Mechanism and Machine Theory最新文献_第7页

Design, manufacture, and two-step calibration of a piezoelectric parallel microrobot at the millimeter scale for micromanipulation

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-21 DOI: 10.1016/j.mechmachtheory.2025.105928

Jiaxu Shen , Xizheng Fang , Jiacheng Liu , Li Liu , Haojian Lu , Junqiang Lou

{"title":"Design, manufacture, and two-step calibration of a piezoelectric parallel microrobot at the millimeter scale for micromanipulation","authors":"Jiaxu Shen , Xizheng Fang , Jiacheng Liu , Li Liu , Haojian Lu , Junqiang Lou","doi":"10.1016/j.mechmachtheory.2025.105928","DOIUrl":"10.1016/j.mechmachtheory.2025.105928","url":null,"abstract":"<div><div>The design, manufacture, and calibration of a miniaturized piezoelectric parallel microrobot at the millimeter scale are performed. A composite origami manufacturing process is developed to realize a complex three-dimensional structure from multilayer composite materials through laser cutting, lamination, release, folding, curing, and assembly. The size of the microrobot is 28 × 29 × 29 mm, with a weight of 2.94 g. A two-step calibration strategy is proposed to eliminate the error identification failure caused by the discontinuity of error transmission and coupling errors. The coupling errors of the amplification mechanism are identified using particle swarm optimization, and the errors of the parallel mechanism are identified by the least squares method. Calibration experiments of six trajectories show maximum and RMS positioning error drops of 15.1 and 6.9 µm, from 48.9 to 23.3 µm, respectively. Additionally, a potential application experiment is conducted. The microrobot scans a 4 × 4 microwell array in 2.4 s with a positioning velocity and average error of 125 ms/well and 8 µm, respectively. The potential of the microrobot for rapid positioning and high-throughput screening is demonstrated.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105928"},"PeriodicalIF":4.5,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156100","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

Sym-ML: A symplectic machine learning framework for stable dynamic prediction of mechanical system

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-21 DOI: 10.1016/j.mechmachtheory.2025.105934

Ningning Song , Haijun Peng , Xu Guo

{"title":"Sym-ML: A symplectic machine learning framework for stable dynamic prediction of mechanical system","authors":"Ningning Song , Haijun Peng , Xu Guo","doi":"10.1016/j.mechmachtheory.2025.105934","DOIUrl":"10.1016/j.mechmachtheory.2025.105934","url":null,"abstract":"<div><div>Due to the complexity and nonlinearity of mechanical system, traditional dynamic analysis methods are often struggle to balance computational efficiency and accuracy. In order to overcome the challenges existing in the current numerical methods, this paper proposes a novel mechanism-data hybrid-driven method for dynamic analysis of mechanical system via symplectic mathematical theory, machine learning theory and multibody system theory. The proposed method introduces the variational principle into neural network to establish a symplectic machine learning framework, which leverages the high precision advantages of symplectic theory and the efficient and strong generalization ability of neural network, thereby achieving efficient and high precision dynamic prediction of constrained mechanical system. And the characteristic of symplectic conservation of the proposed strategy is proved both in mathematical and numerical perspectives. In addition, three numerical examples are studied, the comparison results indicate that the proposed strategy can perform outstanding advantages in terms of numerical accuracy and computational efficiency, and the proposed method can also predict high precision results without the need for retraining when certain parameters change of the mechanical system.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105934"},"PeriodicalIF":4.5,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100774","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

Multiplanar manufacturing: A new approach to design for manufacturing and assembly of origami

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2024.105906

Tyler R. Stevens, Nathan B. Crane

{"title":"Multiplanar manufacturing: A new approach to design for manufacturing and assembly of origami","authors":"Tyler R. Stevens, Nathan B. Crane","doi":"10.1016/j.mechmachtheory.2024.105906","DOIUrl":"10.1016/j.mechmachtheory.2024.105906","url":null,"abstract":"<div><div>This paper explores multiplanar manufacturing as an alternative approach for fabricating three-dimensional origami-inspired devices. Traditional origami manufacturing techniques typically employ a monoplanar method, which confines origami to a single plane, during manufacturing, and limits their design efficiency. By contrast, multiplanar manufacturing fabricates panels and hinges across multiple planes, offering greater design flexibility and the potential to eliminate some assembly/bonding operations. This study demonstrates the impact of multiplanar manufacturing on material usage, build footprint, and actuation requirements. For the geometries used as a case study, the benefits of multiplanar manufacturing include reducing material usage by up to 62%, actuation steps by up to 93%, and build footprint by up to 91%—relative to a monoplanar configuration in the geometries studied. These benefits improve efficiency, streamline assembly processes, and enable new avenues for fabricating origami-inspired devices. The findings position multiplanar manufacturing as a promising strategy for efficiently producing three-dimensional origami-inspired structures, paving the way for advancements in various engineering fields.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105906"},"PeriodicalIF":4.5,"publicationDate":"2025-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100776","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

Using the kinematics of the RC linkage to find the degree of the adjoint representation of SE(3)

