Mechanism and Machine Theory最新文献_第7页

Self-adaptive neural network model predictive anti-jerk control of electric powertrains 电动传动系统的自适应神经网络模型预测抗急跳控制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-03 DOI: 10.1016/j.mechmachtheory.2025.106082

Gianluca Frison, Fabio Alberti, Luca Ciravegna, Luca Dimauro, Aldo Sorniotti

{"title":"Self-adaptive neural network model predictive anti-jerk control of electric powertrains","authors":"Gianluca Frison, Fabio Alberti, Luca Ciravegna, Luca Dimauro, Aldo Sorniotti","doi":"10.1016/j.mechmachtheory.2025.106082","DOIUrl":"10.1016/j.mechmachtheory.2025.106082","url":null,"abstract":"<div><div>The study introduces a proof-of-concept self-adaptive neural network model predictive control (SA-NNMPC) system, which uses a neural network as main component of the prediction model, for the anti-jerk control of electric vehicles. Through the adaptation mechanism of the network and cost function weights during vehicle operation, which is activated when the plant behaves significantly differently from its digital twin, the SA-NNMPC architecture adjusts to the progressive vehicle aging, or to the replacement of hardware parts, which is expected to be an important feature of next-generation vehicles. Validation tests and simulations show that the neural network accurately replicates the drivetrain dynamics of the considered electric vehicle, and, for nominal conditions, already leads to a performance improvement of the NNMPC implementation – which can run in real-time on a rapid control prototyping unit – with respect to a benchmarking nonlinear model predictive anti-jerk controller. Moreover, the preliminary simulation results confirm the potential of the proposed architecture in terms of: i) adaptability to operating conditions not covered in the original training, and variations of vehicle parameters; and ii) auto-tuning of the algorithm when applied to different vehicles.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106082"},"PeriodicalIF":4.5,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144196348","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

Integrating Kronecker product and principle of transference to solve the hand–eye calibration problem 结合克罗内克积和迁移原理解决手眼标定问题

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-03 DOI: 10.1016/j.mechmachtheory.2025.106077

Xiao Wang, Hanwen Song

{"title":"Integrating Kronecker product and principle of transference to solve the hand–eye calibration problem","authors":"Xiao Wang, Hanwen Song","doi":"10.1016/j.mechmachtheory.2025.106077","DOIUrl":"10.1016/j.mechmachtheory.2025.106077","url":null,"abstract":"<div><div>Hand–eye calibration, a typical problem in robotic kinematics, can be abstracted as solving the kinematic equation <span><math><mrow><mi>A</mi><mi>X</mi><mo>=</mo><mi>X</mi><mi>B</mi></mrow></math></span>. The current closed-form solutions can be categorized into two aspects: the algebraic representation of the kinematic equations and computational methods. Applying the Lie group’s homomorphism theorem allows one to easily establish a theoretical framework for kinematic equations. While introducing the principle of transference can strengthen the current theoretical framework in terms of both equation representations and computational methods. With the motivation of creating a closer theoretical framework, a new method is proposed in this paper. First, it is applied the principle of transference to verify the Kronecker product of dual matrices. Further applying it to hand–eye calibration to re-prove the sufficient and necessary condition for the existence of a unique solution. The proposed proof process differs from existing work by simultaneously addressing rotation and translation, directly embodying the principle of transference. Subsequently, a simultaneous closed-form solution is proposed, involving geometric interpretation and algebraic analysis. Finally, the feasibility and superiority of the proposed method is verified in experiments. The proposed method achieves a rotation error of <span><math><mrow><mn>0</mn><mo>.</mo><mn>07</mn><mo>°</mo></mrow></math></span> and a translation error of 1.07 mm, outperforming the reference methods.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106077"},"PeriodicalIF":4.5,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144196350","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

Stiffness distribution and homogeneity of mechanical structures with application to planar robots 机械结构的刚度分布和均匀性及其在平面机器人中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-03 DOI: 10.1016/j.mechmachtheory.2025.106078

Zdenek Neusser

引用次数: 0

Geometric construction and reconfiguration analysis of multi-mode two-loop spatial mechanisms and their multi-loop extensions 多模态双环空间机构及其多环扩展的几何构造与重构分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-30 DOI: 10.1016/j.mechmachtheory.2025.106083

