Mechanism and Machine Theory最新文献_第6页

Grasping capability analyses for optimal grasp synthesis 最佳抓握综合的抓握能力分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-20 DOI: 10.1016/j.mechmachtheory.2025.106094

Gustavo Queiroz Fernandes , Marina Baldissera de Souza , Jing-Shan Zhao , Leonardo Mejia Rincon , Daniel Martins

{"title":"Grasping capability analyses for optimal grasp synthesis","authors":"Gustavo Queiroz Fernandes , Marina Baldissera de Souza , Jing-Shan Zhao , Leonardo Mejia Rincon , Daniel Martins","doi":"10.1016/j.mechmachtheory.2025.106094","DOIUrl":"10.1016/j.mechmachtheory.2025.106094","url":null,"abstract":"<div><div>This paper presents a novel grasping capability analysis to enhance grasp quality evaluation. Traditional grasp synthesis methods often focus on object-centered evaluations, neglecting crucial constraints imposed by the gripper, the environment, and the task. This oversight can lead to sub-optimal grasps and high failure rates, particularly when manipulating fragile objects or operating in unstructured environments. The proposed analysis incorporates relevant grasping constraints to provide a more accurate assessment of the forces and moments a grasp can withstand/exert. The proposed analysis consists of a three-step optimization process: modeling the kinematic chain of the gripper-object-environment interaction, structuring the optimization problem with defined objectives and constraints, and formulating the necessary static equations. A case study involving the grasping of paper rolls demonstrates the effectiveness of the proposed grasping capability analysis, revealing significant improvements in grasp quality evaluation compared to existing methods. The results show that grasp constraints have a significant impact on the loads the gripper can transmit to the object and, consequently, on grasp stability, highlighting the potential of the proposed analysis to optimize robotic grasping performance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106094"},"PeriodicalIF":4.5,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322726","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

Eliminating nonphysical attraction force in a novel elastoviscous contact model for impact behavior of dry coarse and fine particles system 基于新型弹粘接触模型的干燥粗、细颗粒系统碰撞行为的非物理引力消除

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-19 DOI: 10.1016/j.mechmachtheory.2025.106116

Gengxiang Wang, Wanxun Jia, Zepeng Niu, Haoyan Zhang

{"title":"Eliminating nonphysical attraction force in a novel elastoviscous contact model for impact behavior of dry coarse and fine particles system","authors":"Gengxiang Wang, Wanxun Jia, Zepeng Niu, Haoyan Zhang","doi":"10.1016/j.mechmachtheory.2025.106116","DOIUrl":"10.1016/j.mechmachtheory.2025.106116","url":null,"abstract":"<div><div>This investigation intends to develop a new elastoviscous contact model according to the integration of the damping force equal to the discrepancy of the kinetic energy between the before and after impact. However, the nonphysical attraction force (NAF) appears near the end of the recovery phase, leading to overpredictions of particle dynamics. To address this, an optimization strategy is proposed to eliminate the NAF. For coarse particles without Van der Waals (VDW) forces, the NAF causes underestimation of microscopic contact features such as contact duration and post-impact velocity. However, its effect on macroscopic motion, including trajectory and velocity, is negligible due to its relatively small magnitude. In contrast, for fine particles with VDW forces, the NAF significantly distorts both microscopic and macroscopic behaviors. Its presence complicates the collision dynamics of micro/nanoparticles and leads to overpredictions when combined with VDW forces. This work uncovers a coupling effect between NAF and VDW forces. Simulation results demonstrate that eliminating the NAF is essential for accurately modeling impact behavior in both coarse and fine particle systems. Overall, this investigation enhances the predictive capability of contact force models and improves the accuracy of granular system simulations.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106116"},"PeriodicalIF":4.5,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313914","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

Bi-stable boxed thick origami-inspired modular and load-carrying structures 双稳定盒厚折纸启发模块化和承载结构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-19 DOI: 10.1016/j.mechmachtheory.2025.106114

