Mechanism and Machine Theory最新文献_第6页

Dynamic modeling and parameter optimization for a pneumatic-driven peristaltic origami robot 气动蠕动折纸机器人动力学建模及参数优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.mechmachtheory.2025.106326

Kunming Ren , Tingting Yuan , Jinyang Liu

{"title":"Dynamic modeling and parameter optimization for a pneumatic-driven peristaltic origami robot","authors":"Kunming Ren , Tingting Yuan , Jinyang Liu","doi":"10.1016/j.mechmachtheory.2025.106326","DOIUrl":"10.1016/j.mechmachtheory.2025.106326","url":null,"abstract":"<div><div>Origami-inspired soft pneumatic actuators provide adaptable and robust solutions for mechanical design, especially in pneumatic-driven peristaltic robots. Accurate dynamic simulation of such systems is essential for design and performance improvement, yet existing studies remain limited. This paper proposes an enhanced dynamic model that improves upon the bar and hinge approach by employing a consistent mass matrix to accurately compute the moment of inertia of origami panels, achieving both high precision and computational efficiency. The proposed framework incorporates coupling between origami structures and multibody dynamics, while accounting for frictional contact, pneumatic actuation and general interactions, thereby accommodating complex mechanical assemblies. To validate the model, experimental studies on peristaltic origami robots are conducted, demonstrating excellent agreement with simulation results. The experiments involve fabricating Kresling-type origami actuators using laminated carbon fiber and fabric, followed by crease parameter calibration. Furthermore, the motion capabilities of an expanded origami robot are analyzed and optimized for both one-dimensional and two-dimensional locomotion. The results provide valuable insights into the design of origami-based robotic systems and highlight the effectiveness and versatility of the proposed dynamic modeling approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106326"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145884208","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

Knowledge-enhanced optimization of a mobile parallel robot considering topological structure and dimensions 考虑拓扑结构和尺寸的移动并联机器人的知识增强优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-12-01 DOI: 10.1016/j.mechmachtheory.2025.106303

Binbin Lian , Qiqi Dong , Xinming Huo , Zihou Yuan , Qi Li , Tao Sun

{"title":"Knowledge-enhanced optimization of a mobile parallel robot considering topological structure and dimensions","authors":"Binbin Lian , Qiqi Dong , Xinming Huo , Zihou Yuan , Qi Li , Tao Sun","doi":"10.1016/j.mechmachtheory.2025.106303","DOIUrl":"10.1016/j.mechmachtheory.2025.106303","url":null,"abstract":"<div><div>Mobile parallel robots, formed by mounting parallel mechanisms on AGVs, combine merits of both automatic transporting and high-precision operation of large-scale parts. Optimal design of mobile parallel robots faces two key challenges: (1) co-optimizing topology of AGV frame and dimension of parallel module, (2) difficulty in embedding domain knowledge to the conventional “black-box” optimization. To address these, we propose a knowledge-enhanced optimization framework. Kinematic, stiffness, and mass models of parallel module, as well as surrogate model of AGV frame are established. A knowledge base is built by explicit knowledge from engineering and knowledge extraction through cluster analysis. Hard and soft constraints are defined, in which soft constraints are embedded to objective. Initial population of optimization searching is determined by preference-domain cluster, and a knowledge-guided multi-objective algorithm is developed. Comparative study to the optimization without knowledge injection show that Pareto front solutions of our method concentrate densely in designer-preferred regions. It achieves 36.45 % higher preference-aligned performance and shows accelerated convergence with stabilized HV progression curves. The framework effectively addresses co-optimization challenges by knowledge fusion and preference guidance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106303"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685302","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

Flank modification and meshing analysis of harmonic drives with controlled backlash 可控间隙谐波传动的侧面修正与啮合分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-11-27 DOI: 10.1016/j.mechmachtheory.2025.106296

