Mechanism and Machine Theory最新文献_第7页

Enhancing anti-disturbance performance of redundant cable-driven parallel robots: Analysis and tension distribution method 提高冗余缆索驱动并联机器人的抗干扰性能：分析和张力分配方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-26 DOI: 10.1016/j.mechmachtheory.2024.105861

Jinhao Duan , Hanqing Liu , Le Yan , Zhufeng Shao , Zhaokun Zhang , Xiaoqiang Tang , Minjian Huang , Zixiang Peng

{"title":"Enhancing anti-disturbance performance of redundant cable-driven parallel robots: Analysis and tension distribution method","authors":"Jinhao Duan , Hanqing Liu , Le Yan , Zhufeng Shao , Zhaokun Zhang , Xiaoqiang Tang , Minjian Huang , Zixiang Peng","doi":"10.1016/j.mechmachtheory.2024.105861","DOIUrl":"10.1016/j.mechmachtheory.2024.105861","url":null,"abstract":"<div><div>Anti-disturbance performance reflects the core performance of cable-driven parallel robots (CDPRs) to resist external wrenches and exert wrenches to the outside world, which plays a significant role in the design and control of CDPRs. However, existing analysis methods encounter the issue of dimensional collapse when analyzing the anti-disturbance performance of redundant CDPRs, thereby failing to reflect the influence of tension distribution. In this paper, the augmented wrench space and Augmented Available Wrench Set (AAWS) are proposed for the analysis and tension distribution of redundant CDPRs, establishing the complete mapping between cable tensions and terminal wrenches of redundant CDPRs. The AAWS resolves the issue of dimensional collapse encountered in existing methods, and clarifies the comprehensive impact of tension distribution on the performance of redundant CDPRs. A tension distribution method is developed based on the AAWS to enhance the anti-disturbance performance of redundant CDPRs. Simulation indicates that the proposed AAWS-based tension distribution method effectively improves the anti-disturbance performance compared to the commonly used 2-norm-based method and the centroid method. This paper presents an efficient and universal approach for analyzing, evaluating, and improving the anti-disturbance performance of redundant CDPRs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105861"},"PeriodicalIF":4.5,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723656","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 the behaviour of n-planets planetary gear sets influenced by geometrical design factors 关于受几何设计因素影响的 n 行星行星齿轮组的行为

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-25 DOI: 10.1016/j.mechmachtheory.2024.105860

J. Sanchez-Espiga , M. Fuerst , A. Fernandez-del-Rincon , M. Otto , F. Viadero , K. Stahl

{"title":"On the behaviour of n-planets planetary gear sets influenced by geometrical design factors","authors":"J. Sanchez-Espiga , M. Fuerst , A. Fernandez-del-Rincon , M. Otto , F. Viadero , K. Stahl","doi":"10.1016/j.mechmachtheory.2024.105860","DOIUrl":"10.1016/j.mechmachtheory.2024.105860","url":null,"abstract":"<div><div>This work presents a study focused on the behaviour of low-speed planetary gear sets with 3 to 7 equally spaced planets affected by their inherent geometrical characteristics. On the one hand, this work identifies the conditions that make the transmission act as fixed, even including floatability in the sun gear, due to their inherent geometrical factors in transmissions with an even number of planets. On the other hand, this work extends the criteria employed to classify the kinds of planetary gearboxes according to their geometry, including the order of the sequence in a sequentially phased transmission. A new expression is proposed in order to take this order into account. Then, several different transmissions are modelled covering the possible configurations. To observe the impact that these aspects have in the transmission’s behaviour the load sharing ratio and the orbits described by the sun gear are extracted. These results confirm the importance of the mentioned sequence order in the behaviour of these transmissions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105860"},"PeriodicalIF":4.5,"publicationDate":"2024-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723103","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

Comments on “Design and optimization of a planar anti-buckling compliant rotational joint with a remote center of motion” by R. Chen et al. published in [Mechanism and Machine Theory 203 (2024) 105816] 对 R. Chen 等人发表在《机械与机器理论》203 (2024) 105816 上的 "具有远程运动中心的平面抗弯曲顺应旋转接头的设计与优化 "一文的评论

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-24 DOI: 10.1016/j.mechmachtheory.2024.105863

Guangbo Hao

引用次数: 0

Automatic Synthesis Method for Multi-speed Automatic Transmission Configuration 多速自动变速器配置的自动合成方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-23 DOI: 10.1016/j.mechmachtheory.2024.105864

