Mechanism and Machine Theory最新文献_第7页

Design and synthesis of four-bar mechanisms with integrated springs for nonlinear stiffness applications 非线性刚度应用中带集成弹簧的四杆机构的设计与综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-25 DOI: 10.1016/j.mechmachtheory.2025.106152

Vu Linh Nguyen

{"title":"Design and synthesis of four-bar mechanisms with integrated springs for nonlinear stiffness applications","authors":"Vu Linh Nguyen","doi":"10.1016/j.mechmachtheory.2025.106152","DOIUrl":"10.1016/j.mechmachtheory.2025.106152","url":null,"abstract":"<div><div>This paper presents the design and synthesis of four-bar mechanisms with integrated springs for applications requiring nonlinear stiffness. The proposed method systematically identifies a total of 42 distinct mechanism configurations, each composed of a planar four-bar linkage with strategically placed springs to achieve specific torque-angle profiles. The method combines free-body diagram analysis with particle swarm optimization to determine the optimal geometric and spring parameters that minimize the error between the desired and actual torque outputs over a specified angular range. The significance of this method lies in the practical realization of nonlinear stiffness characteristics using simple and compact structures. Numerical simulations across various target stiffness profiles demonstrate the accuracy and adaptability of the synthesized mechanisms with minimal torque deviations. Physical prototypes and experimental validation further confirm the effectiveness of the method, highlighting its potential in applications such as compliant actuators, adaptive robotic manipulators, and vibration isolators.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106152"},"PeriodicalIF":4.5,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703501","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 lumped stiffness model for industrial robots under multi-axial loading: Trade-off between the model complexity and positional accuracy 多轴载荷下工业机器人增强集总刚度模型：模型复杂度与位置精度的权衡

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-24 DOI: 10.1016/j.mechmachtheory.2025.106133

Eldho Paul , Riby Abraham Boby , Hariharan Krishnaswamy , Alexandr Klimchik

{"title":"Enhanced lumped stiffness model for industrial robots under multi-axial loading: Trade-off between the model complexity and positional accuracy","authors":"Eldho Paul , Riby Abraham Boby , Hariharan Krishnaswamy , Alexandr Klimchik","doi":"10.1016/j.mechmachtheory.2025.106133","DOIUrl":"10.1016/j.mechmachtheory.2025.106133","url":null,"abstract":"<div><div>The elastostatic calibration of industrial robots using reduced order stiffness models predominantly relies on joint compliance. The contribution of link compliance ignored in these models assumes significance, especially when the end-effector employs external loads. The presented work overcomes the limitation by proposing a simpler reduced order model encompassing joint and link compliance. The proposed model has only nine parameters compared to an existing model with twenty-six parameters. A novel top-down approach is adopted for identifying these nine parameters, wherein the parameters are lumped to accurately model the end-effector deflection under multi-axial loading. A dedicated experimental setup involving two ABB IRB 7600-500 robots was used to validate the model. The performance of the nine parameter model is akin to other sophisticated models involving many parameters. The calibration resulted in a 91% reduction in position error. The model and identification strategies are generic and can be adapted to any similar serial robot. The compatibility of the identified parameters was tested using another robot of the same (make) specification. The error predictions were in a similar order, confirming the robustness of the approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106133"},"PeriodicalIF":4.5,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144696746","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 6-PUS+6-SPS/6-UPS parallel configuration with wide-range, high-resolution motion under heavy load conditions 新颖的6-PUS+6-SPS/6-UPS并联配置，在重载条件下具有宽范围，高分辨率运动

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-23 DOI: 10.1016/j.mechmachtheory.2025.106157

Songlin Zhou , Yuanhao Pan , Yan Hu , Mingyang Shan , Weixing Chen , Ke Yin , Feng Gao

引用次数: 0

Dimensional design method based on stability analysis to enhance traversability of heavy-duty hexapod robots over challenging terrains 基于稳定性分析的尺寸设计方法提高重型六足机器人在复杂地形上的可穿越性

