Mechanism and Machine Theory最新文献

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Hysteretic damping model for the dynamic response in four-point contact slewing bearings 四点接触回转轴承动态响应的滞回阻尼模型
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-14 DOI: 10.1016/j.mechmachtheory.2025.106150
Martin Eizmendi, Iker Heras, Josu Aguirrebeitia, Mikel Abasolo
{"title":"Hysteretic damping model for the dynamic response in four-point contact slewing bearings","authors":"Martin Eizmendi,&nbsp;Iker Heras,&nbsp;Josu Aguirrebeitia,&nbsp;Mikel Abasolo","doi":"10.1016/j.mechmachtheory.2025.106150","DOIUrl":"10.1016/j.mechmachtheory.2025.106150","url":null,"abstract":"<div><div>Four-point contact slewing bearings are crucial in orientation applications, where damping significantly influences system vibrations. To correlate experimentally their minimum damping capacity through sine tests, this study develops and evaluates three hysteretic damping models representing material hysteresis due to hertzian ball-raceway deformation. Unlike existing models, these account for preloaded contacts while considering also the potential contact loss between balls and raceways. To achieve this, the material loss factor is used as a representative parameter of the material dissipation capacity, adapted to consider contact loss in preloaded bearings under vibration. The damping models are integrated into a mechanistic model that simulates the axial dynamic response of the bearing and validated through finite element simulations, achieving satisfactory correlation. Consequently, this study provides parametric expressions for minimum damping capacity of these bearings as a function of ball diameter, contact conformity, and material loss factor, with the latter to be correlated experimentally through sine tests.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106150"},"PeriodicalIF":4.5,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144614676","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
Computational design and geometric characterization of S-shaped tooth profiles in harmonic gears: An emphasis on continuous dual conjugation 谐波齿轮s形齿廓的计算设计和几何特征:强调连续双共轭
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-14 DOI: 10.1016/j.mechmachtheory.2025.106149
Xinzi Li, Chaosheng Song, Caichao Zhu, Xuesong Du
{"title":"Computational design and geometric characterization of S-shaped tooth profiles in harmonic gears: An emphasis on continuous dual conjugation","authors":"Xinzi Li,&nbsp;Chaosheng Song,&nbsp;Caichao Zhu,&nbsp;Xuesong Du","doi":"10.1016/j.mechmachtheory.2025.106149","DOIUrl":"10.1016/j.mechmachtheory.2025.106149","url":null,"abstract":"<div><div>To establish a systematic framework for harmonic reducer tooth profile design, this study proposes a novel methodology for developing S-shaped tooth profiles. First, by leveraging the geometric constraints between the tooth profile normal line and the centrodes, the proposed method directly generates continuous dual-conjugate profiles for the circular spline from the flexspline addendum, while defining precise boundaries for the design parameters. Subsequently, kinematic analysis is conducted to evaluate essential geometric characteristics, including the contact ratio, slip ratio, and curvature radius. The results demonstrate that the S-shaped profile achieves a high contact ratio and low slip ratios. Notably, comparative assessments of comprehensive curvature radii reveal that the gear pairs in the first conjugate interval exhibit superior load-bearing capacity. Finally, a dual-circular-spline harmonic reducer prototype was fabricated, and wear pattern analysis on the tooth surfaces experimentally validated the continuous dual-conjugation behavior. These findings provide a theoretical basis for parametric optimization and future research on tooth flank modifications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106149"},"PeriodicalIF":4.5,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144614677","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
PH curve-based feedrate optimization ensuring analytical compliance with drive axis constraints in five-axis machining 基于PH曲线的进给速度优化确保五轴加工中驱动轴约束的分析遵从性
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-14 DOI: 10.1016/j.mechmachtheory.2025.106142
Xue-Bin Qin, Min Wan, Ting Wu, Wei-Hong Zhang
{"title":"PH curve-based feedrate optimization ensuring analytical compliance with drive axis constraints in five-axis machining","authors":"Xue-Bin Qin,&nbsp;Min Wan,&nbsp;Ting Wu,&nbsp;Wei-Hong Zhang","doi":"10.1016/j.mechmachtheory.2025.106142","DOIUrl":"10.1016/j.mechmachtheory.2025.106142","url":null,"abstract":"<div><div>The existing feedrate scheduling methods for five-axis machining either employ spline-based smoothing to satisfy single-axis kinematic constraints through iterative adjustments or blend motions between adjacent G01 segments without optimizing feedrate. This study presents an innovative feedrate optimizing method that ensures analytical compliance with single-axis kinematic constraints while maximizing feedrate and adapting to varying depths of cut. The proposed method utilizes Pythagorean-hodograph (PH) curve parameterization by arc length to establish the analytical relationship between tool