Kai Liu , Hao Ma , Jingfang Liu , Jingjun Yu , Guohua Gao , Xianwen Kong

{"title":"Geometric construction and reconfiguration analysis of multi-mode two-loop spatial mechanisms and their multi-loop extensions","authors":"Kai Liu , Hao Ma , Jingfang Liu , Jingjun Yu , Guohua Gao , Xianwen Kong","doi":"10.1016/j.mechmachtheory.2025.106083","DOIUrl":"10.1016/j.mechmachtheory.2025.106083","url":null,"abstract":"<div><div>Multi-mode multi-loop spatial mechanisms (MMSMs) are an important class of reconfigurable mechanisms, yet their diversity remains highly limited. This paper focuses on the geometric construction and reconfiguration analysis of multi-mode two-loop spatial mechanisms (MTSMs) and their extensions to MMSMs. Using the construction method, three types of MTSMs with two motion modes are synthesized by combining two classical Bricard mechanisms while constraining their undesired motion modes. Reconfiguration analysis of the proposed MTSMs is conducted using dual quaternions and the natural exponential function substitution to prove their motion characteristics. Subsequently, the construction method is extended to synthesize novel MMSMs with two motion modes. Various MMSMs are formed and further adopted to construct double-layer MMSMs for multi-mode morphing wings. Finally, the mobility properties of the double-layer MMSMs in both the contraction-expansion and parallelogram modes are substantiated through dual quaternions. This work provides a novel idea for constructing MMSMs from MTSMs without altering their motion characteristics.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106083"},"PeriodicalIF":4.5,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144169164","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

An efficient variable-length viscoelastic beam model for dynamic analysis of hard-magnetic soft continuum robots 一种用于硬磁软连续体机器人动力学分析的高效变长粘弹性梁模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-30 DOI: 10.1016/j.mechmachtheory.2025.106091

Zheng Chen, Hui Ren, Ping Zhou, Wei Fan

{"title":"An efficient variable-length viscoelastic beam model for dynamic analysis of hard-magnetic soft continuum robots","authors":"Zheng Chen, Hui Ren, Ping Zhou, Wei Fan","doi":"10.1016/j.mechmachtheory.2025.106091","DOIUrl":"10.1016/j.mechmachtheory.2025.106091","url":null,"abstract":"<div><div>The emerging hard-magnetic soft continuum robots (HMSCRs) enable groundbreaking applications in medical surgery, yet real-time dynamic simulations remain challenging due to the interplay of time-varying geometry, magnetoelastic large deformations, viscoelastic history dependence, and environmental interactions. Previous research was limited to modeling constant-length HMSCRs for the design, such that the previous models cannot be used for dynamic analysis and control during the variable-length motion. This work introduces a computationally efficient framework for variable-length HMSCRs, combining an arbitrary Lagrangian-Eulerian description with analytical modes discretization angle to capture large deformations using minimal degrees of freedom. The configurational force due to curvature discontinuity at the boundary is rigorously derived and the viscoelastic damping effect is introduced by the generalized Maxwell model. Various interaction forces induced by magnetic, hydrodynamic, and contact are considered to cope with various work scenarios. The dynamics of HMSCRs are studied to demonstrate the generality and applicability of the present modeling method. By enabling real-time simulation of complex telescopic dynamics in magnetic fields and fluid, this work establishes a foundation for adaptive control strategies and navigation in minimally invasive surgery.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106091"},"PeriodicalIF":4.5,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144169165","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

X-shaped frame double-bistable mechanism: Coupling between Two bistable modules sharing an X-shaped frame x形框架双双稳机制：共享x形框架的两个双稳模块之间的耦合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-29 DOI: 10.1016/j.mechmachtheory.2025.106093

Zimu Zhang , Ruiyu Bai , Guimin Chen

{"title":"X-shaped frame double-bistable mechanism: Coupling between Two bistable modules sharing an X-shaped frame","authors":"Zimu Zhang , Ruiyu Bai , Guimin Chen","doi":"10.1016/j.mechmachtheory.2025.106093","DOIUrl":"10.1016/j.mechmachtheory.2025.106093","url":null,"abstract":"<div><div>Recent research has demonstrated the potential of multistable mechanisms for logic operations, shape morphing, and robot reconfiguration. This work proposes a novel fully compliant multistable mechanism called X-frame double-bistable mechanism (XD multistable mechanism), which consists of two bistable modules sharing a common X-shaped frame. The X-shaped frame has a limited stiffness, which leads to strong coupling between the two bistable modules. By tuning four main parameters of the mechanism, a variety of state switching behaviors are exhibited by six examples. The two motion paths of the mechanism were demonstrated through a kinetostatic model, and the path transition phenomenon was explained from an energy perspective. A bistable module demonstrates distinct mechanical properties when the state of another module undergoes changes. An anomalous transition phenomenon resulted from the coupling is also uncovered. The state switching behaviors and the anomalous transition phenomenon are further validated by experiments. The rich mechanical behaviors presented can effectively guide further design and application based on such multistable mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106093"},"PeriodicalIF":4.5,"publicationDate":"2025-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144169163","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

Direct kinematics, inverse kinematics, and motion planning of 1-DoF rational linkages 一自由度有理机构的正运动学、逆运动学和运动规划

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-28 DOI: 10.1016/j.mechmachtheory.2025.106074

Daniel Huczala , Andreas Mair , Tomas Postulka

引用次数: 0

Comprehensive SCME: A nonlinear large-deformation modeling approach for planar compliant mechanisms 综合SCME：平面柔性机构的非线性大变形建模方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-27 DOI: 10.1016/j.mechmachtheory.2025.106070

