Mechanism and Machine Theory最新文献_第7页

Predictive inverse kinematics with trajectory scaling for redundant manipulators based on quadratic optimization 基于二次优化的冗余机械臂轨迹标度预测逆运动学

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-19 DOI: 10.1016/j.mechmachtheory.2025.105988

Łukasz Woliński, Marek Wojtyra

{"title":"Predictive inverse kinematics with trajectory scaling for redundant manipulators based on quadratic optimization","authors":"Łukasz Woliński, Marek Wojtyra","doi":"10.1016/j.mechmachtheory.2025.105988","DOIUrl":"10.1016/j.mechmachtheory.2025.105988","url":null,"abstract":"<div><div>Redundant robots display unique capabilities, presenting equally unique challenges at the same time. The solution to the inverse kinematics (IK) problem needs to account for a greater number of unknowns (joint variables) than equations. The classic Jacobian pseudoinverse-based methods are well established and often used to solve the IK problems. However, they usually do not support the inclusion of joint position, velocity, and acceleration constraints. On the other hand, the constraints can be easily included when the IK is formulated as an optimization problem. Our method, the PQPIK-S (Predictive Quadratic Programming Inverse Kinematics with Scaling), is based on a quadratic programming formulation and includes trajectory scaling to slow down the desired manipulator motion if no solution satisfying the velocity and acceleration constraints can be found. As an extension over our previous QPIK-S method, the PQPIK-S computes the solution for several future steps inside the prediction window. The PQPIK-S is successfully tested in simulations utilizing a model of the KUKA LWR 4+ 7-DOF manipulator as well as in experiments using a real robot.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105988"},"PeriodicalIF":4.5,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143643150","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 complete approach for error modeling based on failure of geometrical constraint and kinematic error node (KEN) 一种基于几何约束失效和运动误差节点的完整误差建模方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-18 DOI: 10.1016/j.mechmachtheory.2025.105984

Ziyue Li, Weizhong Guo

引用次数: 0

Optimization of design parameters for a flexible endoscopic surgical tool using medical imaging data for minimally invasive surgery (MIS) 基于医学影像数据的柔性内窥镜手术工具设计参数优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-18 DOI: 10.1016/j.mechmachtheory.2025.105987

Dhruva Khanzode , Alexandra Thomieres , Ranjan Jha , Emilie Duchalais , Luc Baron , Doina Pisla , Damien Chablat

{"title":"Optimization of design parameters for a flexible endoscopic surgical tool using medical imaging data for minimally invasive surgery (MIS)","authors":"Dhruva Khanzode , Alexandra Thomieres , Ranjan Jha , Emilie Duchalais , Luc Baron , Doina Pisla , Damien Chablat","doi":"10.1016/j.mechmachtheory.2025.105987","DOIUrl":"10.1016/j.mechmachtheory.2025.105987","url":null,"abstract":"<div><div>This article proposes a systematic methodology for determining the feasible workspace and deriving critical design parameters of a flexible endoscopic surgical stapler developed for laparoscopic rectal procedures. Pre-operative MRI data from 77 patients (47 male, 30 female from Nantes Hospital), encompassing a diverse range of anatomical variations, were utilized to generate a detailed three-dimensional model of the feasible surgical workspace through manual segmentation of distinct tissue at each MRI layer for each patient.</div><div>A two-stage optimization process was conducted, beginning with two-dimensional workspace analysis using contouring, binary masking & Euclidean distance transformations and subsequently extending to three-dimensional optimization using MATLAB’s <em>fmincon</em> function, to establish a geometrically valid workspace. The optimized workspace facilitated the derivation of design specifications, including the tool’s length, and enabled a comparative usability analysis across the patient group. The results indicate that the proposed stapler design is well-suited for use in anatomically constrained environments where conventional tools are inadequate. This approach offers a robust framework for improving the design of robotic surgical instruments, with the potential to enhance precision, adaptability, and clinical outcomes in minimally invasive surgery.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105987"},"PeriodicalIF":4.5,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143643145","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 mathematical model to capture the 3D dynamic contact state of gear pairs considering system flexibility 考虑系统灵活性，建立了一种新的捕捉齿轮副三维动态接触状态的数学模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-18 DOI: 10.1016/j.mechmachtheory.2025.105999