feedrate and drive axis velocities, guaranteeing adherence to kinematic constraints. By analytically determining depth-of-cut variations via smoothed PH curve expressions, an approach is proposed to replace conventional constant feedrate profiles with multiple linked <span><math><msup><mrow><mi>C</mi></mrow><mrow><mn>3</mn></mrow></msup></math></span>-continuous acceleration or deceleration profiles. This ensures the realization of optimal feedrates and superior motion control performance while adhering to drive constraints by adjusting parameters (e.g., attainable maximum acceleration and jerk) according to the analytical relationship between feeding and single-axis motions. Experimental validation through flank milling and end milling demonstrates that the proposed method satisfies single-axis kinematic constraints, enhances machining efficiency without compromising accuracy, and outperforms existing methods based on constant feedrate.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106142"},"PeriodicalIF":4.5,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144631109","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
Reliability-based design optimization of key components in the ball screw feed system 基于可靠性的滚珠丝杠进给系统关键部件设计优化
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-12 DOI: 10.1016/j.mechmachtheory.2025.106151
Jinsong Zhao , Xiaoxuan Gong , Zhenghong Yao , Chunyu Zhao , Mengtao Xu , Guoping Shi , Yimin Zhang
{"title":"Reliability-based design optimization of key components in the ball screw feed system","authors":"Jinsong Zhao ,&nbsp;Xiaoxuan Gong ,&nbsp;Zhenghong Yao ,&nbsp;Chunyu Zhao ,&nbsp;Mengtao Xu ,&nbsp;Guoping Shi ,&nbsp;Yimin Zhang","doi":"10.1016/j.mechmachtheory.2025.106151","DOIUrl":"10.1016/j.mechmachtheory.2025.106151","url":null,"abstract":"<div><div>As a critical component in high-precision mechanical transmission systems, the design of ball screws directly affects transmission accuracy and overall system stability. Aiming at the shortcomings of traditional deterministic design methods in processing machining errors and material uncertainties, this paper proposes a reliability‑based design optimization (RBDO) for a ball screw feed system (BSFS). The proposed multi‑objective framework maintains machining accuracy while minimizing system mass and maximizing dynamic performance, subject to nonlinear stiffness reliability constraints. Computational efficiency is improved by employing a Kriging surrogate model to approximate complex numerical calculations. A global optimum is identified by integrating an efficient meta‑heuristic algorithm. The proposed dynamic model is verified by static loading tests, modal hammering tests, and vibration response experiments. The numerical simulation demonstrates that, compared to traditional deterministic design, system stiffness reliability is increased from 74.25 % to 93.51 %, and system mass is reduced by about 8 %, while the natural frequency remains nearly unchanged. The potential value of this research is to guide the optimization of BSFS at the design stage.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106151"},"PeriodicalIF":4.5,"publicationDate":"2025-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144604517","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
The mapping relationship between multi-source errors and lost motion in planetary gear train 行星轮系多源误差与运动损失的映射关系
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-12 DOI: 10.1016/j.mechmachtheory.2025.106138
Xinglong Wang , Jian Wang , Weimin Tang , Liwei Cheng , Jun Zhang , Yibo Jiang
{"title":"The mapping relationship between multi-source errors and lost motion in planetary gear train","authors":"Xinglong Wang ,&nbsp;Jian Wang ,&nbsp;Weimin Tang ,&nbsp;Liwei Cheng ,&nbsp;Jun Zhang ,&nbsp;Yibo Jiang","doi":"10.1016/j.mechmachtheory.2025.106138","DOIUrl":"10.1016/j.mechmachtheory.2025.106138","url":null,"abstract":"<div><div>As a key indicator for evaluating the kinematic accuracy of planetary gear train (PGT), lost motion is affected by multi-source errors coupled of geometric and structural errors and their probability distribution characteristics. A thorough understanding on the mapping relationship between multi-source errors and lost motion is crucial to the improvement of kinematic accuracy. With this idea, this paper establishes a kinematic model of PGT considering multi-source errors. In this model, the structural error is derived based on the time-varying meshing stiffness affected via both geometric errors and load distribution on different power branch. Meanwhile, the uncertainty of geometric errors is incorporated into the PGT kinematic model to ensure the accuracy of the mapping relationship between errors and lost motion. Based on this kinematic model, the impact of multi-source errors on lost motion is revealed. The results indicate that the kinematic accuracy of PGT can be improved through simultaneously optimizing the errors of sun gear and any component. Also, the compound effect of carrier and ring gear errors constitutes the primary cause for the decrease of kinematic accuracy.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106138"},"PeriodicalIF":4.5,"publicationDate":"2025-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144604518","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