Tao Ke , Huafeng Ding , Andrés Kecskemethy

{"title":"Automatic Synthesis Method for Multi-speed Automatic Transmission Configuration","authors":"Tao Ke , Huafeng Ding , Andrés Kecskemethy","doi":"10.1016/j.mechmachtheory.2024.105864","DOIUrl":"10.1016/j.mechmachtheory.2024.105864","url":null,"abstract":"<div><div>Automatic transmissions (AT) configuration with more pleasant driving and convenient operation have seen increasing attention in the fast-growing automobile industry. This paper presents a new matrix model describing the planetary gear train (PGT) structure, shifting elements layout and clutching sequence of AT configuration. An automatic configuration synthesis method of multi-speed AT is proposed based on this model. Firstly, feasible PGT structures are synthesized by generating corresponding structural matrices subject to structural constraints. Secondly, the shifting elements layouts of each structural matrices are synthesized through distributing brakes and clutches. Thirdly, automatic kinematic analysis of all possible gears is performed to acquire the feasible clutching sequence matrices. Finally, taking the thirteen-speed AT configuration synthesis as an example, the proposed automatic configuration synthesis method was applied to obtain five feasible configurations. Furthermore, the proposed method can automatically synthesize the configuration of other multi-speed AT with multiple planetary gear sets (PGSs) and multiple shifting elements by setting new design constraints.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105864"},"PeriodicalIF":4.5,"publicationDate":"2024-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723101","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

Real-time position path smoothing for robotic manipulators by constructing Composite Trajectory Spline 通过构建复合轨迹样条为机器人机械手实时平滑位置路径

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-22 DOI: 10.1016/j.mechmachtheory.2024.105855

Weiguang Yu , Daokui Qu , Fang Xu , Fengshan Zou , Mingmin Liu , Shichang Liu

{"title":"Real-time position path smoothing for robotic manipulators by constructing Composite Trajectory Spline","authors":"Weiguang Yu , Daokui Qu , Fang Xu , Fengshan Zou , Mingmin Liu , Shichang Liu","doi":"10.1016/j.mechmachtheory.2024.105855","DOIUrl":"10.1016/j.mechmachtheory.2024.105855","url":null,"abstract":"<div><div>Aiming at smoothing discontinuous corners in robotic tool paths, a novel spline named “Composite Trajectory Spline”(CT-Spline) is proposed in this paper. Based on CT-Spline, the real-time position path smoothing for robotic manipulators is realized. CT-Spline enables analytical trajectory planning and interpolation without curve length computation, significantly enhancing trajectory generation efficiency and avoiding numerical errors. By directly controlling resultant trajectory acceleration, CT-Spline avoids decomposing it into tangential and normal accelerations, ensuring adherence to the maximum acceleration constraint while fully utilizing acceleration potential. The geometric shape of CT-Spline is determined by three control points and a trajectory model. This paper further develops C1 and C3 continuous CT-Splines based on two different trajectory models, combined with a velocity look-ahead algorithm to achieve real-time local smoothing of path corners. Additionally, an adaptive control algorithm of smoothing error is introduced to dynamically maximize trajectory velocity. Simulations and experiments validate the effectiveness of CT-Spline, and demonstrate that the proposed C3 continuous trajectory smoothing method has several advantages over the method based on Pythagorean-hodograph splines in terms of kinematic constraints, velocity, smoothing errors, and real-time performance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105855"},"PeriodicalIF":4.5,"publicationDate":"2024-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic modeling and friction force analysis of ball screw feed system with eccentric load and high acceleration 带偏心载荷和高加速度的滚珠丝杠进给系统的动态建模和摩擦力分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-22 DOI: 10.1016/j.mechmachtheory.2024.105862

Wei Wang , Yanxun Zhou , Yimin Zhang , Hao Lu

{"title":"Dynamic modeling and friction force analysis of ball screw feed system with eccentric load and high acceleration","authors":"Wei Wang , Yanxun Zhou , Yimin Zhang , Hao Lu","doi":"10.1016/j.mechmachtheory.2024.105862","DOIUrl":"10.1016/j.mechmachtheory.2024.105862","url":null,"abstract":"<div><div>Dynamic performance of ball screw feed system is negatively affected by the vibration and friction, which are mainly related to the contact characteristics of rolling kinematic joints. In this study, starting from clarifying the friction mechanism, a coupling dynamic model of a feed system was developed. The excitation forces and moments are analyzed to investigate the contribution to the vibration characteristics. Based on the coulomb and viscous friction theories, the viscous friction, sliding friction and elastic hysteresis friction are formulated. According to the benefits of the comprehensive model, the vibration responses and friction forces can be obtained by solving the dynamic equations, which avoids the iterative formula of contact loads and angles. Vibration testing experiment is performed to prove the validity. In particular, the effects of excitation force, feeding acceleration and eccentric distance on the vibration and friction characteristics are investigated. Furthermore, the model can supply some theoretical principles to suppress vibration and friction. The study also helps to improve the performance of a ball screw feed system.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105862"},"PeriodicalIF":4.5,"publicationDate":"2024-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723099","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 tooth contact analysis method for conical worm drives: An enhanced ease-off topography-based approach with conforming grid and TE-clearance assessment 锥形蜗杆传动装置的新型齿接触分析方法：基于地形图的增强型易切削方法与保形网格和 TE 净度评估

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-21 DOI: 10.1016/j.mechmachtheory.2024.105837

