Mechanism and Machine Theory最新文献_第5页

Quotient space-oriented innovation design of integrated mobile manipulators 面向商空间的集成移动机械手创新设计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-21 DOI: 10.1016/j.mechmachtheory.2025.106173

Yuan Hu , Weizhong Guo , Rongfu Lin

{"title":"Quotient space-oriented innovation design of integrated mobile manipulators","authors":"Yuan Hu , Weizhong Guo , Rongfu Lin","doi":"10.1016/j.mechmachtheory.2025.106173","DOIUrl":"10.1016/j.mechmachtheory.2025.106173","url":null,"abstract":"<div><div>Mobile manipulators, comprising mobile platforms and on-board manipulators, have gained increasing attention and broad applications in diverse fields due to their high flexibility and wide adaptability. As both subsystems influence end-effector motion, integrated design of mobile platforms and manipulators is essential for optimal task performance. However, existing research predominantly focuses on independent subsystem optimization, ignoring cross-subsystem motion coordination across dimensions and lacking systematic integrated design methodologies. To address these gaps, this paper presents an innovative quotient space-based integrated design framework. The proposed procedure includes end-effector motion characteristic extraction, decomposition, and assignment, followed by type synthesis and dimensional synthesis of the mobile manipulator. Furthermore, an elaborate quotient space-based method for end-effector motion decomposition and assignment is proposed. Representative case studies are conducted to demonstrate the methodologies, followed by simulations and experiments verifying that the designed mobile manipulator meets the specified requirements. The proposed approach is expected to facilitate the advancement of mobile manipulator technologies across various domains.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106173"},"PeriodicalIF":4.5,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879611","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 port-Hamiltonian framework for clustered tensegrity systems 聚类张拉整体系统的一种新的port- hamilton框架

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-19 DOI: 10.1016/j.mechmachtheory.2025.106177

Mingji Wang , Lingchong Gao , Fei Li , Ningning Song , Gang Wang , Johannes Fottner , Haijun Peng

{"title":"A novel port-Hamiltonian framework for clustered tensegrity systems","authors":"Mingji Wang , Lingchong Gao , Fei Li , Ningning Song , Gang Wang , Johannes Fottner , Haijun Peng","doi":"10.1016/j.mechmachtheory.2025.106177","DOIUrl":"10.1016/j.mechmachtheory.2025.106177","url":null,"abstract":"<div><div>Clustered tensegrity systems (CTSs) are lightweight, energy-efficient, and modular, making them ideal for engineering applications. The port-Hamiltonian (pH) framework is well-suited for their design and analysis due to its effectiveness in modeling dynamic systems. However, when CTSs are modeled within the pH framework, several challenges arise: (1) Current spatial discretization methods for pH systems are complex and inefficient for CTSs, and cannot directly represent strong nonlinear coupling. (2) Current symplectic time discretization methods for pH systems are inefficient and unstable when solving stiff equations. First, a spatial discretization method based on positional finite element method (PFEM) is proposed. It can accurately capture strong nonlinear coupling from large-scale rotations and deformations without relying on rotation matrices. Then, a stiff problem modification based on symplectic time discretization is proposed. Combined with a Quasi-Newton strategy, it significantly improves computational efficiency with few losses of precision. Numerical simulations show that discrete pH systems based on PFEM can efficiently and accurately capture the energy and dynamic behavior of CTSs. The proposed modification effectively improves stiff problem and significantly enhances computational efficiency.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106177"},"PeriodicalIF":4.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144864527","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

Implementation and stability evaluation of a mobile cable-driven vertical surface spraying robot 移动索驱动垂直表面喷涂机器人的实现与稳定性评价

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-18 DOI: 10.1016/j.mechmachtheory.2025.106178