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-23 DOI: 10.1016/j.mechmachtheory.2025.106141

Yang Su , Liang Ding , Peng Xu , Guangshan Wang , Qingqing Wei , Tie Liu , Haoyu Wang , Haibo Gao

{"title":"Dimensional design method based on stability analysis to enhance traversability of heavy-duty hexapod robots over challenging terrains","authors":"Yang Su , Liang Ding , Peng Xu , Guangshan Wang , Qingqing Wei , Tie Liu , Haoyu Wang , Haibo Gao","doi":"10.1016/j.mechmachtheory.2025.106141","DOIUrl":"10.1016/j.mechmachtheory.2025.106141","url":null,"abstract":"<div><div>This paper presents a dimensional design methodology for heavy-duty hexapod robots, aiming to improve terrain traversability in field environments. Traditional robot design approaches often rely on iterative design loops or empirical adjustment, with stability validation typically performed at the final stages. In contrast, our proposed method integrates the Static Stability Margin directly into the early design process, enabling constrained the robot’s body dimensions, leg workspace, and center of mass. This allows systematic prediction of geometric configurations that satisfy diverse terrain mobility requirements while reducing the times of physical iterations. The proposed approach is founded on a static stability framework, which analytically establishes the relationship between robot geometric parameters and critical terrain parameters, including slope angle, lateral slope, ravine width, and obstacle height. This enables hexapod robots to achieve broader terrain adaptability through design. To validate the effectiveness of the proposed method, a hexapod simulation model is constructed according to the design results, and its performance is evaluated across various terrain scenarios. These results are then compared with physical experiments using the Elspider-IV prototype. The results show that the redesigned robot experiences reduced joint forces and achieves a more compact structure, aligning with the metrics of terrain-adaptive design. Overall, this method offers a generalizable and effective strategy for the dimensional design of heavy-duty legged robots.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106141"},"PeriodicalIF":4.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144685865","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

Analysis of the contact stress of beveloid gears with straight teeth and parallel axes 直齿平行轴锥面齿轮的接触应力分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-21 DOI: 10.1016/j.mechmachtheory.2025.106156

Giuseppe Sciarra , Giovanni Mottola , Miguel Pleguezuelos , Miryam B. Sánchez , Marco Carricato , José I. Pedrero

{"title":"Analysis of the contact stress of beveloid gears with straight teeth and parallel axes","authors":"Giuseppe Sciarra , Giovanni Mottola , Miguel Pleguezuelos , Miryam B. Sánchez , Marco Carricato , José I. Pedrero","doi":"10.1016/j.mechmachtheory.2025.106156","DOIUrl":"10.1016/j.mechmachtheory.2025.106156","url":null,"abstract":"<div><div>Beveloid gears are spur or helical gears whose outside radius, root radius and shift coefficient vary linearly along the face width, but with constant module and base radius. Accordingly, the gear outer surface is not a cylinder, but a cone. Beveloid gears mounted with parallel axes and opposite cone angles are interesting because they allow backlash control. In this case, the transverse sections have the profile of a spur gear, but with different outside radii, root radii and shift coefficients in each section. Accordingly, the inner and outer contact points and the transverse contact ratio are different, and an axial contact ratio can be defined. This paper studies the contact stress of beveloid gears with straight teeth and parallel axes, based on the analysis of contact segments along the meshing cycle, and the variation of the tooth-pair mesh stiffness and load-sharing ratio along the instantaneous contact lines. The analysis is based on minimum elastic potential energy and considers teeth undercutting and pointing. Results are validated through finite-element analysis of a sample gear pair. The analytical method presented in this work is computationally efficient and can be used as a calculation step within an optimization algorithm.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106156"},"PeriodicalIF":4.5,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672114","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

Unlocking complex motion in one DoF higher pairs: Concept, constraint, and form closure for varying instantaneous center of rotation (VICR) joints 解锁复杂运动在一个自由度更高的副：概念，约束，并形成封闭的变化瞬时旋转中心（VICR）关节

