Mechanism and Machine Theory最新文献

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A novel wave generator design of harmonic drive based on non-uniform rational B-splines 一种基于非均匀有理b样条谐波驱动的新型波形发生器设计
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-09-09 DOI: 10.1016/j.mechmachtheory.2025.106200
Jiawen Yang , Jiahao Ding , Xincheng Teng , Shaoze Yan
{"title":"A novel wave generator design of harmonic drive based on non-uniform rational B-splines","authors":"Jiawen Yang ,&nbsp;Jiahao Ding ,&nbsp;Xincheng Teng ,&nbsp;Shaoze Yan","doi":"10.1016/j.mechmachtheory.2025.106200","DOIUrl":"10.1016/j.mechmachtheory.2025.106200","url":null,"abstract":"<div><div>This paper proposes a novel design for the wave generator in harmonic drives using non-uniform rational B-splines. The approach allows for greater flexibility and precise control over the wave generator profile by adjusting the number and the position of the control points. The purely kinematic error and the caterpillar effect are briefly introduced. A finite element model is employed to validate the mechanical properties. Different wave generator profiles, created with varying numbers of control points (four, five, and six), are analyzed regarding curvature, kinematic error, caterpillar effect, and mechanical performance. Results show that the proposed design significantly reduces purely kinematic errors and improves stress distribution compared to traditional elliptical cam designs, enhancing engagement and overall system performance. This innovative method offers a more efficient and adaptable solution for optimizing harmonic drives.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"216 ","pages":"Article 106200"},"PeriodicalIF":4.5,"publicationDate":"2025-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145020294","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 modified Lie group-based synthesis for parallel mechanisms: Addressing uncontrollable and immovable limb cases 一种改进的基于李群的并联机构综合:处理不可控和不可移动肢体的情况
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-09-03 DOI: 10.1016/j.mechmachtheory.2025.106183
Hassen Nigatu , Doik Kim
{"title":"A modified Lie group-based synthesis for parallel mechanisms: Addressing uncontrollable and immovable limb cases","authors":"Hassen Nigatu ,&nbsp;Doik Kim","doi":"10.1016/j.mechmachtheory.2025.106183","DOIUrl":"10.1016/j.mechmachtheory.2025.106183","url":null,"abstract":"<div><div>The synthesis of parallel manipulators using Lie group theory represents kinematic pairs through displacement operators, allowing the deduction of displacement subgroups from velocity fields using Lie-algebraic structures. However, two key limitations exist: (1) the effect of uncontrollable passive degrees of freedom, which are not reflected in the mechanism’s true degrees of freedom, and (2) the impact of ineffective joints and immovable limbs, which hinders the effective application of existing Lie group-based synthesis methods. These oversights limit the applicability of Lie group-based synthesis for certain parallel manipulators, leading to incorrect results during the intersection operation in synthesis. Failing to detect this phenomenon at the synthesis stage may lead to wrong mechanism. This paper introduces an enhanced method that integrates passive degrees of freedom and the effects of immovable limbs into the synthesis process, providing a correct representation of the motion in previously overlooked mechanisms. This approach extends the applicability of Lie group-based synthesis to various manipulators, ensuring consistent results, including for kinematically redundant parallel manipulators with passive motion in their kinematotropic reconfigurable platforms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"216 ","pages":"Article 106183"},"PeriodicalIF":4.5,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144989374","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
Multimodal motion emergence in piezoelectric robot system with reconfigurable driving beam unit: Driving mechanism and design 具有可重构驱动梁单元的压电机器人系统中的多模态运动:驱动机构与设计
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-09-01 DOI: 10.1016/j.mechmachtheory.2025.106196
Jichun Xing , Zhonglei Dai , Jiawei Zhang , Siying Meng , Ziyi Yang