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2025.105923

J.M. Selig

{"title":"Using the kinematics of the RC linkage to find the degree of the adjoint representation of SE(3)","authors":"J.M. Selig","doi":"10.1016/j.mechmachtheory.2025.105923","DOIUrl":"10.1016/j.mechmachtheory.2025.105923","url":null,"abstract":"<div><div>This work studies the projective algebraic variety formed from the closure of the adjoint representation of the group of rigid-body displacements, <span><math><mrow><mi>S</mi><mi>E</mi><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span>. This is motivated by asking how many assembly configurations a mechanism would have in general, if it was designed to keep six given lines in six linear line complexes.</div><div>The main result is to find the degree of the variety defined by the adjoint representation and hence answer the motivating question. A simple special case is discussed, a mechanism that maintains a single given line reciprocal to three fixed lines from the regulus of a cylindrical hyperboloid of one sheet. The three dimensional variety defined in this way can be realised by an RC linkage. More specifically, the variety splits into two components each of which can be realised by an RC linkage. The homology of these 3-dimensional varieties, as subvarieties of the Study quadric, is found and used to determine the degree of the adjoint representation as an algebraic variety.</div><div>The possible equations defining the variety determined by the adjoint representation of <span><math><mrow><mi>S</mi><mi>E</mi><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span>, are also discussed but no definitive result is found.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105923"},"PeriodicalIF":4.5,"publicationDate":"2025-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156096","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 modeling and response analysis of cracked herringbone gear transmission systems with installation errors

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2025.105924

Wenkang Huang , Haodong Hu , Hui Ma

引用次数: 0

Spatial impedance realization by grasps with fingers in soft contact

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105910

Shuguang Huang, Joseph M. Schimmels

引用次数: 0

A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105908

Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda

{"title":"A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment","authors":"Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda","doi":"10.1016/j.mechmachtheory.2024.105908","DOIUrl":"10.1016/j.mechmachtheory.2024.105908","url":null,"abstract":"<div><div>Parallel Continuum Robots (PCRs) offer flexibility, safety, and agility due to their continuous structure. The parallel configuration further enhances precision and stiffness, making them particularly suitable for applications in confined spaces and human-contact environments, such as collaborative and surgical robots. In this paper, we conducted thorough investigation of a novel 3-Degree-of-Freedom PCR design with a large orientation workspace which we have proposed before. We first provided a general kineto-static model based on Kirchhoff rod theory, which is a simplified form of Cosserat rod theory. The workspace of the novel PCR design was then analyzed through MATLAB simulations using the developed kineto-static model. Experiments were conducted to validate the twisting motion ability and investigate the motion of the prototype in comparison to model predictions. Additionally, we analyzed several singularity configurations from the perspective of elastic potential energy. The paper concludes with a summary of the behavior of this design and a discussion of future research directions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105908"},"PeriodicalIF":4.5,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100775","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

Systematic mapping of synthesis methods for compliant grippers using PRISMA

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105900

Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena

{"title":"Systematic mapping of synthesis methods for compliant grippers using PRISMA","authors":"Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena","doi":"10.1016/j.mechmachtheory.2024.105900","DOIUrl":"10.1016/j.mechmachtheory.2024.105900","url":null,"abstract":"<div><div>Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105900"},"PeriodicalIF":4.5,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156098","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

Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-09 DOI: 10.1016/j.mechmachtheory.2025.105918

F.J. Morales, L.M. Romero, F.G. Benitez

{"title":"Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions","authors":"F.J. Morales, L.M. Romero, F.G. Benitez","doi":"10.1016/j.mechmachtheory.2025.105918","DOIUrl":"10.1016/j.mechmachtheory.2025.105918","url":null,"abstract":"<div><div>Inertial Continuous Variable Transmissions (ICVTs) are relatively unknown transmission systems. Based on a generated computational model, calibrated with real-world data, and analytical equations, a parametric analysis reveals the influence of each parameter in ICVTs operation. This research provides a clearer understanding of ICVTs and offers practical insights for future transmission system research and development. The study concludes that the effects of nearly all parameters on the output speed are dualistic, depending on the dominance of specific phenomena related to the chosen parameter value. This indicates that, for a given parameter, there may be a positive correlation between the output speed and certain ranges of values, and a negative correlation for others, while maintaining the engine at the same operating point. This suggests the relation is non-linear. The research differentiates the behavioural nuances between inertial and traditional kinematic CVTs, emphasising how some parameter values adjustments, which can be negative for kinematic CVTs, potentially enhance output speed and the transmitted torque in inertial CVTs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105918"},"PeriodicalIF":4.5,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156093","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

Inverse and forward kinematic analysis of a 6-DOF foldable mechanism with a circular rail (FoldRail mechanism)

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-01-08 DOI: 10.1016/j.mechmachtheory.2024.105904

Anton Antonov, Alexey Fomin, Sergey Kiselev

{"title":"Inverse and forward kinematic analysis of a 6-DOF foldable mechanism with a circular rail (FoldRail mechanism)","authors":"Anton Antonov, Alexey Fomin, Sergey Kiselev","doi":"10.1016/j.mechmachtheory.2024.105904","DOIUrl":"10.1016/j.mechmachtheory.2024.105904","url":null,"abstract":"<div><div>This article considers an inverse and forward kinematic analysis of a recently proposed foldable parallel mechanism with a circular rail (FoldRail mechanism). The mechanism has six degrees of freedom and three RRRS kinematic chains. Here, R and S indicate revolute and spherical joints, respectively, and the first and third R joints of each chain are actuated. First, the paper presents an algorithm to find a closed-form solution to the inverse kinematic problem. The analysis shows there can be four different solutions for each kinematic chain. Next, the paper studies forward kinematics and develops an elimination-based approach to handle this problem. The proposed method relies on the vector convolution operation and avoids symbolic computations inherent to most other similar techniques. It is shown that the forward kinematics has up to 16 distinct solutions, corresponding to 16 different assembly modes of the mechanism. Numerical examples illustrate the developed techniques for both the inverse and forward kinematic problems. The proposed algorithms provide the basis for subsequent performance evaluation and design optimization, and they can be applied to other parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105904"},"PeriodicalIF":4.5,"publicationDate":"2025-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156094","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