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-18 DOI: 10.1016/j.mechmachtheory.2025.106154

Gaohan Zhu, Shixuan Chu, Changjie Zhao, Weizhong Guo, Yinghui Li

{"title":"Unlocking complex motion in one DoF higher pairs: Concept, constraint, and form closure for varying instantaneous center of rotation (VICR) joints","authors":"Gaohan Zhu, Shixuan Chu, Changjie Zhao, Weizhong Guo, Yinghui Li","doi":"10.1016/j.mechmachtheory.2025.106154","DOIUrl":"10.1016/j.mechmachtheory.2025.106154","url":null,"abstract":"<div><div>This paper investigates one degree of freedom (DoF) higher pairs enabling the complex motion with a varying instantaneous center of rotation (VICR), referred to as VICR joints. Firstly, the conceptual framework and classification for 1-DoF higher pairs with multi-point contact are proposed, introducing the innovative concept of VICR joints that incorporate one DoF to achieve complex motion. A profile synthesis method is further introduced for the geometric design of joint elements. Then, the constraint characteristics of VICR joints are analyzed, and the constraint performance evaluation index based on the generalized pressure angle is proposed, further revealing the geometric nature of constraint performance. Subsequently, the form closure criteria of VICR joints are derived by combining the directionality of constraint forces and restricted motion, ensuring persistent element contact solely through geometric profiles of joint elements. Finally, case studies are conducted to verify the effectiveness of the proposed concepts and methods. This research complements the design possibilities of planar joints by proposing a novel type of 1-DoF higher pair that enables complex motion, providing an innovative joint solution for modern mechanical systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106154"},"PeriodicalIF":4.5,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144656310","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

Stewart-inspired vibration isolation mechanisms for precision equipment: Current status and future research trend stewart启发的精密设备隔振机制：现状与未来研究趋势

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-18 DOI: 10.1016/j.mechmachtheory.2025.106153

Wei Zhang , Jixing Che , Hui Shu , Yumei Bai , Xingyu Liu , Wei Jiang , Jiulin Wu , Xuedong Chen

{"title":"Stewart-inspired vibration isolation mechanisms for precision equipment: Current status and future research trend","authors":"Wei Zhang , Jixing Che , Hui Shu , Yumei Bai , Xingyu Liu , Wei Jiang , Jiulin Wu , Xuedong Chen","doi":"10.1016/j.mechmachtheory.2025.106153","DOIUrl":"10.1016/j.mechmachtheory.2025.106153","url":null,"abstract":"<div><div>Multi-directional vibration isolation is the core technology for guaranteeing the high performance of precision equipment. However, the variability of working conditions and the complexity of disturbance sources pose significant challenges for designing multiple-degree-of-freedom (multi-DOF) isolation systems with high performance and reliability. Since the emergence of the Stewart parallel mechanism, there has been a growing interest in integrating this mechanism with advanced vibration isolation techniques to enhance the performance of precision equipment on various carriers, leveraging its advantages of six-DOF isolation and structural compactness. The primary contribution of this work is to provide a comprehensive review of recent research on Stewart-inspired isolation mechanisms, focusing on dynamic modeling and parameter design, as well as passive, active, active–passive hybrid, and semi-active vibration isolation methods. Finally, the review presents a brief outlook from the aspects of enhanced parameter design, multifunctional structure, and full-frequency vibration control. In summary, this review focuses on the state-of-the-art Stewart-inspired vibration isolation system (SVIS) developed over the past decade and provides the future research trend, offering guidance for researchers interested in the creative design of Stewart-inspired isolation mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106153"},"PeriodicalIF":4.5,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144656311","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

Unified terminal constraint and kinematics modeling of lower mobility serial-parallel mechanisms composed of two parallel mechanisms 由两个并联机构组成的低自由度串联并联机构的统一末端约束及运动学建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-18 DOI: 10.1016/j.mechmachtheory.2025.106134