{"title":"Multimodal motion emergence in piezoelectric robot system with reconfigurable driving beam unit: Driving mechanism and design","authors":"Jichun Xing ,&nbsp;Zhonglei Dai ,&nbsp;Jiawei Zhang ,&nbsp;Siying Meng ,&nbsp;Ziyi Yang","doi":"10.1016/j.mechmachtheory.2025.106196","DOIUrl":"10.1016/j.mechmachtheory.2025.106196","url":null,"abstract":"<div><div>A reconfigurable piezoelectric miniature robot was designed using a modular approach to address the limitations of traditional piezoelectric systems. The robot features driving beams as core components, which are activated by dual-frequency sine wave excitation to produce specific vibration modes for both forward and backward movement. This modular design enables flexible assembly and topology, resulting in various motion modes. In this paper, we thoroughly analyze the design and reconfiguration strategy of the robot module, focusing on the driving principles of the core unit. The dynamic characteristics of the driving beam, including its modal and transient behaviors, were examined through theoretical models and finite element analysis (FEA), which helped determine its driving modes. A prototype of the quadrilateral robot module was developed, and an experimental platform was established to assess the vibration properties of the driving beam and the robot module's output performance. The results demonstrate its flexible movement capabilities and potential applications. This study introduces an innovative approach to designing piezoelectric miniature robots and lays a foundation for multi-robot collaboration, highlighting promising future possibilities.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106196"},"PeriodicalIF":4.5,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144922994","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
Forward kinematics of a general Stewart–Gough platform by elimination templates 基于消去模板的通用Stewart-Gough平台正运动学分析
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-09-01 DOI: 10.1016/j.mechmachtheory.2025.106170
Evgeniy Martyushev
{"title":"Forward kinematics of a general Stewart–Gough platform by elimination templates","authors":"Evgeniy Martyushev","doi":"10.1016/j.mechmachtheory.2025.106170","DOIUrl":"10.1016/j.mechmachtheory.2025.106170","url":null,"abstract":"<div><div>The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart–Gough platform. The problem involves determining all possible postures of a mobile platform connected to a fixed base by six legs, given the leg lengths and the internal geometries of the platform and base. The problem is known to have 40 solutions (whether real or complex). The proposed algorithm consists of four main steps: (i) a specific sparse matrix of size 293 × 362 (the elimination template) is constructed from the coefficients of the polynomial system describing the platform’s kinematics; (ii) the QR decomposition of this matrix is used to construct a pair of 69 × 69 matrices; (iii) 69 candidate solutions (including complex ones) are obtained by computing the generalized eigenvectors of this matrix pair; (iv) 29 spurious solutions are eliminated through back substitution. The proposed algorithm is numerically robust, computationally efficient, and straightforward to implement — requiring only standard linear algebra decompositions. MATLAB, Julia, and Python implementations of the algorithm will be made publicly available.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106170"},"PeriodicalIF":4.5,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144922995","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
Rational motions of minimal quaternionic degree with prescribed line trajectories 具有规定线轨迹的最小四元数度的有理运动
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-29 DOI: 10.1016/j.mechmachtheory.2025.106182
Zülal Derin Yaqub, Hans-Peter Schröcker
{"title":"Rational motions of minimal quaternionic degree with prescribed line trajectories","authors":"Zülal Derin Yaqub,&nbsp;Hans-Peter Schröcker","doi":"10.1016/j.mechmachtheory.2025.106182","DOIUrl":"10.1016/j.mechmachtheory.2025.106182","url":null,"abstract":"<div><div>In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories are well known, the case of line trajectories is more complicated and has not been studied. We explain when such motions exist and how to compute them. Our method gives explicit formulas for constructing these motions and shows that, in many cases, the solution is unique. We also show examples and explain how to use these results to design simple mechanisms that move a line in the desired way. This work helps to better understand the relationship between rational motions and ruled surfaces and may be useful for future research in mechanism design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106182"},"PeriodicalIF":4.5,"publicationDate":"2025-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913201","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
Reconfigurable polyhedral mechanisms using scissor-like elements with cantellation transformation between dual geometries 利用具有对偶几何之间cantellation变换的剪刀类元件的可重构多面体机构
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-28 DOI: 10.1016/j.mechmachtheory.2025.106187
Yuan Liao , Gökhan Kiper , Sudarshan Krishnan
