Mechanism and Machine Theory最新文献_第4页

Modeling and analysis of a four-leg tensegrity mechanism 四腿张拉整体机构的建模与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106009

Karol Muñoz , Mathieu Porez , Philippe Wenger

引用次数: 0

Dimensional synthesis and topological analysis of a novel transformable wheel-legged hexapod with multi-morphology and vary-topology characteristics 一种新型多形态变拓扑可变形轮腿六足机构的尺寸综合与拓扑分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106043

Yinghan Peng , Mingyang Shan , Yuanhao Pan , Chaoxiong Lin , Gaohan Zhu , Songlin Zhou , Feng Gao , Yang Pan , Weixing Chen

{"title":"Dimensional synthesis and topological analysis of a novel transformable wheel-legged hexapod with multi-morphology and vary-topology characteristics","authors":"Yinghan Peng , Mingyang Shan , Yuanhao Pan , Chaoxiong Lin , Gaohan Zhu , Songlin Zhou , Feng Gao , Yang Pan , Weixing Chen","doi":"10.1016/j.mechmachtheory.2025.106043","DOIUrl":"10.1016/j.mechmachtheory.2025.106043","url":null,"abstract":"<div><div>Multi-morphology robot is one of the most promising solutions to enhance the terrain adaptability of mobile robots. To tackle the challenge posed by the multi-morphology and vary-topology characteristics in design and analysis of mechanisms, this paper proposes a multi-morphology dimensional synthesis and vary-topology morphological analysis strategy based on a transformable wheel-legged hexapod (TWLHex), using the performance chart-based design methodology (PCbDM). First, the kinematic model of is established. Second, the PCbDM is applied for dimensional synthesis in response to the multi-morphology characteristic. Third, sensitivity analysis is performed followed by the performance distribution evaluation of the hip joints and the foot-tips within the workspace, based on the optimized dimensions. Fourth, the PCbDM is used for the morphological analysis considering the vary-topology characteristic. Finally, the optimized dimensions, priority of position error sensitivity, performance distribution trends, and morphological distribution patterns are obtained. This work not only firstly introduces the concept of vary-topology into the research of multi-morphology robots, but also applies the PCbDM to multi-morphology robots, providing new insights for multi-morphology and vary-topology synergistic design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106043"},"PeriodicalIF":4.5,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865234","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

Towards understanding the geometric error coupling effect on squareness error identification in circular tests 探讨几何误差耦合对圆形试验中方形误差辨识的影响

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106045

Sihan Yao , Lingtao Weng , Weiguo Gao , Wenjie Tian , Zhoujie Zhao , Dawei Zhang , Tian Huang

{"title":"Towards understanding the geometric error coupling effect on squareness error identification in circular tests","authors":"Sihan Yao , Lingtao Weng , Weiguo Gao , Wenjie Tian , Zhoujie Zhao , Dawei Zhang , Tian Huang","doi":"10.1016/j.mechmachtheory.2025.106045","DOIUrl":"10.1016/j.mechmachtheory.2025.106045","url":null,"abstract":"<div><div>For circular tests, the measurement data are simultaneously affected by the coupling effect of position-dependent geometric errors (PDGEs) and squareness errors. Consequently, identification method that solely considers squareness errors struggle to accurately determine the true squareness error values. To address this issue and obtain the actual squareness error, the identification method considering the geometric error coupling effect is proposed. The PDGE values and the distance data of the geometric error coupling effect are obtained based on the multi-instrument measurement data fusion, enabling the establishment of a squareness error identification model that incorporates PDGEs. The validity of the identification results is corroborated through volumetric error prediction, yielding a maximum deviation of 18.9 µm between the predicted and measured volumetric errors. The prediction accuracies of the proposed method and Ballbar 20 software, characterized by the root-mean-square error between the predicted and measured volumetric errors, are 6.7 and 20.4 µm, respectively. This indicates that the proposed method prediction results are closer to the measured values. The proposed method mathematically elucidates the coupling effect of PDGEs and squareness errors for circular tests.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106045"},"PeriodicalIF":4.5,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143858977","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

Finding mechanisms of exceptional mobility using numerical algebraic geometry 利用数值代数几何寻找异常迁移的机制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106033

Charles W. Wampler , Mark Plecnik

引用次数: 0

Type synthesis of 3-RSR equivalent 2R1T parallel mechanisms based on screw theory 基于螺旋理论的3-RSR等效2R1T并联机构型综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106032

