Mechanism and Machine Theory最新文献_第8页

Computerized design and mathematical modeling of spherical pivoting gears for variable shaft angles 变轴角球面旋转齿轮的计算机设计与数学建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-25 DOI: 10.1016/j.mechmachtheory.2025.106117

Tom Abraham , Ignacio Gonzalez-Perez , Alfonso Fuentes-Aznar

引用次数: 0

Influence of profile modifications on spur gear sliding power losses: An integrated approach with advanced mesh stiffness and partial EHL 齿形修改对正齿轮滑动功率损失的影响：先进啮合刚度和部分EHL的综合方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-24 DOI: 10.1016/j.mechmachtheory.2025.106118

Matteo Autiero, Giovanni Paoli, Marco Cirelli, Pier Paolo Valentini

{"title":"Influence of profile modifications on spur gear sliding power losses: An integrated approach with advanced mesh stiffness and partial EHL","authors":"Matteo Autiero, Giovanni Paoli, Marco Cirelli, Pier Paolo Valentini","doi":"10.1016/j.mechmachtheory.2025.106118","DOIUrl":"10.1016/j.mechmachtheory.2025.106118","url":null,"abstract":"<div><div>This study investigates the impact of profile modifications on sliding power loss in cylindrical gears, a critical aspect of gear efficiency. Profile modifications are widely adopted in gear design to improve load distribution, mitigate noise and vibrations, and enhance durability. Although much of the existing research has focused on their dynamic benefits, such as reducing noise and vibration, their influence on gear meshing efficiency, particularly sliding power losses, remains insufficiently quantified. Leveraging an original advanced mesh stiffness model sensitive to microgeometry modifications, this work integrates an analytical load-sharing model with a partial elastohydrodynamic lubrication framework to evaluate the instantaneous friction coefficient. The analysis reveals that certain profile modifications, specifically tip relief and profile barreling, can significantly reduce sliding power losses, often by more than 20%. In contrast, pressure angle modification has a negligible effect on power loss, especially at higher torques. These findings demonstrate that profile modifications can substantially alter gear mechanical efficiency and must be considered in design. Neglecting them may lead to significant over- or underestimation of energy losses. Although based on static analysis, the identified trends are robust and generalizable across gear types and load conditions.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106118"},"PeriodicalIF":4.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144365320","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 indirect muscle force sensing approach tailored for biomechanical multibody systems with equality and inequality constraints 一种新的间接肌肉力传感方法，为具有相等和不相等约束的生物力学多体系统量身定制

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-24 DOI: 10.1016/j.mechmachtheory.2025.106115

Rocco Adduci, Domenico Mundo

{"title":"A novel indirect muscle force sensing approach tailored for biomechanical multibody systems with equality and inequality constraints","authors":"Rocco Adduci, Domenico Mundo","doi":"10.1016/j.mechmachtheory.2025.106115","DOIUrl":"10.1016/j.mechmachtheory.2025.106115","url":null,"abstract":"<div><div>Muscle forces play a crucial role in daily activities, enhancing physical efficiency, musculoskeletal health, and performance in sports, work, and rehabilitation. The direct measure of muscle forces is impractical due to anatomical and ethical constraints, leading researchers to rely on indirect methods like electromyography-based techniques. While these methods capture muscle activities, they are prone to noise and require extensive post-processing. Alternatively, biomechanical multibody models faithfully represent human movement, enabling detailed kinematic and dynamic analyses. However, they suffer the redundancy in muscle recruitment, making inverse dynamics problems underdetermined. Optimization-based approaches are often used to solve this problem, but they lean on multi-layer solutions that overlook possible model drift and measurement noise. Recent approaches employ Kalman filters to indirectly estimate the system dynamics. While effective for joint force reconstruction, their application to muscle force estimation is limited by redundancy issues. This study proposes a novel Kalman filter-based framework for constrained multibody models, leveraging non-invasive sensors to estimate system dynamics and muscle forces. The framework is benchmarked using OpenSim simulations of an upper-limb muscular-skeletal model, focusing on shoulder and elbow movements.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106115"},"PeriodicalIF":4.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470979","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

Determination of maximum virtual coefficients in motion-force interaction performance indices for parallel mechanisms 并联机构运动-力相互作用性能指标中最大虚系数的确定

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-21 DOI: 10.1016/j.mechmachtheory.2025.106111

Qizhi Meng, Andrés Kecskeméthy

{"title":"Determination of maximum virtual coefficients in motion-force interaction performance indices for parallel mechanisms","authors":"Qizhi Meng, Andrés Kecskeméthy","doi":"10.1016/j.mechmachtheory.2025.106111","DOIUrl":"10.1016/j.mechmachtheory.2025.106111","url":null,"abstract":"<div><div>Motion-force interaction performance indices are widely adopted in parallel mechanisms as core parameters for performance evaluation. These indices are expressed as the ratio of the virtual coefficient between a wrench screw and a twist screw to its potential maximum value. However, determining the characteristic length for this calculation remains a challenge, especially when the wrench screw acts within a limb and appears disconnected from the mobile platform. To address the above challenge, this paper proposes a determination approach of maximum virtual coefficients in motion-force interaction performance indices for parallel mechanisms. The approach incorporates a rigid-body extension strategy for the mobile platform to identify the application point and characteristic point of the wrench screw. It concludes that the characteristic length is uniquely determined by the distance from the characteristic point to the twist screw related to the focused wrench screw. Validation through equivalent mechanisms shows consistent performance distributions and supports the methodology. This work is expected to enhance the understanding of motion-force interaction performance indices, clarify the computational process, and advance the application of these indices in parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106111"},"PeriodicalIF":4.5,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144330090","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