{"title":"Reconfigurable polyhedral mechanisms using scissor-like elements with cantellation transformation between dual geometries","authors":"Yuan Liao ,&nbsp;Gökhan Kiper ,&nbsp;Sudarshan Krishnan","doi":"10.1016/j.mechmachtheory.2025.106187","DOIUrl":"10.1016/j.mechmachtheory.2025.106187","url":null,"abstract":"<div><div>Deployable polyhedron mechanisms (DPMs) have garnered significant interest in architecture, aerospace, and robotics, where reconfigurable and space-efficient structures are crucial. This paper presents a tangential design method for DPMs using scissor-like elements (SLEs). Scissor units are placed along the edges of an equilateral polyhedron, tangential to its midsphere. This method enables the mechanisms to transform between a polyhedron and its dual, following the cantellation operation. Using screw theory, the kinematic properties of these mechanisms are analyzed. Results show that the DPMs exhibit 1-degree of freedom (DOF) under normal conditions and gain additional DOFs at multifurcation points, allowing for reconfigurable motion modes. Physical models based on various geometries, including Platonic, Archimedean, Johnson, and Catalan solids, help to validate the method's feasibility. Observations indicate that this method is only applicable to equilateral supporting polyhedra. The transformability and reconfigurability observed in these mechanisms demonstrate the potential of this approach for applications in architecture, aerospace, and robotics.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106187"},"PeriodicalIF":4.5,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144908526","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
On the Jacobian matrix of 3−RPS and triangular 6−UPS linkages 3 - RPS和三角形6 - UPS连杆机构的雅可比矩阵
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-28 DOI: 10.1016/j.mechmachtheory.2025.106181
Joseph Massin, Lionel Birglen
{"title":"On the Jacobian matrix of 3−RPS and triangular 6−UPS linkages","authors":"Joseph Massin,&nbsp;Lionel Birglen","doi":"10.1016/j.mechmachtheory.2025.106181","DOIUrl":"10.1016/j.mechmachtheory.2025.106181","url":null,"abstract":"<div><div>The Jacobian matrix of a linkage relates actuated velocities to its end-effector velocity. Deriving this matrix for serial mechanisms is straightforward, but usually more challenging for parallel linkages. The velocity equation of these linkages typically comprises two distinct Jacobian matrices. An additional step required to establish the velocity of the end-effector of the linkage as a function of velocities of its actuators consists in inverting the first matrix and multiplying the result with the second, yielding a unique matrix which is here referred to as the Jacobian matrix. The previous inversion is almost universally conducted numerically except for the simplest of linkages. Here, we demonstrate that, even for non-trivial linkages such as the <span><math><mrow><mn>3</mn><mo>−</mo><mi>R</mi><mi>P</mi><mi>S</mi></mrow></math></span> and triangular <span><math><mrow><mn>6</mn><mo>−</mo><mi>U</mi><mi>P</mi><mi>S</mi></mrow></math></span> this inversion can also be done analytically. Similar to serial linkages, the Jacobian matrix is presented as a series of twists, each reflecting the impact of an actuator on the end-effector’s motion. Their geometric interpretation is provided and studied. Finally, how the method applies to other topologies of mechanisms is also discussed.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106181"},"PeriodicalIF":4.5,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144908525","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
Configuration representation in conformal geometric algebra for reconfigurable mechanisms 可重构机构的保形几何代数组态表示
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-26 DOI: 10.1016/j.mechmachtheory.2025.106180
Jun Wei , Yuhang Zhu , Yusong Xing , Yongpeng Guan , Jian S. Dai
{"title":"Configuration representation in conformal geometric algebra for reconfigurable mechanisms","authors":"Jun Wei ,&nbsp;Yuhang Zhu ,&nbsp;Yusong Xing ,&nbsp;Yongpeng Guan ,&nbsp;Jian S. Dai","doi":"10.1016/j.mechmachtheory.2025.106180","DOIUrl":"10.1016/j.mechmachtheory.2025.106180","url":null,"abstract":"<div><div>Motion bifurcation is a key characteristic of reconfigurable mechanisms, reflecting their ability to switch between motion branches. Conformal geometric algebra (CGA), by incorporating both geometric structure and input angle parameters, provides a unified framework for representing bifurcations and simplifying the modeling process. Based on CGA theory, this paper proposes a novel method for the motion bifurcation of reconfigurable mechanisms. First, feature points of motion axes of Grassmann line geometry are extracted to construct motion and constraint conditions, forming a motion-constraint model within the CGA framework. Second, using CGA invariant operations, a configuration transformation method is established, revealing the relationship between configuration changes and axis motion. Furthermore, the spherical four-bar mechanism is analyzed, where an input angle parameter model and bifurcation judgment criterion are proposed, enabling a CGA-based representation of its reconfigurable characteristics. A geometric parameter model is also developed for the line-plane symmetric Bricard mechanism. Under unconstrained conditions, two types of Bricard 6R motion branches are identified. Plane 4R, spherical 4R, and Bennett branches are found to share collinear joint axes under geometric constraints. The method verifies the feasibility of CGA in representing motion bifurcation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106180"},"PeriodicalIF":4.5,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144896057","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
