to bifurcations and phase trajectory changes. Increased damping improves stability by suppressing BSM and chaotic motion. Under varying loads, the system transitions through different dynamic states, with periodic jumps notably affecting DSR at higher loads. Additionally, backlash plays a critical role in MSM behavior, influencing the transitions between periodic and chaotic responses. These findings highlight the importance of optimizing damping, load, and backlash to enhance the motion stability and performance of herringbone gear systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105909"},"PeriodicalIF":4.5,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100779","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 generalized method for C3 continuous toolpath planning and its application in robot machining C3连续刀具轨迹规划的一种广义方法及其在机器人加工中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-04 DOI: 10.1016/j.mechmachtheory.2024.105911

Guangxi Li , Haitao Liu , Qi Liu

{"title":"A generalized method for C3 continuous toolpath planning and its application in robot machining","authors":"Guangxi Li , Haitao Liu , Qi Liu","doi":"10.1016/j.mechmachtheory.2024.105911","DOIUrl":"10.1016/j.mechmachtheory.2024.105911","url":null,"abstract":"<div><div>High-order parametric continuity in toolpath generation and smooth passage through singular regions are paramount in five-axis machining. This paper introduces a generalized method for toolpath planning of a 5-DOF machining robot, which encompasses a two-pronged strategy: a toolpath smoothing technique and a singularity avoidance strategy. Initially, the control points of smoothing B-splines are analytically derived using curvature derivative continuity criteria for both linear and arc path segments. On this basis, an effective corner smoothing method, which is capable of addressing the line-line, line-arc, and arc-arc pairs, is developed for the tool position path, and a specialized approach similar to spatial arc-arc pair smoothing is employed for the tool orientation path. Subsequently, an analytical parameter synchronization technique is applied to generate a C<sup>3</sup> continuous toolpath. A real-time singularity avoidance strategy is then proposed to improve the toolpath continuity near the singular configuration of the machining equipment. The effectiveness of the proposed method is verified through simulations and experiments on a robot machining platform, with the integration of a jerk-continuous feedrate profile. The findings indicate that the equipment can operate effectively throughout its entire workspace thanks to the proposed toolpath planning method.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105911"},"PeriodicalIF":4.5,"publicationDate":"2025-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100778","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