Zitai Feng , Bin Zi , Jiahao Zhao , Yuanyi Fan

{"title":"Implementation and stability evaluation of a mobile cable-driven vertical surface spraying robot","authors":"Zitai Feng , Bin Zi , Jiahao Zhao , Yuanyi Fan","doi":"10.1016/j.mechmachtheory.2025.106178","DOIUrl":"10.1016/j.mechmachtheory.2025.106178","url":null,"abstract":"<div><div>Automated robotic spraying systems are increasingly applied in construction, automotive repair and shipbuilding for large-area painting and coating tasks. Fixed-base manipulators and manual methods are limited in reach, flexibility and safety on complex vertical surfaces. Achieving stable spraying on vertical planes remains challenging, especially for cable-driven mobile robots to prevent tipping or slipping. We propose a mobile cable-driven spraying robot (MCDSR) capable of performing spraying tasks on vertical surfaces. We introduce a Mobile Stability Index (MSI) to quantify stability margins across various configurations and develop an MSI-integrated Wrench-Feasible Workspace (WFW) analysis to accurately characterize the robot’s workspace under stable conditions. Numerical simulations demonstrate the MSI–WFW framework accurately characterizes the stable operational workspace while maintaining required force and torque under varied loads. Experimental validation of trajectory and spraying with an MCDSR prototype shows excellent motion performance and continuous curved spraying trajectories on vertical surfaces. Results show MCDSR’s WFW volume varies from 0.0337 to 0.7052 m<sup>3</sup>, and its MSI minimum of 0.9189 validates its monitoring capability. Therefore, the designed MCDSR offers a feasible solution for large-scale automated vertical surface spraying.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106178"},"PeriodicalIF":4.5,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144860420","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 kinodynamic global planning in a simplicial complex environment: A mixed integer approach 简单复杂环境下的动力学全局规划：一种混合整数方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-16 DOI: 10.1016/j.mechmachtheory.2025.106172

Otobong Jerome , Alexandr Klimchik , Alexander Maloletov , Geesara Kulathunga

{"title":"On kinodynamic global planning in a simplicial complex environment: A mixed integer approach","authors":"Otobong Jerome , Alexandr Klimchik , Alexander Maloletov , Geesara Kulathunga","doi":"10.1016/j.mechmachtheory.2025.106172","DOIUrl":"10.1016/j.mechmachtheory.2025.106172","url":null,"abstract":"<div><div>This work casts the kinodynamic planning problem for car-like vehicles as an optimisation task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering. The approach simultaneously optimises both the spatial path and the sequence of acceleration and steering controls, ensuring continuous motion from a specified initial position and velocity to a target end position and velocity. The method analyzes the admissible control space and terrain to avoid local minima. The proposed method operates efficiently in simplicial complex environments, a preferred terrain representation for capturing intricate 3D landscapes. The problem is initially posed as a mixed-integer fractional program with quadratic constraints, which is then reformulated into a mixed-integer bilinear objective through a variable transformation and subsequently relaxed to a mixed-integer linear program using McCormick envelopes. Comparative simulations against planners such as MPPI and log-MPPI demonstrate that the proposed approach generates solutions <span><math><mrow><mn>1</mn><msup><mrow><mn>0</mn></mrow><mrow><mn>4</mn></mrow></msup></mrow></math></span> times faster while strictly adhering to the specified constraints.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106172"},"PeriodicalIF":4.5,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144852605","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

Robust design and optimization of a large-stroke compliant constant-torque mechanism under fabrication uncertainties 制造不确定性下大行程柔性恒转矩机构的鲁棒设计与优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-16 DOI: 10.1016/j.mechmachtheory.2025.106179

Thanh-Vu Phan , Van Men Truong , Huy-Tuan Pham , Van-Khien Nguyen , Amina Bukayeva

{"title":"Robust design and optimization of a large-stroke compliant constant-torque mechanism under fabrication uncertainties","authors":"Thanh-Vu Phan , Van Men Truong , Huy-Tuan Pham , Van-Khien Nguyen , Amina Bukayeva","doi":"10.1016/j.mechmachtheory.2025.106179","DOIUrl":"10.1016/j.mechmachtheory.2025.106179","url":null,"abstract":"<div><div>Compliant constant-torque mechanisms (CCTMs) are capable of delivering a stable output torque across a wide range of input rotational angles. Owing to their compact design and structural simplicity, they offer an attractive alternative to complex active control systems and have gained considerable research attention in recent decades. In many cases, particularly those involving large-stroke applications, CCTMs are fabricated from thin flexure beams using conventional subtractive machining methods, which makes them vulnerable to fabrication-induced variations that may compromise performance. This study presents an integrated design and optimization framework that explicitly accounts for fabrication uncertainties, enhancing the reliability of large-stroke CCTMs. By combining the Chained Beam-Constraint Model, the First-Order Reliability Method, and the Non-dominated Sorting Genetic Algorithm II, a reliability-based design optimization procedure is established. The optimized CCTM demonstrates a constant torque range up to 88°, an average torque deviation within 3%, and a reliability of 99.88%. Theoretical analyses, finite element simulations, and experimental validation confirm the framework's effectiveness in delivering robust and high-performance CCTMs suitable for precision applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106179"},"PeriodicalIF":4.5,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144852607","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