Stiffness modulation of an orthopedic robot based on large-range variable stiffness mechanisms 基于大范围变刚度机构的骨科机器人刚度调制
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-21 DOI: 10.1016/j.mechmachtheory.2025.106184
Xiaoyong Wu , Jie Zhou , Jun Ding , Kun Wang , Kanglai Tang , Haoyong Yu , Shaoping Bai
{"title":"Stiffness modulation of an orthopedic robot based on large-range variable stiffness mechanisms","authors":"Xiaoyong Wu ,&nbsp;Jie Zhou ,&nbsp;Jun Ding ,&nbsp;Kun Wang ,&nbsp;Kanglai Tang ,&nbsp;Haoyong Yu ,&nbsp;Shaoping Bai","doi":"10.1016/j.mechmachtheory.2025.106184","DOIUrl":"10.1016/j.mechmachtheory.2025.106184","url":null,"abstract":"<div><div>Stiffness modulation is a critical challenge in orthopedic robots for deformity correction. In this work, a novel orthopedic robot with variable stiffness mechanisms is proposed for dynamic stiffness adjustment in clinical deformity correction. The new design incorporates a novel reconfigurable variable stiffness mechanism (RVSM) with linear displacement to achieve a large range of stiffness adjustments. When the spring stiffness is <em>k</em> = 0.5N‧mm<sup>−1</sup> and the number of proposed variable stiffness mechanisms is <em>N</em> = 1, the equivalent output stiffness of the RVSM is 2.84∼1.19×10<sup>6</sup>N‧mm<sup>−1</sup>. In this paper, the principle of stiffness adjustment of the RVSM based on the slope-cam slider module is introduced, and the mathematical stiffness model of the RVSM is presented along with the characteristics analysis of the stiffness performance. With the matrix structural analysis method and the principle of virtual work, the stiffness model of the orthopedic parallel robot is established, which is used in stiffness modulation to adjust stiffness at different phases of deformity correction. The proposed stiffness modulation strategy fulfills the need for high stiffness in the early phase and low stiffness in the later phase, significantly reducing the stiffness fluctuations of the RVSMs. The efficiency of the established theoretical stiffness model is numerically validated through examples.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106184"},"PeriodicalIF":4.5,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879609","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
Synergistic vibration control in heavy-duty helical gear systems through gravity compensation and coupled SCES-SFD dynamics 基于重力补偿和耦合ses - sfd动力学的重载斜齿轮系统协同振动控制
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-08-21 DOI: 10.1016/j.mechmachtheory.2025.106186
Zhaoyang Tian , Jinyuan Tang , Mengqi Wang , Bozhao Ma , Zehua Hu , Kaibin Rong
{"title":"Synergistic vibration control in heavy-duty helical gear systems through gravity compensation and coupled SCES-SFD dynamics","authors":"Zhaoyang Tian ,&nbsp;Jinyuan Tang ,&nbsp;Mengqi Wang ,&nbsp;Bozhao Ma ,&nbsp;Zehua Hu ,&nbsp;Kaibin Rong","doi":"10.1016/j.mechmachtheory.2025.106186","DOIUrl":"10.1016/j.mechmachtheory.2025.106186","url":null,"abstract":"<div><div>Heavy-duty helical gears in high-power transmission systems face critical vibration challenges arising from thin-walled web designs for enhancing power density. This study proposes a hybrid vibration control strategy integrating a squirrel cage elastic support (SCES) and squeeze film damper (SFD). A dynamic modeling framework employs quadratic hexahedral elements for flexible gear shafts and quadratic tetrahedral elements for efficient SCES parametric analysis. Component mode synthesis (CMS) is used to balance computational efficiency and accuracy, while nonlinear oil-film forces of the SFD are calculated via the finite difference method. The model is validated through SCES modal testing (errors &lt;4 %) and system-level finite element analysis of deformations, stresses, and modal characteristics. Key findings reveal that the SCES effectively regulates shaft-related vibrations without altering web-dominated high-order modes, reducing the 7th-order umbrella mode frequency by 5.5 %. Gravity-induced eccentricity degrades SFD damping performance, which is mitigated by a pre-offset SCES configuration that reduces SCES dynamic stresses by 5.4 % and maintains vibration suppression under gravitational loads. This methodology establishes a systematic framework for optimizing the structural-dynamic performance of heavy-duty gear systems, enhancing durability and operational stability.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106186"},"PeriodicalIF":4.5,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879610","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
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