Modeling and optimization of various section thickness cross-axis corrugated flexure pivot using chained Maxwell–Mohr method 用链式麦克斯韦-莫尔法对不同截面厚度的跨轴波纹挠性枢轴进行建模与优化
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-12 DOI: 10.1016/j.mechmachtheory.2025.106135
Xuewei Zheng , Yimeng Zhao , Ruiyi Wang , Shuhao Xia , Xianmin Zhang , Nianfeng Wang
{"title":"Modeling and optimization of various section thickness cross-axis corrugated flexure pivot using chained Maxwell–Mohr method","authors":"Xuewei Zheng ,&nbsp;Yimeng Zhao ,&nbsp;Ruiyi Wang ,&nbsp;Shuhao Xia ,&nbsp;Xianmin Zhang ,&nbsp;Nianfeng Wang","doi":"10.1016/j.mechmachtheory.2025.106135","DOIUrl":"10.1016/j.mechmachtheory.2025.106135","url":null,"abstract":"<div><div>This article presents the Variable Section Thickness Cross-Axis Corrugated Flexure Pivot (VSTCACFP). The pivot design integrates Corrugated Flexure Beams (CFBs) with Variable Section Thickness (VST), utilizing semicircular flexure beams as basic units to achieve a longer effective deformation length compared to traditional leaf or notch cantilever beams. This distinctive feature enables extremely large displacements while maintaining high precision. The Chained Maxwell–Mohr Method (CMMM), a highly efficient and accurate modeling technique, is proposed to capture the nonlinear in-plane deformations of complex periodic curved beams. Following the development of the model and the establishment of performance indices, an optimization process was conducted using a genetic algorithm. The study is validated through Finite Element Analysis (FEA) and experimental testing.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106135"},"PeriodicalIF":4.5,"publicationDate":"2025-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144604519","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
Development of a motion-decoupled finger exoskeleton with integrated joint stiffness estimation 基于关节刚度综合估计的运动解耦手指外骨骼的研制
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-11 DOI: 10.1016/j.mechmachtheory.2025.106146
Zhi-Yong Chen, Jen-Yuan Chang
{"title":"Development of a motion-decoupled finger exoskeleton with integrated joint stiffness estimation","authors":"Zhi-Yong Chen,&nbsp;Jen-Yuan Chang","doi":"10.1016/j.mechmachtheory.2025.106146","DOIUrl":"10.1016/j.mechmachtheory.2025.106146","url":null,"abstract":"<div><div>This study presents the development of a motion-decoupled finger exoskeleton designed both to facilitate passive rehabilitation and enable joint stiffness estimation. The proposed exoskeleton incorporates a self-alignment mechanism to accommodate variations in joint alignment and finger dimensions, ensuring an optimal fit for diverse users. Furthermore, linkage optimization was implemented to enhance force transmission efficiency, thereby improving transmission angles and reducing mechanical resistance. To achieve accurate joint stiffness estimation, a force and friction model was developed to compensate for frictional effects. In this study, a series of experimental validations was conducted using prosthetic finger models equipped with six torsional springs of varying stiffness in order to determine friction model parameters and evaluate measurement accuracy. The results indicate that the exoskeleton can simultaneously estimate joint stiffness during constant-velocity passive motion, achieving an approximate error of 5.55 % for stiffness values corresponding to nonzero levels on the Modified Ashworth Scale. These findings suggest that the proposed exoskeleton provides a reliable platform for joint stiffness assessment in rehabilitation settings and holds significant potential for clinical applications in stroke recovery as well as musculoskeletal rehabilitation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106146"},"PeriodicalIF":4.5,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144596314","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 computationally efficient and novel closed-form model for inverse dynamics of over-constrained parallel manipulators 一种计算效率高的新型过约束并联机械臂逆动力学封闭模型
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-10 DOI: 10.1016/j.mechmachtheory.2025.106144
Chao Yang , Wei Ye , Pedro Dinis Gaspar , Wenyong Yu , Qiaohong Chen , Yebo Lu
{"title":"A computationally efficient and novel closed-form model for inverse dynamics of over-constrained parallel manipulators","authors":"Chao Yang ,&nbsp;Wei Ye ,&nbsp;Pedro Dinis Gaspar ,&nbsp;Wenyong Yu ,&nbsp;Qiaohong Chen ,&nbsp;Yebo Lu","doi":"10.1016/j.mechmachtheory.2025.106144","DOIUrl":"10.1016/j.mechmachtheory.2025.106144","url":null,"abstract":"<div><div>A closed-form and complete inverse dynamics model of over-constrained parallel mechanisms (PMs) is essential for evaluating the rationality of mechanism topologies. However, solving the complete dynamic model is challenging due to the presence of multi closed loops and over-constrained reaction forces. This work proposes a full dynamics model based on screw theory, Newton-Euler formulation, the principle of virtual work, and the principle of stiffness allocation. First, the position, velocity, and acceleration are analyzed based on the constraint characteristics of the