Mechanism and Machine Theory最新文献_第8页

Topology design of high-speed and heavy-duty operation robot driven by trajectory 轨迹驱动的高速重载作业机器人拓扑设计

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106013

Jun Li , Chuanying Wang , Dong Wang , Kaixuan Chen , Yimin Song , Tao Sun

{"title":"Topology design of high-speed and heavy-duty operation robot driven by trajectory","authors":"Jun Li , Chuanying Wang , Dong Wang , Kaixuan Chen , Yimin Song , Tao Sun","doi":"10.1016/j.mechmachtheory.2025.106013","DOIUrl":"10.1016/j.mechmachtheory.2025.106013","url":null,"abstract":"<div><div>This paper proposes a trajectory-driven topology design method for the high-speed and heavy-duty operation robot. Firstly, a topology motion trajectory is generated based on the functional requirements of the robot and the characteristics of the stamping process, including end path and link envelopes. A dual mapping relationship is established between the motion trajectory and the topology composition. From this, basic topologies are derived. Secondly, with the performance of the mechanism as the evolution goal, different topology evolution strategies are generated by optimizing the driving joints and coordinating the joint displacements. Depending on the evolution strategies, different evolution patterns are formed. The evolution topologies are generated from the basic topologies in accordance with the evolution patterns. Finally, a multi-level topology evaluation system is established by considering the stamping scenario characteristics, structural design feasibility, and developing screening and comparison criteria. According to the evaluation system, the superior topologies are selected at different levels.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106013"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799721","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 novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission 基于运动传递的解耦广义并联机构综合新方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106019

Zhihao Xia , Chunxu Tian , Yongheng Xing , Jie Gu , Luquan Li , Dan Zhang

{"title":"The novel synthesis method of decoupled generalized parallel mechanisms based on motion transmission","authors":"Zhihao Xia , Chunxu Tian , Yongheng Xing , Jie Gu , Luquan Li , Dan Zhang","doi":"10.1016/j.mechmachtheory.2025.106019","DOIUrl":"10.1016/j.mechmachtheory.2025.106019","url":null,"abstract":"<div><div>Compared with traditional parallel mechanisms, decoupled parallel mechanisms exhibit superior motion control capabilities. In this paper, a novel synthesis method for decoupled generalized parallel mechanisms (DGPMs) based on motion transmission is proposed. This method enables the successful construction of passive chains capable of achieving input-output motions with identical rotational/translational directions and proportional velocities in both planar and spatial configurations. Subsequently, DGPMs with diverse motion types are realized by modifying the drive chain while maintaining invariant passive chains. The proposed methodology modularizes the synthesis process, allowing new mechanism designs to be generated simply by altering the input motion type of the drive chain. Furthermore, coupling chains in each branch are optimized through the integration of multiple DGPMs, where their moving platforms are rigidly interconnected to form a more stable multi-branch DGPM architecture. A representative 6-degree-of-freedom (DOF) mechanism is selected for comprehensive performance analysis. Finally, potential applications in assembly and welding manipulators are discussed to illustrate the practical relevance of this mechanism class.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106019"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799726","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 terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints 一种具有螺旋型末端约束的新型3-UPU并联机构的末端约束与耦合运动学

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106018

Bo Hu , Jiahe Zhang

{"title":"The terminal constraint and coupling kinematics of a novel 3-UPU parallel mechanism with screw type terminal constraints","authors":"Bo Hu , Jiahe Zhang","doi":"10.1016/j.mechmachtheory.2025.106018","DOIUrl":"10.1016/j.mechmachtheory.2025.106018","url":null,"abstract":"<div><div>The previous researches on 3-UPU parallel mechanisms (PMs) mainly focused on mechanisms with force and torque type terminal constraints. However, the 3-UPU PMs with screw type constraints have not been investigated. This paper proposes a novel 3-UPU PM with screw type terminal constraints, and systematically studies its analytical terminal constraints and closed form coupled kinematics. Based on the geometric characteristics of the terminal constraint of the particular UPU leg and the geometric property of the second-order screw system, the analytical form terminal constraints of the 3-UPU PM are derived. This type of PMs has high motion coupling at its moving platform, which is different from the traditional lower mobility PMs. By revealing the multiple coupling principle of the kinematic parameters through the kinematics constraint equations, a pose decoupling model of this mechanism is established and the analytical solution of the inverse position problem is derived. Meanwhile, the closed form forward displacement is derived using the Sylvester dialytic elimination method. The work presented in this article provides new insights into the 3-UPU type PMs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106018"},"PeriodicalIF":4.5,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799723","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

Reviewer acknowledgments and awards: Recognition awards for distinction of reviewing in 2024 评审致谢及奖励：表彰2024年度评审优秀奖

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106031

Paulo Flores

引用次数: 0

A cheat sheet for probability distributions of orientational data 定向数据的概率分布的备忘表

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.105995

P.C. López-Custodio

引用次数: 0

Projective synthesis of planar compliant mechanisms 平面柔性机构的投影综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI: 10.1016/j.mechmachtheory.2025.106010

O. Sorgonà , O. Giannini , M. Verotti

引用次数: 0

Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection 考虑抗扰优化姿态的缆索驱动并联机器人轨迹生成

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-04 DOI: 10.1016/j.mechmachtheory.2025.106016