Bo Hu , Tengkun Ma , Jinjun Zhao , Yinghao Ning

引用次数: 0

Kinematic and dynamic modeling of cable-object interference and wrapping in complex geometrical-shaped cable-driven parallel robots 复杂几何形状缆索驱动并联机器人缆索-物体干涉和缠绕的运动学和动力学建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-17 DOI: 10.1016/j.mechmachtheory.2025.106092

Dipankar Bhattacharya, T.K. Cheung, Yaxiang Wang, Darwin Lau

{"title":"Kinematic and dynamic modeling of cable-object interference and wrapping in complex geometrical-shaped cable-driven parallel robots","authors":"Dipankar Bhattacharya, T.K. Cheung, Yaxiang Wang, Darwin Lau","doi":"10.1016/j.mechmachtheory.2025.106092","DOIUrl":"10.1016/j.mechmachtheory.2025.106092","url":null,"abstract":"<div><div>Cable-Driven Parallel Robots (CDPRs) use cables as actuators to maneuver rigid mobile-platform in a parallel mechanism setup. Typically, CDPR kinematic and dynamic models avoid cable-object (cable-mobile-platform and cable-obstacle) interferences to prevent sudden cable tension changes that could deviate the end-effector’s trajectory. However, allowing these interferences can lead to cable wrapping, where cables wrap around complex-shaped surfaces upon contact, enhancing the CDPR’s workspace and reducing its footprint. Despite the potential benefits, there currently exists no kinematic and dynamic model that effectively incorporates cable wrapping around such complex-shaped surfaces. This paper introduces a novel numerical-based kinematic and dynamic modeling framework for CDPRs that detects and then manages cable wrapping around mobile-platform and multiple obstacles with the assumption that the cables remain taut and for every position along the cable, there is a unique and smooth way to describe its location on the surface. Simulation and hardware results on various complex-shaped mobile-platform and obstacles show that the proposed model framework can be conveniently and effectively applied to the real-time modeling of cable wrapping. Code and videos available at: <span><span>https://github.com/bhattner143/GeoWrapSim-CDPR.git</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106092"},"PeriodicalIF":4.5,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144656308","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

Multi-objective design optimization of hypoid geared rotor dynamic system 准双曲面齿轮传动转子动力系统的多目标设计优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-15 DOI: 10.1016/j.mechmachtheory.2025.106148

Xinqi Wei , Yawen Wang , Shuo Wang , Teik C Lim

{"title":"Multi-objective design optimization of hypoid geared rotor dynamic system","authors":"Xinqi Wei , Yawen Wang , Shuo Wang , Teik C Lim","doi":"10.1016/j.mechmachtheory.2025.106148","DOIUrl":"10.1016/j.mechmachtheory.2025.106148","url":null,"abstract":"<div><div>Noise and vibration in hypoid geared systems remain a critical concern in modern gear design. Existing research studies primarily focus on optimizing the theoretical and static models, which fail to capture the dynamic behaviors directly linked to noise and vibration of hypoid geared systems. To address this gap, a novel optimization model for a hypoid geared rotor dynamic system is developed, aiming to minimize the dynamic response while ensuring gear durability. The optimization scheme integrates a micro-geometry modification framework with a non-uniform discretization-based identification model. First, a three-dimensional static mesh model is established to form system equilibrium and provide initial conditions, and a fourteen-degree-of-freedom (DOF) dynamic model is employed to capture system behavior. Then, a bivariate polynomial surface with five independent, consistently scaled coefficients is used for tooth surface modification and reducing optimization complexity. An identification model is developed to determine the optimal tool and machine settings. Finally, comparative numerical studies and Pareto front analysis are conducted to validate the effectiveness of the model. The trade-off solution is further examined through mesh characteristics and unloaded tooth contact analysis.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106148"},"PeriodicalIF":4.5,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144631110","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