RoManSy, its beginnings and its founders 罗曼赛，它的起源和创始人

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-20 DOI: 10.1016/j.mechmachtheory.2025.106124

Bernard Roth

引用次数: 0

Grasping capability analyses for optimal grasp synthesis 最佳抓握综合的抓握能力分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-20 DOI: 10.1016/j.mechmachtheory.2025.106094

Gustavo Queiroz Fernandes , Marina Baldissera de Souza , Jing-Shan Zhao , Leonardo Mejia Rincon , Daniel Martins

{"title":"Grasping capability analyses for optimal grasp synthesis","authors":"Gustavo Queiroz Fernandes , Marina Baldissera de Souza , Jing-Shan Zhao , Leonardo Mejia Rincon , Daniel Martins","doi":"10.1016/j.mechmachtheory.2025.106094","DOIUrl":"10.1016/j.mechmachtheory.2025.106094","url":null,"abstract":"<div><div>This paper presents a novel grasping capability analysis to enhance grasp quality evaluation. Traditional grasp synthesis methods often focus on object-centered evaluations, neglecting crucial constraints imposed by the gripper, the environment, and the task. This oversight can lead to sub-optimal grasps and high failure rates, particularly when manipulating fragile objects or operating in unstructured environments. The proposed analysis incorporates relevant grasping constraints to provide a more accurate assessment of the forces and moments a grasp can withstand/exert. The proposed analysis consists of a three-step optimization process: modeling the kinematic chain of the gripper-object-environment interaction, structuring the optimization problem with defined objectives and constraints, and formulating the necessary static equations. A case study involving the grasping of paper rolls demonstrates the effectiveness of the proposed grasping capability analysis, revealing significant improvements in grasp quality evaluation compared to existing methods. The results show that grasp constraints have a significant impact on the loads the gripper can transmit to the object and, consequently, on grasp stability, highlighting the potential of the proposed analysis to optimize robotic grasping performance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106094"},"PeriodicalIF":4.5,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322726","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

Eliminating nonphysical attraction force in a novel elastoviscous contact model for impact behavior of dry coarse and fine particles system 基于新型弹粘接触模型的干燥粗、细颗粒系统碰撞行为的非物理引力消除

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-19 DOI: 10.1016/j.mechmachtheory.2025.106116

Gengxiang Wang, Wanxun Jia, Zepeng Niu, Haoyan Zhang

{"title":"Eliminating nonphysical attraction force in a novel elastoviscous contact model for impact behavior of dry coarse and fine particles system","authors":"Gengxiang Wang, Wanxun Jia, Zepeng Niu, Haoyan Zhang","doi":"10.1016/j.mechmachtheory.2025.106116","DOIUrl":"10.1016/j.mechmachtheory.2025.106116","url":null,"abstract":"<div><div>This investigation intends to develop a new elastoviscous contact model according to the integration of the damping force equal to the discrepancy of the kinetic energy between the before and after impact. However, the nonphysical attraction force (NAF) appears near the end of the recovery phase, leading to overpredictions of particle dynamics. To address this, an optimization strategy is proposed to eliminate the NAF. For coarse particles without Van der Waals (VDW) forces, the NAF causes underestimation of microscopic contact features such as contact duration and post-impact velocity. However, its effect on macroscopic motion, including trajectory and velocity, is negligible due to its relatively small magnitude. In contrast, for fine particles with VDW forces, the NAF significantly distorts both microscopic and macroscopic behaviors. Its presence complicates the collision dynamics of micro/nanoparticles and leads to overpredictions when combined with VDW forces. This work uncovers a coupling effect between NAF and VDW forces. Simulation results demonstrate that eliminating the NAF is essential for accurately modeling impact behavior in both coarse and fine particle systems. Overall, this investigation enhances the predictive capability of contact force models and improves the accuracy of granular system simulations.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106116"},"PeriodicalIF":4.5,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313914","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

Bi-stable boxed thick origami-inspired modular and load-carrying structures 双稳定盒厚折纸启发模块化和承载结构

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-19 DOI: 10.1016/j.mechmachtheory.2025.106114