Heming Wang , Zhuangzhi Miao , Jinghui Lv , Yujie Xie , Chong Huang , Yang Li

{"title":"Bi-stable boxed thick origami-inspired modular and load-carrying structures","authors":"Heming Wang , Zhuangzhi Miao , Jinghui Lv , Yujie Xie , Chong Huang , Yang Li","doi":"10.1016/j.mechmachtheory.2025.106114","DOIUrl":"10.1016/j.mechmachtheory.2025.106114","url":null,"abstract":"<div><div>Deployable structures, such as packaging boxes, tents, and space capsules, benefit from collapsible origami boxes. However, transforming origami boxes into thick-panel versions not only combines morphability and load-carrying capacity but also introduces stringent geometric constraints. This paper replaces the classic morphability with bi-compatibility, which results in bi-stable thick-panel boxed structures and relaxes previously stringent geometric constraints. The introduction of bi-stability allows the thick-panel boxed structures to exhibit load-carrying capacity and self-locking characteristics at the stable states, eliminating the need for constant actuation and facilitating rapid switching motion due to instability. Furthermore, an analysis of the vertex configuration, crease patterns, folding motions, and geometric constructions of the origami box is conducted, culminating in a comprehensive design method for deployable bi-stable thick-panel boxed structures with load-carrying capacity. This study proposes a modular design for bi-stable thick-panel boxed structures, enabling adaptability in shape and function, as well as reconfiguration of storage and structural states. The construction of the corresponding meter-scale structures provides innovative design approaches for conventional civil engineering and potential applications in aerospace systems, robotics, and other fields requiring adaptable, morphable, and load-carrying structures.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106114"},"PeriodicalIF":4.5,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313915","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 offline robust trajectory optimization index and method for underground mining cable-driven parallel robot 一种新的地下采矿缆索驱动并联机器人离线鲁棒轨迹优化指标与方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-14 DOI: 10.1016/j.mechmachtheory.2025.106095

Weihan Jia , Gang Cheng , Jun Li , Yusong Pang , Mengyao Hu , Wei Gu

{"title":"A novel offline robust trajectory optimization index and method for underground mining cable-driven parallel robot","authors":"Weihan Jia , Gang Cheng , Jun Li , Yusong Pang , Mengyao Hu , Wei Gu","doi":"10.1016/j.mechmachtheory.2025.106095","DOIUrl":"10.1016/j.mechmachtheory.2025.106095","url":null,"abstract":"<div><div>The stiffness model plays a crucial role in improving the performance of robots. During the operation of an underground mining cable-driven parallel robot (UMCDPR), insufficient stiffness can lead to motion instability, posing safety hazards. Additionally, the complexity of the underground mining environment, which is often accompanied by external disturbances, leads to offline stiffness indices failing when used underground as an optimal criterion. To address these problems, this article proposes a robust optimal stiffness direction (ROSD) index grounded in Rayleigh's theorem, which is characterized by three primary features: (1) strong robustness, (2) suitable for multi-trajectory optimization engineering problems, and (3) global visualization. Firstly, considering the influence of pulleys on the end-effector, the stiffness model of UMCDPR is modified. Secondly, a trajectory optimization method utilizing ROSD is introduced, incorporating the Kepler Conjecture and stiffness model correction. Finally, the characteristics of ROSD are validated through numerical simulations. Based on two numerical simulations, the ROSD index can serve as an optimal criterion for guiding stiffness optimization of UMCDPR. Furthermore, an optimal stiffness trajectory is obtained to meet the task objectives of UMCDPR.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106095"},"PeriodicalIF":4.5,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144280848","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 practice of hybrid real-time compensation strategy for motion control of a heavy-load and high-speed 6-DOF parallel platform 混合实时补偿策略在重载高速六自由度并联平台运动控制中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-12 DOI: 10.1016/j.mechmachtheory.2025.106099

Changlei Shao , Chengwu Li , Yan Hu , Jingdong Hu , Songlin Zhou , Xiaoming He , Wei Shi , Feng Gao , Kun Zhang