Shuai Liu , Molong Duan

引用次数: 0

Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation 用双铰技术调厚厚折纸的相对位移分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-03 DOI: 10.1016/j.mechmachtheory.2025.106000

Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez

{"title":"Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation","authors":"Enrique Pujada-Gamarra , Lena Zentner , Daniel Lavayen-Farfán , Jorge A. Rodriguez-Hernandez","doi":"10.1016/j.mechmachtheory.2025.106000","DOIUrl":"10.1016/j.mechmachtheory.2025.106000","url":null,"abstract":"<div><div>Origami, the art of folding paper, has been extensively explored for its potential to produce complex structures and enable rapid and precise movements with few folds. The flexibility and low thickness of paper make it ideal for folding, although most engineering applications require stiffer and thicker materials when drawing inspiration from Origami. For that, several techniques have been developed over the years and the double-hinge technique is one of the least explored techniques for thick Origami, even though it shows a major advantage to obtain a fully flat surface in the unfolded state. This advantage makes it ideal when developing solar panels where flat surfaces are required to maximize the absorbed energy. In this work, the Miura Ori pattern, based on the degree-4 vertex coupled with the double-hinge thickness accommodation technique, is analyzed to obtain relationships between the kinematics, thickness, sector angles, and periodicity. It is found that by releasing certain degrees-of-freedom, the double-hinge technique can be used to fold Origami patterns, with flat-foldability and preserving the Origami motion. The findings of this research contribute to a deeper understanding of thickness implications in the double-hinge technique for Origami-based thickness accommodations. This study presents a novel model that has not been previously explored, establishing key insights that are crucial for future emerging applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"210 ","pages":"Article 106000"},"PeriodicalIF":4.5,"publicationDate":"2025-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143759160","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

Cable-driven deployment mechanism design and electromechanical coupling modeling for rigid-reflector deployable antenna 刚性反射面展开天线缆索驱动展开机构设计及机电耦合建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI: 10.1016/j.mechmachtheory.2025.106006

Guodong Tan, Xiangfei Meng, Xuechao Duan, Fanwei Ye, Dongwu Yang, Guangda Chen, Didi Du

{"title":"Cable-driven deployment mechanism design and electromechanical coupling modeling for rigid-reflector deployable antenna","authors":"Guodong Tan, Xiangfei Meng, Xuechao Duan, Fanwei Ye, Dongwu Yang, Guangda Chen, Didi Du","doi":"10.1016/j.mechmachtheory.2025.106006","DOIUrl":"10.1016/j.mechmachtheory.2025.106006","url":null,"abstract":"<div><div>This study introduces a novel rigid-reflector deployable antenna (RRDA), featuring a Cable-Driven Synchronous Device (CDSD). It begins with the derivation of formulations for petal count and hub radius, followed by an oblique-axis deployment principle tailored to the petal. To avoid potential interference, a straightforward parameter-tuning strategy is formulated. Petal deployment is achieved simply using the universal joint coupling, which further facilitates the CDSD implementation in the outer–inner wrapping mode. Furthermore, a shaft-adjusting device is designed to ensure precise positioning of the rotational shaft. Prototype experiments validate the antenna’s smooth deployment with reasonable input torque, and reveal the CDSD’s self-compensation capability to eliminate backlash. Subsequently, various complex error sources are integrated into the Cone-Error Model (CEM) with solely two parameters, leading to the development of the Specific Electromechanical Coupling Model (SECM) to precisely characterize the relation between electromagnetic (EM) performance and joint tolerance. Under the guidance of SECM, the RRDA is allocated reasonable tolerance, according to EM indices. In conclusion, the proposed RRDA offers an effective and practical solution for high-frequency satellite antennas, with potential promising engineering applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106006"},"PeriodicalIF":4.5,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143738901","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

Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model 基于同心球面几何模型的一类并联RCM机械臂类型综合

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI: 10.1016/j.mechmachtheory.2025.106011

Luquan Li , Chunxu Tian , Zhihao Xia , Dan Zhang

{"title":"Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model","authors":"Luquan Li , Chunxu Tian , Zhihao Xia , Dan Zhang","doi":"10.1016/j.mechmachtheory.2025.106011","DOIUrl":"10.1016/j.mechmachtheory.2025.106011","url":null,"abstract":"<div><div>Leveraging the intuitiveness of a geometric model to describe motion, this study proposed a design method for a novel class of spatial parallel manipulators with remote center of motion (RCM) based on a concentric spherical surfaces geometric model. First, the topological structures of the parallel RCM manipulator are constructed by integrating the characteristics of the single-loop closed chain (SLCC), multi-degree of freedom (DOF) drive unit (DU), and RCM motion. Subsequently, a geometric model based on concentric spherical surfaces is developed to reveal the principle of generating RCM motion. Building on the concentric spherical geometric model, the general topological arrangements of the parallel RCM manipulators are proposed, while the key constraint conditions are determined. Then, a class of parallel RCM manipulators is systematically synthesized based on the Lie group. Based on the structural characteristics of this class of parallel RCM manipulators, a generalized assembly error model is built to analyze the impact of assembly errors on mechanism accuracy. Finally, the application and analysis of a parallel RCM manipulator are discussed.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 106011"},"PeriodicalIF":4.5,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143747103","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