Kaibin Rong , Jinyuan Tang , Biyun Song , Xuanqi Bu , Xiaoping Zou

{"title":"A novel tooth contact analysis method for conical worm drives: An enhanced ease-off topography-based approach with conforming grid and TE-clearance assessment","authors":"Kaibin Rong , Jinyuan Tang , Biyun Song , Xuanqi Bu , Xiaoping Zou","doi":"10.1016/j.mechmachtheory.2024.105837","DOIUrl":"10.1016/j.mechmachtheory.2024.105837","url":null,"abstract":"<div><div>This paper focuses on the ease-off based tooth contact analysis (e-TCA) of conical worm gearing with twisted pinion tooth flanks. Existing methods have two significant drawbacks: 1) The calculation of ease-off values employs non-conforming grids, leading to errors, and 2) the determination of contact path boundaries lacks detailed research, resulting in contact patterns that do not reflect variations in the contact ratio. To address the first issue, a conforming discrete grid partitioning method is proposed, which ensures that corresponding nodes lie in the same tangent direction and uses tangent deviation to express ease-off, thereby eliminating errors. To solve the second issue, the TE-clearance formula is introduced, which reflects changes in the contact path length and boundaries under different preset clearance thresholds (PCT), capturing variations in the contact ratio. Additionally, the method for determining the working area has been optimized, making the e-TCA more reliable and enhancing the overall consistency and integrity of the contact curve calculation method. Finally, numerical examples and rolling tests verify the accuracy and advancement of the proposed algorithm, which is expected to replace rolling inspections and finite element analysis.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105837"},"PeriodicalIF":4.5,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723098","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

Stiff deployable structures via coupling of thick Miura-ori tubes along creases 通过沿折痕耦合粗大的三浦ori 管实现坚固的可展开结构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-21 DOI: 10.1016/j.mechmachtheory.2024.105851

Sunao Tomita , Kento Shimanuki , Kazuhiko Umemoto , Atsushi Kawamoto , Tsuyoshi Nomura , Tomohiro Tachi

{"title":"Stiff deployable structures via coupling of thick Miura-ori tubes along creases","authors":"Sunao Tomita , Kento Shimanuki , Kazuhiko Umemoto , Atsushi Kawamoto , Tsuyoshi Nomura , Tomohiro Tachi","doi":"10.1016/j.mechmachtheory.2024.105851","DOIUrl":"10.1016/j.mechmachtheory.2024.105851","url":null,"abstract":"<div><div>Origami-based structures are crucial to attaining deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami tubes enhances the geometrical variations and mechanical properties. However, existing thickness accommodation for coupling of origami tubes is generally limited to manifold, that is, a polyhedral surface in which each edge is shared by at most two faces. By contrast, this study proposed origami-based structures composed of multiple thick Miura-ori tubes that are not limited to the manifold, possibly having edges shared by more than two faces, resulting in rigid-foldable thick origami cellular structures. Furthermore, the coupling method contributes to the high stiffness of the coupled Miura-ori tubes, as evidenced by the wide gap in the eigenvalues between the one-DOF mode and the elastic modes obtained by the bar-and-hinge models. Finally, meter-scale coupled Miura-ori tubes were fabricated to demonstrate one-DOF motion and high stiffness. The findings of this study enable the rapid construction of structures by one-DOF motion and the enhancement of transportability via flat-foldability.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"205 ","pages":"Article 105851"},"PeriodicalIF":4.5,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142723097","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 global approach for the redefinition of higher-order flexibility and rigidity 重新定义高阶柔性和刚性的全球方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-20 DOI: 10.1016/j.mechmachtheory.2024.105853

Georg Nawratil

引用次数: 0

Quasi-static modeling of a cable-driven continuum manipulator considering non-smooth cable-hole friction and experimental verification 考虑非光滑缆孔摩擦的缆索驱动连续机械手准静态建模与实验验证

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2024-11-18 DOI: 10.1016/j.mechmachtheory.2024.105856

Shucui Zhang , Jiayuan Zhao , Xingang Zhang , Haohao Bi , Wenli Yao , Fanxiu Chen , Haijun Peng , Caishan Liu

{"title":"Quasi-static modeling of a cable-driven continuum manipulator considering non-smooth cable-hole friction and experimental verification","authors":"Shucui Zhang , Jiayuan Zhao , Xingang Zhang , Haohao Bi , Wenli Yao , Fanxiu Chen , Haijun Peng , Caishan Liu","doi":"10.1016/j.mechmachtheory.2024.105856","DOIUrl":"10.1016/j.mechmachtheory.2024.105856","url":null,"abstract":"<div><div>In cable-driven continuum manipulator (CDCM) systems, the driving hysteresis effect due to non-smooth friction significantly affects motion control. In this paper, a quasi-static model of a CDCM considering non-smooth friction is proposed. The finite element method is used to discretize the backbone, neglecting the inertial effect in the driving process, and the nodal force vector for the backbone is obtained. Then, by considering the attenuation and non-smoothness of friction, the nodal force vector for the driving cables is obtained, and the tangent stiffness matrix of the nodal force vector is derived in detail. Subsequently, cable reeling/unreeling experiments were also conducted, and the hysteresis loops obtained were consistent with the theoretical model, thus verifying the validity of the non-smooth model. Finally, trajectory tracking simulations along spatial curves are conducted, and the influence of sliding friction and loading history on the evolution of driving force is studied.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"204 ","pages":"Article 105856"},"PeriodicalIF":4.5,"publicationDate":"2024-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142703076","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