{"title":"A practice of hybrid real-time compensation strategy for motion control of a heavy-load and high-speed 6-DOF parallel platform","authors":"Changlei Shao , Chengwu Li , Yan Hu , Jingdong Hu , Songlin Zhou , Xiaoming He , Wei Shi , Feng Gao , Kun Zhang","doi":"10.1016/j.mechmachtheory.2025.106099","DOIUrl":"10.1016/j.mechmachtheory.2025.106099","url":null,"abstract":"<div><div>The heavy-load and high-speed 6-DOF parallel platform has been developed for tests of marine equipment; however, the complex mechanism achieving the aforementioned traits challenges the high-accuracy motion control of the end-effector interfacing with the test equipment. A hybrid real-time compensation strategy is proposed, which includes kinematic calibration based on identifiable parameters separation (IPS) for direct compensation of geometric errors, and direct feedback of force at the end-effector and linear encoder for compensation of compliance errors. Experiments are conducted to measure the error of motion after the hybrid real-time compensation. In parallel, the total error analysis including both geometric and compliance aspects is performed as a reference without compensation. The results indicate that the maximum error of the end-effector is significantly reduced from the calculated value of 14.3mm/0.54° to the measured value of 5.9mm/0.37°.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106099"},"PeriodicalIF":4.5,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144272430","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

Online friction estimation for collaborative robot joint with harmonic reducer: Integrating model estimation with adaptive error learning 谐波减速器协同机器人关节摩擦在线估计：模型估计与自适应误差学习的集成

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-12 DOI: 10.1016/j.mechmachtheory.2025.106110

Zheming Tong , Zhenxi Li , Sheng Li

{"title":"Online friction estimation for collaborative robot joint with harmonic reducer: Integrating model estimation with adaptive error learning","authors":"Zheming Tong , Zhenxi Li , Sheng Li","doi":"10.1016/j.mechmachtheory.2025.106110","DOIUrl":"10.1016/j.mechmachtheory.2025.106110","url":null,"abstract":"<div><div>Collaborative robot joints with harmonic reducers exhibit complex nonlinear characteristics, posing significant challenges in real-time friction estimation and restricting robot performance in force control and human-robot interaction. This research proposes an online estimation method for time-varying stiffness within the Generalized Maxwell-Slip (GMS) Coulomb friction model, utilizing a modified recursive least square algorithm with a directional forgetting factor. Its effectiveness is validated by simulating abrupt stiffness variations via scaling down normal test data in sequential segments. For the viscous friction component, an Error Correction Neural Network is developed, built upon a parametric model considering temperature, velocity, and the Stribeck effect. An adaptive error learning strategy is further introduced to dynamically adjust the network structure and parameters using real-time input data, compensating for modeling errors caused by time-varying factors like mechanical wear. Data from various joints across full operational ranges were collected to ensure the generalization of the proposed models and network. Experiments show the online stiffness estimation method maintains 95.5% accuracy even with sudden stiffness drops, achieving fast Coulomb friction updating. Results also demonstrate that the adaptive error learning strategy rapidly captures time-varying viscous friction characteristics for different harmonic reducers not involved in pre-training, achieving 95.4% estimation accuracy.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106110"},"PeriodicalIF":4.5,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144272428","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 dynamics-based method for determining the local finite mobility of single-loop spatial mechanisms 一种确定单环空间机构局部有限运动度的动力学方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-12 DOI: 10.1016/j.mechmachtheory.2025.106097

Shaoheng Hu , Ruiming Li , Xianwen Kong , Yezhuo Li , Xianhong Zhang , Corves Burkhard , Yan-an Yao

{"title":"A dynamics-based method for determining the local finite mobility of single-loop spatial mechanisms","authors":"Shaoheng Hu , Ruiming Li , Xianwen Kong , Yezhuo Li , Xianhong Zhang , Corves Burkhard , Yan-an Yao","doi":"10.1016/j.mechmachtheory.2025.106097","DOIUrl":"10.1016/j.mechmachtheory.2025.106097","url":null,"abstract":"<div><div>This paper proposes a method for calculating the local finite mobility of single-loop spatial mechanisms based on modal analysis. Using spanning tree-based multibody dynamics, the single-loop spatial mechanism is modeled as a tree-like kinematic chain with serial chains closed by the constraints represented by a spring force model. The dynamic model is linearized using Taylor expansion. The stiffness matrix is then yield. The correspondence between vibrating/non-vibrating generalized coordinates and the nonzero/zero eigenvalues in the stiffness matrix is clarified. The mobility of the single loop spatial mechanism is then determined by the number of zero eigenvalues in the stiffness matrix. The method is then validated and analyzed by calculating the DOF of Sarrus mechanism, Bennett mechanism, 3-mode 7R mechanism, a mechanism with special parameters and a variable-DOF 8R mechanism. One contribution is that this work enhances spanning-tree-based dynamic modeling by analyzing joint selection strategies and introducing spring forces to replace kinematic constraints. The Other contribution is that based on the linearized model, a modal analysis framework is established to determine the mobility of single-loop spatial mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106097"},"PeriodicalIF":4.5,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144263040","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

