Mechanism and Machine Theory最新文献_第6页

A novel accurate- efficient loaded contact analysis method for hypoid gears based on ease-off topography discretization and TE-interference assessment 一种基于地形离散化和te干扰评估的准双曲面齿轮精确高效载荷接触分析方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-26 DOI: 10.1016/j.mechmachtheory.2025.106012

Kaibin Rong , Jinyuan Tang , Zhaoyang Tian , Biyun Song , Haonan Li , Han Ding

{"title":"A novel accurate- efficient loaded contact analysis method for hypoid gears based on ease-off topography discretization and TE-interference assessment","authors":"Kaibin Rong , Jinyuan Tang , Zhaoyang Tian , Biyun Song , Haonan Li , Han Ding","doi":"10.1016/j.mechmachtheory.2025.106012","DOIUrl":"10.1016/j.mechmachtheory.2025.106012","url":null,"abstract":"<div><div>Due to the highly complex geometry of hypoid gears, calculating contact pressure and load distribution in their design remains a challenging problem. This paper presents a novel method for efficiently and accurately performing load contact analysis. It begins with the introduction of a conforming discretization approach to improve the accuracy of the ease-off topography, facilitating precise determination of contact curves and gaps. A time-indexed matrix is developed to reconstruct the ease-off topography, enabling rapid indexing of contact curves and gaps during computation. By segmenting the contact curves using the matrix columns and incorporating the relationship between the contact gap and gear rotation angle, a rotation-load response model is formulated. This model enables the determination of contact force and pressure distribution after contact curve interference, accounting for substrate deformation in the compensated rotation. The relationship between the transmission error (TE) curve and interference is established, permitting calculations of the number of contact pairs at various moments under different loads, thereby supporting load distribution computation. Finally, finite element analysis results of a hypoid gear pair and a spiral bevel gear, alongside experiments, confirm the method's accuracy, efficiency, and versatility.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106012"},"PeriodicalIF":4.5,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143705303","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 control optimization for hybrid-controlled overconstrained cable-driven parallel robots 混合控制过约束缆索驱动并联机器人设计与控制优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-26 DOI: 10.1016/j.mechmachtheory.2025.105998

Filippo Zoffoli, Edoardo Ida’, Marco Carricato

{"title":"Design and control optimization for hybrid-controlled overconstrained cable-driven parallel robots","authors":"Filippo Zoffoli, Edoardo Ida’, Marco Carricato","doi":"10.1016/j.mechmachtheory.2025.105998","DOIUrl":"10.1016/j.mechmachtheory.2025.105998","url":null,"abstract":"<div><div>In Cable-Driven Parallel Robots (<em>CDPRs</em>), multiple cables forming closed kinematic chains move the end-effector (<em>EE</em>). When the number of cables exceeds the degrees of freedom of the <em>EE</em>, the robot is overconstrained (<em>OCDPR</em>). This architecture helps keep cables taut but introduces actuation control challenges due to constraint redundancy. Hybrid Position–Force Control addresses this by using length-controlled cables to regulate the <em>EE</em> pose and force-controlled cables to manage force distribution. A hybrid control turns out to be a fast and intuitive solution in which, however, the choice of force-controlled cables influences the Wrench-Feasible Workspace. This article introduces the Wrench-Feasible Error-Insensitive Workspace (<em>WFEIW</em>), defined as the set of wrench-feasible poses that can be reached even in the presence of length- and tension-control errors. In particular, the paper shows how this workspace, which is inherently control-dependent, can be optimized. The <em>WFEIW</em> is analyzed for different 8-cable <em>OCDPRs</em>, demonstrating the method’s efficacy and generality. Ultimately, the volume of the <em>WFEIW</em> is used as a cost function to optimize a robot geometry, thus showing how the presented method provides a practical synthesis tool for design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105998"},"PeriodicalIF":4.5,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143698106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A practical aerodynamic model for dynamic textile manipulation in robotics 机器人织物动态操纵的实用气动模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-24 DOI: 10.1016/j.mechmachtheory.2025.105993