Xinzi Li, Chaosheng Song, Hailan Song

{"title":"Flank modification and meshing analysis of harmonic drives with controlled backlash","authors":"Xinzi Li, Chaosheng Song, Hailan Song","doi":"10.1016/j.mechmachtheory.2025.106296","DOIUrl":"10.1016/j.mechmachtheory.2025.106296","url":null,"abstract":"<div><div>To address the challenge of correlating tooth flank modification design with meshing performance in harmonic drives, this study proposes an optimization method for meshing characteristics based on the control of meshing backlash. First, geometric models of the flexspline (produced by hobbing) and circular spline (produced by power skiving) are established. Subsequently, a computational procedure for determining meshing backlash in harmonic drives, incorporating tooth flank modification, is developed based on kinematic modeling. Finite element analysis is then employed to investigate the relationship between tooth flank modification, backlash distribution, and contact characteristics. The results indicate that controlling the meshing backlash through tooth flank modification shifts the contact pattern on the flexspline tooth surface from the heel to the toe region, reducing the maximum contact pressure by approximately 33.75% under rated torque and 31.03% during start-stop torque. This approach effectively mitigates the stress concentration and uneven load distribution observed in zero-backlash modification designs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106296"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145600394","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

Enhanced obstacle-crossing capability of redundantly actuated wheel-legged robot through dynamic stability and actuation pattern analyses 通过对冗余驱动轮腿机器人的动态稳定性和驱动模式分析，增强了其越障能力

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1016/j.mechmachtheory.2025.106305

Bike Zhu, Jun He, Feng Gao

{"title":"Enhanced obstacle-crossing capability of redundantly actuated wheel-legged robot through dynamic stability and actuation pattern analyses","authors":"Bike Zhu, Jun He, Feng Gao","doi":"10.1016/j.mechmachtheory.2025.106305","DOIUrl":"10.1016/j.mechmachtheory.2025.106305","url":null,"abstract":"<div><div>The exploration of challenging terrains requires robotic systems with advanced mobility and adaptability. However, maintaining stability and maneuverability while traversing obstacles remains a significant challenge for such systems. Redundantly actuated wheel-legged rovers present a promising solution by introducing additional degrees of actuation, enabling more optimized motion strategies and enhanced overall performance. This paper focuses on enhancing the obstacle-crossing capability of these systems by analyzing the dynamic stability criteria and actuation patterns, using the TAWL rover as demonstration. Firstly, the dynamic models of the TAWL rover’s individual leg and the whole body are established, and the dynamic stability criteria are introduced. Secondly, the actuation patterns of the redundant system are analyzed to identify feasible actuation patterns and evaluate associated energy consumption. Thirdly, enhanced obstacle-crossing strategies are proposed, consisting of two components: increasing the rover’s maximum obstacle-crossing height and improving its stability when traversing specific obstacles. Finally, the proposed method is validated on the TAWL rover. The results demonstrate that the proposed method enables the rover to achieve maximum obstacle-crossing height and exhibit superior stability margin while traversing obstacles.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106305"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685304","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

Singularity conditions from a kinetostatic analysis of a new parallel robot for human balance and gait rehabilitation 一种新型人体平衡与步态康复并联机器人的动静力学分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-12-22 DOI: 10.1016/j.mechmachtheory.2025.106328

Paul Diego, Erik Macho, Francisco J. Campa, Saioa Herrero, Mikel Diez, Javier Corral, Charles Pinto

{"title":"Singularity conditions from a kinetostatic analysis of a new parallel robot for human balance and gait rehabilitation","authors":"Paul Diego, Erik Macho, Francisco J. Campa, Saioa Herrero, Mikel Diez, Javier Corral, Charles Pinto","doi":"10.1016/j.mechmachtheory.2025.106328","DOIUrl":"10.1016/j.mechmachtheory.2025.106328","url":null,"abstract":"<div><div>This paper presents a novel device for the rehabilitation of balance and gait functions in patients with neurological disorders. The device is composed of two sensorized footplates, one for each foot of the patient, which are driven by two identical 4-DOF parallel manipulators. The mobility and kinematic analyses of this new parallel manipulator are conducted for the first time, including the resolution of the inverse position problem and the formulation of the overall Jacobian matrix. Then, a simplification of the kinetostatic problem is proposed, which not only reduces the computational cost but also leads to a reduced matrix that enhances the singularity analysis process. Using this matrix and placing emphasis on the geometric interpretation of the singularity conditions, a thorough characterization of them is carried out, which has proven useful for the working mode selection and for visual verification of the rehabilitation trajectories proposed in the path planning process. The paper concludes with the presentation of a prototype intended to validate the usefulness of this device in the rehabilitation field.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106328"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840001","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 globally discretized ALE beam model for cable-driven parallel robots with large deformations 大变形索驱动并联机器人的全局离散ALE梁模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-03-01 Epub Date: 2025-12-16 DOI: 10.1016/j.mechmachtheory.2025.106321