Kinematic and inverse dynamic analysis using mixed and fully Cartesian coordinates with a generic rigid body 使用混合和全笛卡尔坐标对一般刚体进行运动学和逆动力学分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-05 DOI: 10.1016/j.mechmachtheory.2025.106080

Sérgio B. Gonçalves , Ivo Roupa , Paulo Flores , Miguel Tavares da Silva

{"title":"Kinematic and inverse dynamic analysis using mixed and fully Cartesian coordinates with a generic rigid body","authors":"Sérgio B. Gonçalves , Ivo Roupa , Paulo Flores , Miguel Tavares da Silva","doi":"10.1016/j.mechmachtheory.2025.106080","DOIUrl":"10.1016/j.mechmachtheory.2025.106080","url":null,"abstract":"<div><div>The propagation of errors along a kinematic chain, caused by using drivers computed from noisy data, can affect the accuracy of the kinematic and dynamic outcomes. Minimizing the effect of such errors is crucial, particularly when traditional smoothing techniques prove to be ineffective.</div><div>This work expands the multibody formulation with Fully Cartesian Coordinates and a Generic Rigid Body (FCC-GRB) to the inverse dynamic analysis of spatial mechanical systems using mixed coordinates (MC). This method considers the incorporation of angular variables, enabling the determination of the kinematic consistent positions that best fit the reference data, while simultaneously computing the joint angular drivers. The accuracy and computational performance of the formulation are evaluated using both numerical- and optimization-based methods in the study of two mechanisms guided with perturbed data.</div><div>The results show that implementing an MC methodology with FCC-GRB can be easily performed without compromising the theoretical foundations of the classical formulation. This approach efficiently computes both the positions and drivers of the model simultaneously, avoiding the propagation of errors along the kinematic chain. Numerical methods based on the Newton-Raphson algorithm generated positions closely matching the reference data, while optimization-based methods ensured a stricter fulfillment of the topological constraints.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106080"},"PeriodicalIF":4.5,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144212675","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

Evaluation of contact curve profiles and improved analytical methodology for dynamic mesh stiffness in spiral bevel gears 螺旋锥齿轮接触曲线轮廓的评估及改进的动啮合刚度分析方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-05 DOI: 10.1016/j.mechmachtheory.2025.106079

Gollapudi Anuradha, A.S. Sekhar, Piyush Shakya

{"title":"Evaluation of contact curve profiles and improved analytical methodology for dynamic mesh stiffness in spiral bevel gears","authors":"Gollapudi Anuradha, A.S. Sekhar, Piyush Shakya","doi":"10.1016/j.mechmachtheory.2025.106079","DOIUrl":"10.1016/j.mechmachtheory.2025.106079","url":null,"abstract":"<div><div>Tooth contact analysis is essential for gear vibration studies, yet spiral bevel gears (SBG) lack a defined contact profile because of their complex geometry, unlike spur and helical gears. The study investigates SBG contact curve profiles and provides a model to make contact determination as straightforward as for cylindrical gears. Additionally, the paper provides a contact length formula and a method to determine the contact ratio in SBG made with circular cutters. Furthermore time-varying mesh stiffness (TVMS) is typically determined using computationally intensive finite element (FE) methods, experiments, or analytical techniques relying on spur gear approximations that often require FE-based corrections. This paper presents an analytical method for TVMS in SBG, handling geometric and dynamic complexities with no approximations through a novel slicing technique that generates three-dimensional loaded curved beam sections with intricate cross-sections, unlike traditional two-dimensional rectangular cantilevers. Stress and deformation energy derivations for these sliced curved sections are detailed, along with modifications to the conventional integral potential energy method for TVMS computation. The TVMS aligns with FE simulations, eliminating the need for correction factors and reducing computational effort.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106079"},"PeriodicalIF":4.5,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144223263","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

Supersurfaces for grasping, scene generation and contact modeling 用于抓取、场景生成和接触建模的超表面

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-05 DOI: 10.1016/j.mechmachtheory.2025.106075

Joan Badia Torres , Lidia Garrido , Alba Perez Gracia

引用次数: 0