Tinghao Liu, Guangbo Hao

{"title":"Comprehensive SCME: A nonlinear large-deformation modeling approach for planar compliant mechanisms","authors":"Tinghao Liu, Guangbo Hao","doi":"10.1016/j.mechmachtheory.2025.106070","DOIUrl":"10.1016/j.mechmachtheory.2025.106070","url":null,"abstract":"<div><div>This work presents a comprehensive energy method based on the smooth curvature model (CoSCME) for modeling the nonlinear large deformations of planar compliant mechanisms, addressing limitations of existing methods. CoSCME accounts for large axial and bending deformations, as well as strain and stress in beams with arbitrary shapes, including straight beams and curved beams. Both axial strain and curvature are fitted using shifted Legendre polynomials, while the corresponding deformations are derived through integration. When modeling initially-curved beams, multiple linear regression is applied to determine the initial generalized coordinates. Additionally, CoSCME adapts to diverse application scenarios, including compresural beams, tensural beams, bistable mechanisms (with straight or initially-curved beams), and general lumped-compliance beams. The modeling of general lumped-compliance beams is achieved by defining moderate geometric parameters in the model and applying coordinate transformations. Various specific configurations of general lumped-compliance beams are then derived. Modeling results are validated through nonlinear finite element analysis conducted in Strand7, demonstrating high consistency. The proposed CoSCME exhibits considerable potential for advancing the design, modeling, and optimization of planar compliant mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106070"},"PeriodicalIF":4.5,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144139281","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

Computerized design of asymmetric pure rolling gears with a method for predesigning the desired function of unloaded transmission errors 非对称纯滚动齿轮的计算机设计与预设计方法的期望功能的空载传动误差

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-25 DOI: 10.1016/j.mechmachtheory.2025.106072

Zhen Chen , Haijun Zhang , Xiaoping Xiao , Chao He , Kai Zhu , Yangzhi Chen , Alfonso Fuentes-Aznar

{"title":"Computerized design of asymmetric pure rolling gears with a method for predesigning the desired function of unloaded transmission errors","authors":"Zhen Chen , Haijun Zhang , Xiaoping Xiao , Chao He , Kai Zhu , Yangzhi Chen , Alfonso Fuentes-Aznar","doi":"10.1016/j.mechmachtheory.2025.106072","DOIUrl":"10.1016/j.mechmachtheory.2025.106072","url":null,"abstract":"<div><div>A computerized design method for asymmetric pure rolling gears and a novel approach for actively design the unloaded function of transmission errors using the internal rotation of the transverse tooth profiles are proposed. Parameterized equations for the tooth surfaces of asymmetric pure rolling cylindrical gears are developed. A comparative analysis of various design combinations of normal pressure angles and helix angles is conducted, focusing on contact patterns, transmission errors, and maximum contact and bending stresses. The optimal design combination is identified and compared to symmetric pure rolling gears with varying normal pressure angles, demonstrating superior meshing characteristics and mechanical performance. Additionally, the proposed method, based on the internal rotation of the transverse tooth profiles, enables the achievement of a parabolic curve for the unloaded function of transmission errors. The effectiveness of the asymmetric pure rolling gear design is validated through an experimental kinematic test of the prototype.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106072"},"PeriodicalIF":4.5,"publicationDate":"2025-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144131194","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

Multibody dynamic analysis of vibrational and frictional energy for railway freight wagons under different track irregularities and curve radii 铁路货车在不同轨道不平整度和曲线半径下的振动和摩擦能多体动力学分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-22 DOI: 10.1016/j.mechmachtheory.2025.106076

Sanjar Ahmad , Qing Wu , Esteban Bernal , Maksym Spiryagin , Colin Cole , Roger Buckley

{"title":"Multibody dynamic analysis of vibrational and frictional energy for railway freight wagons under different track irregularities and curve radii","authors":"Sanjar Ahmad , Qing Wu , Esteban Bernal , Maksym Spiryagin , Colin Cole , Roger Buckley","doi":"10.1016/j.mechmachtheory.2025.106076","DOIUrl":"10.1016/j.mechmachtheory.2025.106076","url":null,"abstract":"<div><div>Better understanding of wagon energy consumptions is important for energy efficient wagon operations and designs. This study carries outs a computational study via multibody dynamic analysis of vibrational and frictional energy dissipation across different track conditions and suspension configurations. Detailed multibody dynamic railway wagon modelling and a combination of simulations considering different wagon speeds, track irregularities, suspension types, and curve radii were developed by using the GENSYS software package. Energy dissipation analyses for all suspension and frictional components were carried out. The results indicate that worse track irregularities lead to greater energy dissipation (28 % more from Class 6 to 3). Higher speeds and sharper curves amplified the influences of track irregularities and gave larger energy consumption variables. Individual energy consumer wise, wheel-rail contact (WRC) consistently accounts for the largest proportion of energy loss (51–57 %); roller bearings come second (32–43 %). Generally variable wedge suspensions consume less energy (about 46 % and 15 MJ less, on average). However, the corresponding WRC consume more energy than constant wedge suspensions cases (10 % and 26 MJ more, on average). This indicates that the damping performance of wedge suspensions significantly influences the energy consumptions at WRC.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106076"},"PeriodicalIF":4.5,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144115046","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