Zheng Chen, Hui Ren, Ping Zhou, Wei Fan

{"title":"A globally discretized ALE beam model for cable-driven parallel robots with large deformations","authors":"Zheng Chen, Hui Ren, Ping Zhou, Wei Fan","doi":"10.1016/j.mechmachtheory.2025.106321","DOIUrl":"10.1016/j.mechmachtheory.2025.106321","url":null,"abstract":"<div><div>Three-dimensional (3D) beam structures with large deformations and sliding boundaries face critical challenges in balancing accuracy and computational efficiency. To overcome these limitations, a novel globally discretized Arbitrary Lagrangian-Eulerian beam model is proposed for 3D large deformation dynamic analysis. Analytical assumed modes of sectional angles and strains are adopted for global discretization, capturing complex deformations with minimal degrees of freedom. Explicit derivations of both configurational forces and governing equations for large overall motions are achieved. An explicit integration scheme with updating rotation on the SO(3) manifold is proposed to efficiently solve the weak stiff equations of slender cables. An implicit integration scheme is adopted for thick beams with full strain consideration, where analytically derived Jacobian matrices are utilized to enhance computational performance. Numerical results show that the present model demonstrates >80 % reduction in degrees of freedom while maintaining high accuracy. Its efficacy is further proven through the cable-driven parallel robots, achieving real-time capability for large-scale applications. The current approach shows promising potential for modeling other sliding-boundary systems, such as concentric-tube soft robots and variable-length space manipulators.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106321"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145790362","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

Numerical and experimental investigations on time-varying dynamic characteristics of three-point contact ball bearings 三点接触球轴承时变动态特性的数值与实验研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-22 DOI: 10.1016/j.mechmachtheory.2025.106299

Jilai Zhou , Zhong Luo , Lei Li , Tianyue Ma , Shiqiang Qiu , Xinping Luo

{"title":"Numerical and experimental investigations on time-varying dynamic characteristics of three-point contact ball bearings","authors":"Jilai Zhou , Zhong Luo , Lei Li , Tianyue Ma , Shiqiang Qiu , Xinping Luo","doi":"10.1016/j.mechmachtheory.2025.106299","DOIUrl":"10.1016/j.mechmachtheory.2025.106299","url":null,"abstract":"<div><div>Three-point contact ball bearings (TPCBBs) are essential components in aero-engines. Their dynamic characteristics directly determine the mechanical system’s stability and safety. In order to analyze their time-varying dynamic characteristics, a quasi-static model of TPCBBs is proposed. The proposal of this model takes into account the equilibrium states of the balls and the inner rings comprehensively. Utilizing a dual-level iteration principle, the Newton-Raphson method serves as the solution method for this model. Notably, the Jacobian matrix within it is analytically derived. The overall stiffness variation, time-varying stiffness, contact forces, and contact angles are solved and analyzed. Furthermore, the validity of the proposed model is verified through experiments. The results indicate that the variation patterns and amplitudes of stiffness with external forces are different under different contact states. The contact forces supported by the inner and outer rings in the state of three-point contact show an increase contrasted with the state of two-point contact. And one of the inner rings will change from a load-free state to a loaded state.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106299"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145569272","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

Optimum design of a parallel spindle head based on kinematics and dynamics indices 基于运动学和动力学指标的并联主轴头优化设计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-21 DOI: 10.1016/j.mechmachtheory.2025.106294

Bin Zhu , Liping Wang , Hongzheng Zhang , Yutian Wang , Liwen Guan , Yanling Tian