mechanism. Then, the constraint wrenches are decomposed into two parts, kinematics-based and dynamics-based constraint wrenches. Third, the deformation coordination equation between limbs and moving platform is established by considering the influence of dynamic-based constraint wrenches, and derive reaction forces of the moving platform based on the equations of motion and stiffness allocation principle. Finally, the closed-form analytical solution of the remaining reaction and actuator forces are obtained. Simulation results confirm the effectiveness of the proposed model. This work offers a new feasible scheme achieving complete solution model of inverse rigid dynamics of over-constrained PMs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106144"},"PeriodicalIF":4.5,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588159","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
Research on novel metamorphic mechanisms with initial configuration retention and self-resetting capabilities 具有初始构型保持和自复位能力的新型变质机制研究
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-10 DOI: 10.1016/j.mechmachtheory.2025.106145
Yuan Jiang , Yongsheng Zhao , Siqi Zhao , Yu Wang , Bo Han , Jiantao Yao
{"title":"Research on novel metamorphic mechanisms with initial configuration retention and self-resetting capabilities","authors":"Yuan Jiang ,&nbsp;Yongsheng Zhao ,&nbsp;Siqi Zhao ,&nbsp;Yu Wang ,&nbsp;Bo Han ,&nbsp;Jiantao Yao","doi":"10.1016/j.mechmachtheory.2025.106145","DOIUrl":"10.1016/j.mechmachtheory.2025.106145","url":null,"abstract":"<div><div>Metamorphic mechanisms represent a field with extensive research foundations and significant engineering value, with numerous scholars focusing on kinematic system reconfiguration and joint locking/unlocking. However, few studies focus on the metamorphosis between structures and mechanisms. This paper investigates this aspect and proposes a family of structure-mechanism interchangeable metamorphic mechanisms (SMI-MMs), which can switch between zero-degree-of-freedom (DOF) structures and specific DOF mechanisms under external loading, exhibiting both initial configuration retention and self-resetting capabilities. Starting from two basic single-DOF SMI-MMs, their metamorphic processes and principles are analyzed, from which two configuration synthesis principles are derived. Based on these principles, two synthesis methods—principle-based construction and unit replacement—are proposed to synthesize SMI-MMs with arbitrary DOF. Mathematical modeling of single-DOF SMI-MMs reveals their kinematic and mechanical characteristics. Finally, two application scenarios demonstrate the engineering potential of SMI-MMs and verify that the proposed research can provide theoretical guidance and technical support for mechanism design across related fields.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106145"},"PeriodicalIF":4.5,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144596312","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 general method to synthesize customizable-stiffness triangular-prism deployable arms 可定制刚度三角棱镜展开臂的一般合成方法
IF 4.5 1区 工程技术
Mechanism and Machine Theory Pub Date : 2025-07-10 DOI: 10.1016/j.mechmachtheory.2025.106143
Jian Feng , Hui Yang , Yan Wang , Bo Li , Zongquan Deng
{"title":"A general method to synthesize customizable-stiffness triangular-prism deployable arms","authors":"Jian Feng ,&nbsp;Hui Yang ,&nbsp;Yan Wang ,&nbsp;Bo Li ,&nbsp;Zongquan Deng","doi":"10.1016/j.mechmachtheory.2025.106143","DOIUrl":"10.1016/j.mechmachtheory.2025.106143","url":null,"abstract":"<div><div>The increasing complexity and diversity of aerospace missions have resulted in the need for deployable arms with high load-bearing capacity and structural stiffness. High stiffness ensures the stability and reliability of a structure in environments with extreme temperatures and microgravity while effectively mitigating vibration during missions. In this study, an approach to synthesize customizable-stiffness triangular-prism deployable arms (TPDAs) is proposed. The synthesis approach achieves high structural stiffness during the configuration synthesis phase. First, deployable unit graphs are generated from statically determinate truss structures on the basis of graph theory, leading to the development of a deployable unit configuration library for TPDAs. Second, a general equivalent stiffness model is formulated for deployable unit configurations on the basis of equivalent beam theory. This model ensures that the stiffness of all configurations in the library can be determined efficiently, and that the stiffness model and configuration synthesis methods can be combined for the design of customized stiffness. Last, a configuration is selected from the deployable unit configuration library as an example to construct a TPDA and conduct prototype experiments. The presented synthesis method is able to analyze the configuration stiffness in the configuration synthesis stage and meets the requirements for high stiffness in TPDAs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106143"},"PeriodicalIF":4.5,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144596313","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
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