Franco Coltraro , Jaume Amorós , Carme Torras , Maria Alberich-Carramiñana

{"title":"A practical aerodynamic model for dynamic textile manipulation in robotics","authors":"Franco Coltraro , Jaume Amorós , Carme Torras , Maria Alberich-Carramiñana","doi":"10.1016/j.mechmachtheory.2025.105993","DOIUrl":"10.1016/j.mechmachtheory.2025.105993","url":null,"abstract":"<div><div>We study an aerodynamic model describing the interaction between cloth and air, with applications to dynamic textile manipulation by robots. After introducing the model, we investigate its theoretical implications by using an analytically solvable system: the damped pendulum. We deduce that aerodynamic forces in the model manifest themselves as a lifting force, more pronounced when the cloth transitions from rest to dynamic motion. The resulting aerodynamic model is simple, with no additional computational cost. The model is validated by comparing cloth simulations to real-world data as captured by a Motion Capture System: the results demonstrate errors of less than 1 cm even for size A2 textiles. Furthermore, we develop an a priori formula for estimating the parameters of the model for various textiles without further optimization. This formula allows us to present a challenging robotics application: a dynamic flattening motion is designed in simulation and then successfully executed by a robot without any fine-tuning or modification. The outcome, a smooth and rapid laying of the real textiles, demonstrates the minimal <em>sim-to-real</em> gap of our model even when aerodynamics plays a leading role.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105993"},"PeriodicalIF":4.5,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683061","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 novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform 基于kirigami启发的8R可配置平台的新型广义并联机器人综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-24 DOI: 10.1016/j.mechmachtheory.2025.106003

Yongheng Xing , Chunxu Tian , Zhihao Xia , Jie Gu , Dan Zhang

{"title":"The novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform","authors":"Yongheng Xing , Chunxu Tian , Zhihao Xia , Jie Gu , Dan Zhang","doi":"10.1016/j.mechmachtheory.2025.106003","DOIUrl":"10.1016/j.mechmachtheory.2025.106003","url":null,"abstract":"<div><div>This paper proposes a novel method to design metamorphic Spatial Single-loop Linkages (SSL) through Kirigami technology. The integration of the proposed Kirigami-inspired mechanism puts forward the development of reconfigurable Generalized Parallel Manipulators (GPMs). First, the cut points are introduced into the crease patterns to generate Kirigami-inspired crease patterns. Such Kirigami-inspired crease patterns obtain a novel 8R metamorphic SSL. Then, to investigate the motion characteristics of the derived mechanism, the constraint screw method is utilized to analyze the parameter configurations associated with singular positions and different motion trajectories. Moreover, this paper presents an innovative approach to constructing reconfigurable GPMs with the proposed SSL. According to the working scenarios, the desired relative motion sets can be mapped to actual motion sets. Utilizing the Lie group theory, the arrangement of mechanical generators of the limbs can be obtained. Finally, this research highlights the potential application of the proposed GPM with the configurable platform: landing manipulation adapting to various terrains with grasping capability.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106003"},"PeriodicalIF":4.5,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683060","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

Automated pantograph dynamic testing and defect detection 自动受电弓动态测试和缺陷检测

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-23 DOI: 10.1016/j.mechmachtheory.2025.106008

G. Tucker, H. Faham, S. Parsa, P. Antunes

{"title":"Automated pantograph dynamic testing and defect detection","authors":"G. Tucker, H. Faham, S. Parsa, P. Antunes","doi":"10.1016/j.mechmachtheory.2025.106008","DOIUrl":"10.1016/j.mechmachtheory.2025.106008","url":null,"abstract":"<div><div>Pantographs are a key component for electric trains, responsible for collecting electrical current from the overhead lines. Maintaining pantographs in good working order is key to efficient current collection, whilst avoiding service disruption and managing safety risks. This work proposes a novel robotic system for testing pantographs. Previous studies have conducted initial investigations into automated pantograph testing, typically focusing on a small number of failure modes. There is also a range of pantograph (not automated) test methods defined in EN50206, which can identify faulty pantographs but not diagnose specific faults. The proposed test assesses contact torques as well as contact forces when raising and lowering a pantograph through its working range. Assessment of contact torques proved to be essential to identify some failure modes. Failures in the pantograph frame and joint, dampers, head suspension and air supply are considered. Test parameters, which are post processed from measured results are defined, and testing confirms that a combination of parameters can effectively diagnose all failure modes considered. The method gives a fast assessment of pantograph condition in an industrial train maintenance environment.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106008"},"PeriodicalIF":4.5,"publicationDate":"2025-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Lie algebra-based high-order constraint analysis of a novel multi-loop metamorphic mechanism derived from four-bar linkage for lower limb exoskeletons 基于李代数的下肢外骨骼四杆机构多回路变质机制高阶约束分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-22 DOI: 10.1016/j.mechmachtheory.2025.105994

Yusong Xing , Jun Wei , Yuhang Zhu , Mengna Yang , Weilin Lv , Shijie Guo , Jian S. Dai