Ziming Chen , Xianwen Kong , Chen Zhao , Zhen Huang

引用次数: 0

Transmission error modeling and control for a swing roller movable teeth transmission considering load based on quasi-static assumptions 基于准静态假设考虑载荷的摆滚子动齿传动误差建模与控制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-19 DOI: 10.1016/j.mechmachtheory.2025.106042

Yali Yi , Meiyu Chen , Zhenkun Sun , Herong Jin , Rui Wei

{"title":"Transmission error modeling and control for a swing roller movable teeth transmission considering load based on quasi-static assumptions","authors":"Yali Yi , Meiyu Chen , Zhenkun Sun , Herong Jin , Rui Wei","doi":"10.1016/j.mechmachtheory.2025.106042","DOIUrl":"10.1016/j.mechmachtheory.2025.106042","url":null,"abstract":"<div><div>A swing roller movable teeth transmission (SRMTT) has compact structure and large speed ratio due to its unique structure. However, because its multi-tooth meshing characteristics, the influence of error-deformation coupling on the transmission error is more sensitive under load. In this work, a link equivalent mechanism model is proposed and error coordinate systems built on each component are established. Links size and theirs error and deformation vectors are defined to establish a load transmission error model. Considering the coordination relationship of multi-tooth meshing deformation, the transmission error solving strategy of coupling error and deformation is developed by tooth by tooth clearance method. Through comparative analysis of load sharing coefficient and transmission error under the disturbance of machining errors of each component, the disturbance rule and influence magnitude of each error are clarified. Based on this, four schemes are designed to realize the active control of machining precision level of key error terms under load. Experiments verify the correctness of transmission error theoretical model and the effectiveness of error control approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106042"},"PeriodicalIF":4.5,"publicationDate":"2025-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143847616","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

Cage Stability Analysis of Mixed-Mounted Double Row Angular Contact Ball Bearing 混合安装双列角接触球轴承保持架稳定性分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-16 DOI: 10.1016/j.mechmachtheory.2025.106035

Haoze Wang , Zihang Li , Xilong Ji , Chongyang Wang , Lihua Yang

{"title":"Cage Stability Analysis of Mixed-Mounted Double Row Angular Contact Ball Bearing","authors":"Haoze Wang , Zihang Li , Xilong Ji , Chongyang Wang , Lihua Yang","doi":"10.1016/j.mechmachtheory.2025.106035","DOIUrl":"10.1016/j.mechmachtheory.2025.106035","url":null,"abstract":"<div><div>The dynamic characteristics and rotational accuracy of rolling bearings are directly influenced by cage stability. Double row angular contact ball bearings (DACBBs) comprising two separate cages exhibit more complex motion characteristics. A spatial dynamic model of DACBB is constructed to compare the cage stability for the mixed-mounted mode and symmetrical-mounted mode. Considering the change of attitude angle of the cage in space, a slice method is employed to calculate the non-uniform cage-raceway contact force. Subsequently, the cage trajectories of two mounted modes are compared under the conditions of pure axial forces, combined forces, and rotational speeds. This study analyzes the advantages of mixed-mounted mode for improving cage stability in terms of contact force, collision point distribution, and velocity of cage-whirl motion. The results indicate that the mixed-mounted mode significantly enhances the residual preload of the unloading row. It also reduces the axial fluctuation range of the cage under different pure axial forces and maintains regular movement of the cage under different combined forces and rotational speeds.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106035"},"PeriodicalIF":4.5,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143838694","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

Adaptive cable-driven parallel load simulator inspired by physical reservoir computing for folding wings 受物理储层计算启发的自适应索驱动平行负载模拟器

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-16 DOI: 10.1016/j.mechmachtheory.2025.106022

Lei Wang, Guang Yang, Chen Yao, Hong Xiao, Runchao Zhao, Rongqiang Liu, Hongwei Guo