Design and analysis of a redundant actuated humanoid wrist joint parallel mechanism 一种冗余驱动人形腕关节并联机构的设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-16 DOI: 10.1016/j.mechmachtheory.2025.106175

Buqin Hu , Haibo Qu , Med Amine Laribi , Kunpeng Wang , Zhizhen Zhou , Sheng Guo

{"title":"Design and analysis of a redundant actuated humanoid wrist joint parallel mechanism","authors":"Buqin Hu , Haibo Qu , Med Amine Laribi , Kunpeng Wang , Zhizhen Zhou , Sheng Guo","doi":"10.1016/j.mechmachtheory.2025.106175","DOIUrl":"10.1016/j.mechmachtheory.2025.106175","url":null,"abstract":"<div><div>With the widespread application of humanoid robots and industrial robotic arms in production and daily life, their limited flexibility and weak load-bearing performance have become inadequate to meet practical demands. This study employs biomimetic design principles to analyze the biomechanical and structural properties of the human wrist joint. Based on this analysis, we propose a novel redundantly driven two-degree-of-freedom (2-DOF) parallel mechanism. Firstly, kinematic analysis is conducted from perspectives including degrees of freedom, inverse kinematics, and Jacobian matrix, with its performance validated through numerical models and simulation analysis. Subsequently, the mechanism's performances are evaluated through workspace analysis, singularity investigation, and dexterity assessment, demonstrating its singularity-free workspace and high operational dexterity. Based on these analyses, an experimental platform was established, physical prototypes were fabricated, and a control system was designed. The experimental results validate both the feasibility of the humanoid wrist joint design and its potential for practical applications. This structure demonstrates broad applicability across multiple fields, such as humanoid robot wrist joints, wrist rehabilitation equipment, industrial robotic arms, and special robots.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106175"},"PeriodicalIF":4.5,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144852606","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 design and analysis of a planar cable-driven higher pair inspired by human knee joints 受人体膝关节启发的平面索驱动高副结构设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-14 DOI: 10.1016/j.mechmachtheory.2025.106176

Shixuan Chu, Gaohan Zhu, Weizhong Guo

{"title":"Configuration design and analysis of a planar cable-driven higher pair inspired by human knee joints","authors":"Shixuan Chu, Gaohan Zhu, Weizhong Guo","doi":"10.1016/j.mechmachtheory.2025.106176","DOIUrl":"10.1016/j.mechmachtheory.2025.106176","url":null,"abstract":"<div><div>Bionic joints have a wide range of applications in robotics and medical rehabilitation. However, most existing designs rely on lower pair mechanisms, which exhibit deficiencies such as insufficient motion precision and excessive mechanical complexity. Inspired by the structure and motion characteristics of the human knee joint, this paper proposes a novel configuration design method for a cable-driven parallel robot (CDPR) featuring two higher pairs and two cables. To address the challenges of unidirectional force transmission and wrench closure inherent in CDPR, a new graphical wrench closure criterion based on the instantaneous center is introduced. A boundary inversion method based on this criterion is proposed to guide the design process for selecting cable anchors, ensuring that the mechanism maintains wrench closure throughout its intended motion space. Finally, a prototype of a bionic knee joint is designed and constructed, and its motion performance and wrench closure capability are validated through motion and force analysis. The proposed approach offers a novel theoretical framework for CDPR configuration design, demonstrating significant potential for practical applications in bionic joints and related fields.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106176"},"PeriodicalIF":4.5,"publicationDate":"2025-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144829447","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

Application of rack method in generation of internally geared rotor profiles 齿条法在齿轮内啮合转子廓形生成中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-13 DOI: 10.1016/j.mechmachtheory.2025.106168

Halil Lacevic, Ahmed Kovacevic, Nikola Stosic, Matthew Read

{"title":"Application of rack method in generation of internally geared rotor profiles","authors":"Halil Lacevic, Ahmed Kovacevic, Nikola Stosic, Matthew Read","doi":"10.1016/j.mechmachtheory.2025.106168","DOIUrl":"10.1016/j.mechmachtheory.2025.106168","url":null,"abstract":"<div><div>This study explores the application of the rack method, traditionally used for generating rotor profiles in spur gears and twin screw compressors, to rotor profile generation of internally geared positive displacement machines. The necessary conditions for ensuring continuous contact in these profiles are examined. An analytical approach is proposed, where a rack profile based on trochoidal curves generates the inner rotor profile, from which the outer rotor profile is derived. Additionally, a numerical approach is introduced, demonstrating feasibility using a sine wave rack profile to generate the outer rotor, from which the inner rotor profile is derived. The methodology could be applied to rotor profiles with a non-zero minimum working chamber area, as found in gerotor pumps, and modified profiles with a zero minimum area, as required for internally geared screw machines. This work provides the first demonstration of general rack-generated rotor profiles for internally geared positive displacement machines. It establishes a foundation for refining the rack method and developing advanced numerical techniques for machine design and optimisation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106168"},"PeriodicalIF":4.5,"publicationDate":"2025-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144827950","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