Bing Yuan , Jinlong Wang , Bing Han , Xingbo Xiong , Hao Dong

{"title":"A novel mathematical model to capture the 3D dynamic contact state of gear pairs considering system flexibility","authors":"Bing Yuan , Jinlong Wang , Bing Han , Xingbo Xiong , Hao Dong","doi":"10.1016/j.mechmachtheory.2025.105999","DOIUrl":"10.1016/j.mechmachtheory.2025.105999","url":null,"abstract":"<div><div>The inevitable elastic deformation and vibration displacement of components can cause gear mesh misalignment (MM) in gear systems, thereby affecting the actual contact state of gear pairs and system dynamic performance. A novel three-dimensional (3D) dynamic gear contact model is proposed in this study for determining the 3D dynamic contact state of gear pairs considering system flexibility. By combining the loaded tooth contact analysis (LTCA) model with the MM calculation approach proposed in our published work, a proxy model for dynamic mesh excitations of gear pairs with system flexibility is developed for improving the solution efficiency. An efficient solution method of the proposed dynamic gear contact model is established through coupling the proxy model of dynamic mesh excitations and Newmark numerical integration method. It is conducted in-depth research on the influences of input speed, shaft parameters and gear installation position on dynamic MM and dynamic contact stress (CS), dynamic composite mesh stiffness (CMS) and dynamic composite mesh error (CME), as well as dynamic mesh force (DMF) and dynamic transmission error (DTE) of gear pairs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105999"},"PeriodicalIF":4.5,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143643148","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

Uniform-design-based multi-objective optimization for twin-screw rotor profiles generated by sealing line 基于均匀设计的双螺杆转子密封线型多目标优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-18 DOI: 10.1016/j.mechmachtheory.2025.105985

Van-Quyet Tran , Yu-Ren Wu

引用次数: 0

A new computationally efficient model of the non-linear dynamics in harmonic drive reducers 一种新的计算效率高的谐波减速器非线性动力学模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-17 DOI: 10.1016/j.mechmachtheory.2025.105992

Roberto Guida, Antonio Carlo Bertolino, Andrea De Martin, Massimo Sorli

{"title":"A new computationally efficient model of the non-linear dynamics in harmonic drive reducers","authors":"Roberto Guida, Antonio Carlo Bertolino, Andrea De Martin, Massimo Sorli","doi":"10.1016/j.mechmachtheory.2025.105992","DOIUrl":"10.1016/j.mechmachtheory.2025.105992","url":null,"abstract":"<div><div>Harmonic drives, known for their high precision and compactness, are widely used in applications such as robotics and aerospace. Due to their design, harmonic drives exhibit complex nonlinear dynamics that cannot be described through the traditional equations employed for conventional gear transmissions. Such non-linearities heavily impact both the static and the dynamic performances of the system, requiring in-depth investigation to predict and optimize its expected behavior. This paper presents an accurate and computationally efficient dynamic model able to capture non-linear dynamic effects such as the kinematic errors, hysteresis, internal friction and tooth meshing behavior. Additionally, the proposed model incorporates non-ideal factors such as the internal defects, wear, erroneous assembling and improper lubrication conditions, allowing for a comprehensive simulation of real-world conditions. Results demonstrate the model’s ability to replicate the response of the real component across diverse operational scenarios, validated against literature data. The accuracy of the results together with the reduced computational burden make this model a valuable tool for those applications requiring a good fidelity and computational efficiency, such as model-based design applications or prognostic and health management systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105992"},"PeriodicalIF":4.5,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143637634","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, modeling and analysis of a variable camber wing based on initially curved beams 基于初始弯曲梁的可变外倾角机翼的设计、建模和分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-17 DOI: 10.1016/j.mechmachtheory.2025.105989

Haoyang Huang , Yitong Fan , Ke Wu , Zhiqiang Ke , Ding Tang , Weiming Wang , Dayong Li

{"title":"Design, modeling and analysis of a variable camber wing based on initially curved beams","authors":"Haoyang Huang , Yitong Fan , Ke Wu , Zhiqiang Ke , Ding Tang , Weiming Wang , Dayong Li","doi":"10.1016/j.mechmachtheory.2025.105989","DOIUrl":"10.1016/j.mechmachtheory.2025.105989","url":null,"abstract":"<div><div>In recent years, variable camber wings (VCWs) have gained significant attention in the aviation industry due to their potential to enhance fuel efficiency, reduce noise, and improve the lift-to-drag ratio. Despite extensive efforts to design VCWs, achieving both large deformations and high load-bearing capacities remains challenging. This paper introduces a novel methodology for designing morphing trailing edge based on initially curved beams (ICBs) and develops a comprehensive mathematical model for its analysis and design. We perform a compliance analysis of ICBs with varying geometry to propose a conceptual design for the trailing edge structure. The flexible structure is modeled using geometrically nonlinear Euler-Bernoulli beam theory within the Frenet framework, and its validity is confirmed through finite element analysis. The structural design is formulated as a constrained optimization problem, solved with efficient numerical methods to ensure precise deformation, load-bearing capability, and low stress levels. An optimized prototype of the morphing trailing edge has been manufactured and experimentally tested, demonstrating a camber range of ±25 °, with theoretical analysis and experimental results showing high consistency.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105989"},"PeriodicalIF":4.5,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143637635","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 optimization and validation of a permanent-magnet array for gravity compensation in long-stroke linear motion 用于长冲程直线运动重力补偿的永磁阵列的设计优化和验证

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-17 DOI: 10.1016/j.mechmachtheory.2025.105990