Heming Wang , Zhuangzhi Miao , Jinghui Lv , Yujie Xie , Chong Huang , Yang Li

{"title":"Bi-stable boxed thick origami-inspired modular and load-carrying structures","authors":"Heming Wang , Zhuangzhi Miao , Jinghui Lv , Yujie Xie , Chong Huang , Yang Li","doi":"10.1016/j.mechmachtheory.2025.106114","DOIUrl":"10.1016/j.mechmachtheory.2025.106114","url":null,"abstract":"<div><div>Deployable structures, such as packaging boxes, tents, and space capsules, benefit from collapsible origami boxes. However, transforming origami boxes into thick-panel versions not only combines morphability and load-carrying capacity but also introduces stringent geometric constraints. This paper replaces the classic morphability with bi-compatibility, which results in bi-stable thick-panel boxed structures and relaxes previously stringent geometric constraints. The introduction of bi-stability allows the thick-panel boxed structures to exhibit load-carrying capacity and self-locking characteristics at the stable states, eliminating the need for constant actuation and facilitating rapid switching motion due to instability. Furthermore, an analysis of the vertex configuration, crease patterns, folding motions, and geometric constructions of the origami box is conducted, culminating in a comprehensive design method for deployable bi-stable thick-panel boxed structures with load-carrying capacity. This study proposes a modular design for bi-stable thick-panel boxed structures, enabling adaptability in shape and function, as well as reconfiguration of storage and structural states. The construction of the corresponding meter-scale structures provides innovative design approaches for conventional civil engineering and potential applications in aerospace systems, robotics, and other fields requiring adaptable, morphable, and load-carrying structures.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106114"},"PeriodicalIF":4.5,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313915","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 offline robust trajectory optimization index and method for underground mining cable-driven parallel robot 一种新的地下采矿缆索驱动并联机器人离线鲁棒轨迹优化指标与方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-14 DOI: 10.1016/j.mechmachtheory.2025.106095

Weihan Jia , Gang Cheng , Jun Li , Yusong Pang , Mengyao Hu , Wei Gu

{"title":"A novel offline robust trajectory optimization index and method for underground mining cable-driven parallel robot","authors":"Weihan Jia , Gang Cheng , Jun Li , Yusong Pang , Mengyao Hu , Wei Gu","doi":"10.1016/j.mechmachtheory.2025.106095","DOIUrl":"10.1016/j.mechmachtheory.2025.106095","url":null,"abstract":"<div><div>The stiffness model plays a crucial role in improving the performance of robots. During the operation of an underground mining cable-driven parallel robot (UMCDPR), insufficient stiffness can lead to motion instability, posing safety hazards. Additionally, the complexity of the underground mining environment, which is often accompanied by external disturbances, leads to offline stiffness indices failing when used underground as an optimal criterion. To address these problems, this article proposes a robust optimal stiffness direction (ROSD) index grounded in Rayleigh's theorem, which is characterized by three primary features: (1) strong robustness, (2) suitable for multi-trajectory optimization engineering problems, and (3) global visualization. Firstly, considering the influence of pulleys on the end-effector, the stiffness model of UMCDPR is modified. Secondly, a trajectory optimization method utilizing ROSD is introduced, incorporating the Kepler Conjecture and stiffness model correction. Finally, the characteristics of ROSD are validated through numerical simulations. Based on two numerical simulations, the ROSD index can serve as an optimal criterion for guiding stiffness optimization of UMCDPR. Furthermore, an optimal stiffness trajectory is obtained to meet the task objectives of UMCDPR.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106095"},"PeriodicalIF":4.5,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144280848","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 practice of hybrid real-time compensation strategy for motion control of a heavy-load and high-speed 6-DOF parallel platform 混合实时补偿策略在重载高速六自由度并联平台运动控制中的应用

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-06-12 DOI: 10.1016/j.mechmachtheory.2025.106099

Changlei Shao , Chengwu Li , Yan Hu , Jingdong Hu , Songlin Zhou , Xiaoming He , Wei Shi , Feng Gao , Kun Zhang

{"title":"A practice of hybrid real-time compensation strategy for motion control of a heavy-load and high-speed 6-DOF parallel platform","authors":"Changlei Shao , Chengwu Li , Yan Hu , Jingdong Hu , Songlin Zhou , Xiaoming He , Wei Shi , Feng Gao , Kun Zhang","doi":"10.1016/j.mechmachtheory.2025.106099","DOIUrl":"10.1016/j.mechmachtheory.2025.106099","url":null,"abstract":"<div><div>The heavy-load and high-speed 6-DOF parallel platform has been developed for tests of marine equipment; however, the complex mechanism achieving the aforementioned traits challenges the high-accuracy motion control of the end-effector interfacing with the test equipment. A hybrid real-time compensation strategy is proposed, which includes kinematic calibration based on identifiable parameters separation (IPS) for direct compensation of geometric errors, and direct feedback of force at the end-effector and linear encoder for compensation of compliance errors. Experiments are conducted to measure the error of motion after the hybrid real-time compensation. In parallel, the total error analysis including both geometric and compliance aspects is performed as a reference without compensation. The results indicate that the maximum error of the end-effector is significantly reduced from the calculated value of 14.3mm/0.54° to the measured value of 5.9mm/0.37°.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106099"},"PeriodicalIF":4.5,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144272430","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