{"title":"Adaptive cable-driven parallel load simulator inspired by physical reservoir computing for folding wings","authors":"Lei Wang, Guang Yang, Chen Yao, Hong Xiao, Runchao Zhao, Rongqiang Liu, Hongwei Guo","doi":"10.1016/j.mechmachtheory.2025.106022","DOIUrl":"10.1016/j.mechmachtheory.2025.106022","url":null,"abstract":"<div><div>Predicting the effects of aerodynamic loads using equivalent wrenches generated by a load simulator is essential for the expedited development of folding wings. However, large-angle rapid deployment characteristics of folding wings hinder the direct application of existing load simulators. Inspired by physical reservoir computing, we propose a novel physical computing network capable of adaptively simulating dynamic torque and radial forces while suppressing surplus torque. This approach facilitates the development of a reconfigurable load simulator design for folding wings. The network is established based on an analysis of the nonlinear loading characteristics of a cable-driven parallel robot limb actuated by elastic element, and its simulation capabilities are evaluated. An optimization design method is proposed, significantly reducing the required number of limbs through parameter adjustments. The simulation capabilities of the load simulator designed using this method are evaluated through numerical simulations, and an experimental load simulator is constructed for loading tests. Results from both multi-condition simulations and experiments demonstrate that the load simulator achieves high accuracy across various load scenarios, with an R-squared value exceeding 0.99.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106022"},"PeriodicalIF":4.5,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143834893","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

Dynamic modeling and performance analysis of a new friction stir welding parallel robot 新型搅拌摩擦焊接并联机器人动力学建模及性能分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-15 DOI: 10.1016/j.mechmachtheory.2025.106030

Shuai Mo , Yongjun Hu , Taojiang Huang , Bowei Yao , Sujiao Chen , Yurong Huang , Peng Nanjiang , Haruo Houioh , Wei Zhang

{"title":"Dynamic modeling and performance analysis of a new friction stir welding parallel robot","authors":"Shuai Mo , Yongjun Hu , Taojiang Huang , Bowei Yao , Sujiao Chen , Yurong Huang , Peng Nanjiang , Haruo Houioh , Wei Zhang","doi":"10.1016/j.mechmachtheory.2025.106030","DOIUrl":"10.1016/j.mechmachtheory.2025.106030","url":null,"abstract":"<div><div>This paper proposes a hybrid parallel robot for friction stir welding(FSW), and carries out a systematic kinematic analysis and reachable workspace analysis of this parallel robot. A gap-containing ball-hinge model is introduced to establish the dynamics of the FSW parallel robot by combining the different welding stages of FSW, solving the driving force of each strut chain under a typical trajectory and inversely solving the motion trajectory by forward dynamics. Joint Reflected Inertia (JRI) and Coefficient of Variation of Joint Space Inertia (CVI) are introduced to analyze the dynamics performance of the FSW parallel robot. The results show that when the FSW parallel robot is under a large expansion and contraction amount and a large turning angle, which leads to the deterioration of the inertia and acceleration performance between the robot's struts, resulting in the precision being affected, the FSW should be kept operating under smaller values of the JRI and the CVI, to ensure the efficient and precise execution of the complex tasks.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106030"},"PeriodicalIF":4.5,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143830341","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-perspective evaluation of a novel powertrain integrating series-parallel and power-split modes: An ultra-rapid hierarchical control approach 一种集串并联和功率分割为一体的新型动力总成的多视角评价：一种超快速分层控制方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-14 DOI: 10.1016/j.mechmachtheory.2025.106034

Yunge Zou , Yuxin Zhang , Yalian Yang

{"title":"Multi-perspective evaluation of a novel powertrain integrating series-parallel and power-split modes: An ultra-rapid hierarchical control approach","authors":"Yunge Zou , Yuxin Zhang , Yalian Yang","doi":"10.1016/j.mechmachtheory.2025.106034","DOIUrl":"10.1016/j.mechmachtheory.2025.106034","url":null,"abstract":"<div><div>Power split and series-parallel hybrid transmissions (PSHTs and SPHTs) have become dominant technology approaches to dedicated hybrid transmission (DHT) design. However, evaluating DHTs using traditional dynamic programming methods is time-consuming, and efficiently comparing the performance differences among different DHTs is difficult. Therefore, an advanced ultra-rapid real-time hierarchical control algorithm (URHCA) is proposed with 38,000 times the computational efficiency improvement. To integrate the PSHT and SPHT, a novel synchronizer-shift configuration is designed by fully comparing the effects of adding gears to the engine, motor, and output positions of the PSHT. The differences and intrinsic mechanisms between different architectures, classes (A, B, and C), and driving cycles are simulated and analyzed. The results show that the proposed powertrain can improve acceleration by 38 % compared to the PSHT and reduce energy consumption by 4.88–8.48 % compared to the SPHT for a WLTC cycle, which is a significant advantage. The real-time performance of the proposed URHCA method is validated with real driving cycles and a hardware-in-the-loop (HIL) test. This study provides guidance for the technology path selection and design of PSHTs and SPHTs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106034"},"PeriodicalIF":4.5,"publicationDate":"2025-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143830340","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