{"title":"Optimum design of a parallel spindle head based on kinematics and dynamics indices","authors":"Bin Zhu , Liping Wang , Hongzheng Zhang , Yutian Wang , Liwen Guan , Yanling Tian","doi":"10.1016/j.mechmachtheory.2025.106294","DOIUrl":"10.1016/j.mechmachtheory.2025.106294","url":null,"abstract":"<div><div>To develop a spindle head that meets stringent workspace and acceleration requirements for high-efficiency machining, this study proposes a geometric-parameter optimization framework that integrates performance atlases with a Pareto-based multi-objective optimization algorithm. Novel inertia-matrix-based performance indices are introduced to enable accurate evaluation of the spindle head’s linear and angular acceleration capabilities. The kinematic and dynamic performance distributions are subsequently mapped over the design space, and a feasible high-performance design region is identified using predefined performance constraints. Within this region, Pareto optimization is performed to generate a Pareto front, from which the optimal geometric parameters are selected. The spindle head performance, based on the optimized geometric parameters, is verified through dynamic simulations under representative cutting-force conditions; under the specified acceleration profiles, the maximum actuator driving force is <span><math><mrow><mn>3</mn><mo>.</mo><mn>82</mn><mspace></mspace><mtext>kN</mtext></mrow></math></span>. The results confirm that the spindle head satisfies the acceleration requirements while maintaining actuator forces within practical limits, thereby supporting the development of next-generation high-performance hybrid machine tools.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106294"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145569274","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

Accurate and robust state estimation for Stewart platform via error state Kalman filter with IMU and leg length fusion 基于误差状态卡尔曼滤波与IMU和腿长融合的Stewart平台精确鲁棒状态估计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-25 DOI: 10.1016/j.mechmachtheory.2025.106297

Changyu Yue, Jinzheng Liu, Liwen Guan

{"title":"Accurate and robust state estimation for Stewart platform via error state Kalman filter with IMU and leg length fusion","authors":"Changyu Yue, Jinzheng Liu, Liwen Guan","doi":"10.1016/j.mechmachtheory.2025.106297","DOIUrl":"10.1016/j.mechmachtheory.2025.106297","url":null,"abstract":"<div><div>Accurate, fast, and robust kinematic state estimation is essential for industrial applications of the Stewart platform. Conventional methods using leg lengths and forward kinematics are computationally intensive and sensitive to sensor noise. This paper proposes a novel error state Kalman filter (ESKF) framework that tightly fuses onboard inertial measurement unit (IMU) data with leg length measurements. By linearizing the system in the error state, the ESKF handles system nonlinearities more effectively and improves robustness to measurement noise. Additionally, the proposed scheme explicitly incorporates the closed-chain geometric constraints of the Stewart platform, thereby eliminating the need for iterative forward kinematics computations and enhancing computational efficiency. Extensive numerical simulations are conducted under both standard and extreme scenarios, including rapid motion, high sensor noise, reduced measurement availability, and sensor faults. The results indicate that the ESKF-based framework consistently outperforms conventional methods based on extended Kalman filter and forward kinematics with respect to accuracy, robustness, and real-time performance, highlighting its effectiveness for Stewart platform state estimation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106297"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617869","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

Parameter investigation of bearing based on rolling–sliding contact fatigue crack growth considering load history 考虑载荷历史的滚动-滑动接触疲劳裂纹扩展轴承参数研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-10-30 DOI: 10.1016/j.mechmachtheory.2025.106268

Feng Li , Xueyuan Li , He Liu , Sier Deng

{"title":"Parameter investigation of bearing based on rolling–sliding contact fatigue crack growth considering load history","authors":"Feng Li , Xueyuan Li , He Liu , Sier Deng","doi":"10.1016/j.mechmachtheory.2025.106268","DOIUrl":"10.1016/j.mechmachtheory.2025.106268","url":null,"abstract":"<div><div>Parameter investigation is critical in the field of rolling bearing design. This study investigates the influence of geometric and operational parameters on fatigue crack growth under rolling–sliding contact using stress intensity factor. A variable–amplitude load history of ring is incorporated through a linear superposition approach. Our findings reveal that Mode II crack growth dominates under light load conditions, whereas both Mode I and Mode II mechanisms become significant under heavy loads. The geometric configuration of the bearing significantly influences crack growth behavior. Specifically, the optimal radial clearance is identified as approximately 0.05 mm. To balance the load–carrying capacity with crack growth, the recommended number of balls ranges from 10 to 13. The ball diameter should be maximized without compromising structural rigidity. Additionally, a smaller groove curvature radius coefficient for inner ring is beneficial in mitigating crack growth. These findings offer a theoretical basis for parameter selection in rolling bearing design, enhancing the accuracy of fatigue life prediction.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106268"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145420502","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