Xiangxian Zeng, Chin-Hsing Kuo, Emre Sariyildiz

{"title":"Design optimization and validation of a permanent-magnet array for gravity compensation in long-stroke linear motion","authors":"Xiangxian Zeng, Chin-Hsing Kuo, Emre Sariyildiz","doi":"10.1016/j.mechmachtheory.2025.105990","DOIUrl":"10.1016/j.mechmachtheory.2025.105990","url":null,"abstract":"<div><div>Conventional gravity compensation methods, such as spring- or counterweight-based approaches, often introduce additional friction and/or inertia and require auxiliary force transmission components. Although magnet-based designs mitigate these drawbacks through non-contact magnetic forces, their effectiveness in long-stroke linear motion remains limited. This paper presents a permanent-magnet array for passive gravity compensation in linear motion, enabling payload balancing over a vertical motion range several times the side length of the employed cubic magnet. The design process optimizes the positions and orientations of magnets anchored to the frame, which interact with a magnet attached to the payload to generate the necessary counteracting force. Two illustrative examples demonstrate the proposed design. The first achieves over 92 % gravity reduction for a payload weighing 20 times the magnet's weight, with a travel range six times the magnet's height. The second example enhances balancing capacity by incorporating additional magnets on the payload. One of these designs was experimentally validated. Finally, the study explores optimal magnet distribution patterns, the ideal magnet-to-travel-range ratio, methods to amplify balancing capacity, and the scalability of the proposed concept.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105990"},"PeriodicalIF":4.5,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143637633","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

Dynamic models for simulation of Cable-Driven Parallel Robots with elasticity and sagging 具有弹性和下垂的缆索驱动并联机器人仿真动力学模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-15 DOI: 10.1016/j.mechmachtheory.2025.105972

Karim Moussa , Maxime Thieffry , Fabien Claveau , Philippe Chevrel , Stéphane Caro

{"title":"Dynamic models for simulation of Cable-Driven Parallel Robots with elasticity and sagging","authors":"Karim Moussa , Maxime Thieffry , Fabien Claveau , Philippe Chevrel , Stéphane Caro","doi":"10.1016/j.mechmachtheory.2025.105972","DOIUrl":"10.1016/j.mechmachtheory.2025.105972","url":null,"abstract":"<div><div>Cable-Driven Parallel Robots (CDPRs) are a type of parallel robots that uses cables instead of rigid links, making accurate modeling complex due to intricate cable dynamics. For simulation and control applications, it is appropriate to employ simplifying hypotheses to account for cable deformations. However, when high precision is necessary, models capturing the cable deformation become compulsory, making it challenging to balance model fidelity with computation time. This paper addresses this challenge, by proposing and comparing dynamic models of CDPRs that are both accurate and suitable for controller design. Leveraging recent advances in Finite Element Method (FEM) modeling for robotics, this paper extends recent findings and adapts them to the specific case of CDPRs. Additionally, a second model based on the assumed mode approach is extended to 3D context. The accuracy of both models is then compared with that of a lumped parameter model provided by the commercial software MapleSim, focusing on pick-and-place tasks to highlight the strengths and limitations of each approach for establishing a common benchmark. Following initial experimental validation of the models’ precision in a single-cable setup, the FEM model was selected as a comparison reference. Finally, simulation results for an eight-cable 3D suspended robot are presented.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105972"},"PeriodicalIF":4.5,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143628228","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 slider-crank spring gravity balance module for 1-DOF rotary link and its application to serial manipulators 用于 1-DOF 旋转链接的新型滑块-曲柄弹簧重力平衡模块及其在串行机械手中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-03-15 DOI: 10.1016/j.mechmachtheory.2025.105991

Cheng-Hsuan Hsu, Chi-Shiun Jhuang, Dar-Zen Chen

{"title":"A novel slider-crank spring gravity balance module for 1-DOF rotary link and its application to serial manipulators","authors":"Cheng-Hsuan Hsu, Chi-Shiun Jhuang, Dar-Zen Chen","doi":"10.1016/j.mechmachtheory.2025.105991","DOIUrl":"10.1016/j.mechmachtheory.2025.105991","url":null,"abstract":"<div><div>This paper presents a slider-crank spring gravity balance module for a rotary link and its application to serial manipulators. The spring is arranged in a slider-crank mechanism, its elastic energy is a quadratic function of the crank angle. The gravitational energy of a rotary link can be expressed as a quadratic function of half the link angle. It shows energies matched when the crank angle is half the link angle with a phase difference and the spring stiffness is a function of the link mass. Thus, the balance module is formed. In a serial manipulator, the gravitational energy of a remote link is expressed as the sum of quadratic functions of the angle of itself and preceding links. It can be matched by the elastic energy of the modules on the link itself and the preceding links respectively. Thus, the balance module can be applied to serial manipulators. Torque measurement tests for balancing a rotary link and a 2-DOF serial manipulator by balance modules are performed and show the driving torques are reduced by over 90 % by the balance module.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105991"},"PeriodicalIF":4.5,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143628079","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