{"title":"Lie algebra-based high-order constraint analysis of a novel multi-loop metamorphic mechanism derived from four-bar linkage for lower limb exoskeletons","authors":"Yusong Xing , Jun Wei , Yuhang Zhu , Mengna Yang , Weilin Lv , Shijie Guo , Jian S. Dai","doi":"10.1016/j.mechmachtheory.2025.105994","DOIUrl":"10.1016/j.mechmachtheory.2025.105994","url":null,"abstract":"<div><div>Traditional lower limb exoskeletons are typically designed for fixed postures but struggle to adapt to dynamic, multi-scenario environments. This paper investigates a novel multi-loop metamorphic mechanism for lower limb exoskeletons, enabling smooth posture transitions among walking, sitting, kneeling, and intermediate states to meet variable support requirements. First, a topological structure connecting the lower limbs and support rods is established, and a four-bar linkage-based multi-loop metamorphic mechanism is proposed, achieving configuration changes via link overlap or axis collinearity. Next, first- and second-order kinematic equations are derived using Lie group and Lie algebra exponential products. Singular configurations and motion bifurcation are analyzed through the Jacobian matrix constructed with Lie bracket operations, leading to bifurcation conditions and corresponding motion branch diagrams. Finally, the proposed metamorphic mechanism is implemented in a lower limb exoskeleton, identifying five distinct motion branches, four corresponding to walking, sitting, kneeling, and transitional postures. Joint velocity constraints enable effective branch switching, resolving challenge of increased instantaneous degrees of freedom in singular configurations.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105994"},"PeriodicalIF":4.5,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683057","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

Force-guided heuristic kinematics control of a continuum robot with variable curvatures 变曲率连续体机器人的力引导启发式运动学控制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-22 DOI: 10.1016/j.mechmachtheory.2025.106007

Yuhang Liu, Kai Luo, Qiang Tian, Haiyan Hu

{"title":"Force-guided heuristic kinematics control of a continuum robot with variable curvatures","authors":"Yuhang Liu, Kai Luo, Qiang Tian, Haiyan Hu","doi":"10.1016/j.mechmachtheory.2025.106007","DOIUrl":"10.1016/j.mechmachtheory.2025.106007","url":null,"abstract":"<div><div>Continuum robots, particularly cable-driven continuum robots (CDCRs), have broad application prospects due to their lightweight and flexibility, featuring simple structures and actuation. However, their accurate control relies on high-precision kinematic models with nonuniform curvatures and the associate algorithms of inverse kinematics. In this article, the discrete elastic rod method based on discrete differential geometry is used to establish the variable curvature kinematic model of a CDCR, and a heuristic algorithm of optimal control guided by the virtual constraint forces are proposed to solve inverse kinematics efficiently. A closed-loop trajectory tracking controller based on the proposed algorithm is then designed with high tracking precision. Experimental results demonstrate that the dynamic deviation of the robot's free-end positions from the target ones under the condition of an acceleration 0.3 m/s<sup>2</sup> is only 2.7 % of its total length, and it becomes 6.2 % even when the robot is carrying a payload of 100 g. The control error remains small at a tracking speed of 160 mm/s. Thus, the proposed force-guided heuristic algorithm provides a new way to construct effective dynamic controllers of continuum robots.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106007"},"PeriodicalIF":4.5,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683058","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 digital code based method for configuration analysis and database synthesis of two-mode power-split transmission with three planetary gear sets 提出了一种基于数字编码的三行星齿轮组双模功率分流传动结构分析与数据库综合方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-22 DOI: 10.1016/j.mechmachtheory.2025.105996

Chen Gong , Huafeng Ding , Andrés Kecskeméthy , Bihai Deng

{"title":"A digital code based method for configuration analysis and database synthesis of two-mode power-split transmission with three planetary gear sets","authors":"Chen Gong , Huafeng Ding , Andrés Kecskeméthy , Bihai Deng","doi":"10.1016/j.mechmachtheory.2025.105996","DOIUrl":"10.1016/j.mechmachtheory.2025.105996","url":null,"abstract":"<div><div>Due to the complexity of the planetary gear train (PGT), it is difficult to design novel configurations of power-split hybrid transmission with three planetary gear sets (PGSs) containing input-split and compound-split two modes. One of the effective solutions is to complete configuration synthesis and establish a complete database of configurations to assist in the design. For this reason, a uniform and simple digital code is proposed to represent the two-mode power-split hybrid transmission configuration, which divides the configuration into PGT and shift element (SE) two parts. The computer only needs to read the digital code to automatically complete the mode analysis, motion characteristics analysis and mechanical interference detection, which are the basis for the configuration synthesis. In addition, to improve design efficiency, while completing the configuration synthesis, the structure and motion characteristics of each configuration are stored in MySQL database, which realizes the fast reading of configuration information. Through this method of assisting configuration design, engineers can quickly search for feasible configurations according to the requirements. Therefore, this method is instructive for the design of power-split hybrid transmission configuration.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105996"},"PeriodicalIF":4.5,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683056","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 of an Adjustable Constant Force Mechanism Based on Integrated Magnet-beam Structures and an Adjustable Lever Mechanism 基于集成磁梁结构和可调杠杆机构的可调恒力机构设计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-21 DOI: 10.1016/j.mechmachtheory.2025.105997