General model of stiffness, stress and deformation for modified non-orthogonal offset face gear drives 改进的非正交偏置面齿轮传动的刚度、应力和变形的一般模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-12 DOI: 10.1016/j.mechmachtheory.2025.106128

Lu Liu, Shijing Wu, Xiaosun Wang

{"title":"General model of stiffness, stress and deformation for modified non-orthogonal offset face gear drives","authors":"Lu Liu, Shijing Wu, Xiaosun Wang","doi":"10.1016/j.mechmachtheory.2025.106128","DOIUrl":"10.1016/j.mechmachtheory.2025.106128","url":null,"abstract":"<div><div>To calculate the stress and deformation in modified non-orthogonal offset face gear drives, load distribution and meshing stiffness models combining local contact, global teeth and gear body foundations are constructed in this paper. Fillet and bottom surfaces of spur-face gears are explicitly expressed to improve global tooth models. A general equation to solve alternation meshing boundaries is induced. A unified and analytical model of stress and deformation for modified teeth is established. General solutions of stress and deformation for gear foundations are derived. Load distribution and meshing stiffness are coupled through nonlinear contact, linear teeth and gear foundations. It is revealed that distributed forces on both sides of designed meshing tracks are controlled by asymmetric tooth modification to proactively enhance bearing capacities. The stress around shaft hole and the meshing deformation should be evaluated when reducing the weight by thinning face gear foundations since the low lateral bending stiffness. It provides a basis for reliability evaluation and dynamics analysis of modified face gear drives, and general solutions for cylinder and circular plate can be applied to other mechanical systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106128"},"PeriodicalIF":4.5,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144828079","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

The thermo-mechanical coupling dynamic analysis of gear-rotor-bearing system with multiple dynamic clearances 多动间隙齿轮-转子-轴承系统热-机耦合动力学分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-08-11 DOI: 10.1016/j.mechmachtheory.2025.106169

Shuai Mo , Yingxin Zhang , Yiheng Liu , Bowei Yao , Sujiao Chen , Yurong Huang , Wenai Shi , Nanjiang Peng , Haruo Houjoh , Wei Zhang

{"title":"The thermo-mechanical coupling dynamic analysis of gear-rotor-bearing system with multiple dynamic clearances","authors":"Shuai Mo , Yingxin Zhang , Yiheng Liu , Bowei Yao , Sujiao Chen , Yurong Huang , Wenai Shi , Nanjiang Peng , Haruo Houjoh , Wei Zhang","doi":"10.1016/j.mechmachtheory.2025.106169","DOIUrl":"10.1016/j.mechmachtheory.2025.106169","url":null,"abstract":"<div><div>To accurately describe the dynamic behavior of a gear-rotor-bearing system, it is essential to consider the interplay between thermal effects and dynamics. Therefore, this study aims to develop a real-time coupling model that integrates thermal and dynamic aspects of the gear-rotor-bearing system. The objective of this model is to capture the combined effects of various nonlinear factors, including dynamic clearances caused by thermal deformation, thermoelastic coupling stiffness, non-uniform load distribution in bearings, and the multi-meshing state of the gear. To achieve this, the study introduces a stepwise coupled thermodynamic and dynamic associated solution method, which is used to evaluate the effects of thermal influences on dynamic characteristics, including vibration amplitude, dynamic behavior, thermal sensitivity, and meshing quality. The results demonstrate the significant impact of thermal effects on the dynamic behavior of the mechanical system, highlighting that these effects cannot be ignored. This research enhances the accuracy and comprehensiveness of dynamic modeling and multi-physical field coupling analysis methods for gear-rotor-bearing system, providing theoretical foundations that support designers in thoroughly assessing engineering variables and identifying opportunities to improve gear performance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"215 ","pages":"Article 106169"},"PeriodicalIF":4.5,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144828078","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