Yixin Shao , Zhi Wang , Yu Sun , Di Shi , Yanggang Feng , Fei Liu , Xilun Ding , Wuxiang Zhang

{"title":"Design of an Adjustable Constant Force Mechanism Based on Integrated Magnet-beam Structures and an Adjustable Lever Mechanism","authors":"Yixin Shao , Zhi Wang , Yu Sun , Di Shi , Yanggang Feng , Fei Liu , Xilun Ding , Wuxiang Zhang","doi":"10.1016/j.mechmachtheory.2025.105997","DOIUrl":"10.1016/j.mechmachtheory.2025.105997","url":null,"abstract":"<div><div>This paper presents a novel adjustable constant force mechanism (CFM) based on integrated magnet-beam structures and an adjustable lever mechanism. Different from the designs based on the linear stiffness combination method, the proposed CFM is designed via nonlinear stiffness combination, where attractive magnets are used to generate full-stroke nonlinear negative stiffness, and spline-shaped beams are optimized to provide nonlinear positive stiffness. This enables the generation of full-stroke zero stiffness (i.e., constant force), thereby increasing the constant force region. Moreover, the nonlinear stiffness characteristic also enables force fluctuation compensation by adjusting the initial gap between magnets, ensuring a constant output force even in the presence of manufacturing errors. Additionally, by adjusting the lever ratio of the lever mechanism, the constant force magnitude can be adjusted to adapt to different applications. The working principle and mechanical design of the proposed adjustable CFM are introduced. The static model of the spline-shaped beam is developed, and an optimization study is conducted for parameter determination. Finally, a prototype is fabricated and experiments are carried out to verify the effectiveness of the proposed design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105997"},"PeriodicalIF":4.5,"publicationDate":"2025-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683055","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

Topology-manifold-based parametric design of dual-spherical-4R chiral origami mechanisms 基于拓扑流形的双球4r手性折纸机构参数化设计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-20 DOI: 10.1016/j.mechmachtheory.2025.105983

Mi Li , Huijuan Feng , Jian S. Dai

{"title":"Topology-manifold-based parametric design of dual-spherical-4R chiral origami mechanisms","authors":"Mi Li , Huijuan Feng , Jian S. Dai","doi":"10.1016/j.mechmachtheory.2025.105983","DOIUrl":"10.1016/j.mechmachtheory.2025.105983","url":null,"abstract":"<div><div>Chiral mechanisms are defined by their mirror-symmetric structural or motion properties, typically exhibiting a helical morphology. These mechanisms excel in folding capabilities, allowing structures to achieve compact configurations, and are characterized by programmable mechanical properties. Additionally, they enable transitions between linear and rotational motion, generating significant interest in their potential applications. Despite this, a systematic design methodology for such mechanisms remains underdeveloped. Topological manifolds provide a critical mathematical framework for describing origami mechanisms with chiral characteristics, forming the foundation for an effective design approach. This paper introduces a parametric design methodology inspired by origami and based on spherical manifolds for creating dual-spherical-4<em>R</em> chiral mechanisms. These mechanisms facilitate transitions among two distinct fully-folded configurations and a fully-deployed configuration. The proposed methodology capitalizes on the unique attributes of spherical manifolds, which operate independently of length scale constraints. It employs a single design parameter to define the dual-spherical-4<em>R</em> chiral mechanisms, enabling the adjustment of 2D planar profiles and 3D motion spaces. Furthermore, this paper investigates the coupling relationship between the design parameters of chiral origami mechanisms and the fully folded polygonal profiles represented by <em>n</em>-polygons. By uncovering the mathematical principles that govern the structural and motion properties of dual-spherical-4<em>R</em> chiral origami mechanisms, the study establishes a clear connection between design parameters and morphological profiles. This framework provides a foundation for developing reconfigurable modular chiral origami robots with diverse motion capabilities.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105983"},"PeriodicalIF":4.5,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683054","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