Mechanism and Machine Theory最新文献_第8页

Energy-based kinetostatic modeling of a rotational tristable mechanism using the chained beam constraint model 基于能量的旋转三稳机构动静力模型的链梁约束模型

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-22 DOI: 10.1016/j.mechmachtheory.2025.106081

Vu-Binh Lai Nguyen , Ngoc Dang Khoa Tran , Stefan Chwastek , Grzegorz Tora , Dung-An Wang

{"title":"Energy-based kinetostatic modeling of a rotational tristable mechanism using the chained beam constraint model","authors":"Vu-Binh Lai Nguyen , Ngoc Dang Khoa Tran , Stefan Chwastek , Grzegorz Tora , Dung-An Wang","doi":"10.1016/j.mechmachtheory.2025.106081","DOIUrl":"10.1016/j.mechmachtheory.2025.106081","url":null,"abstract":"<div><div>This paper presents an energy-based approach for the kinetostatic modeling of a rotational tristable mechanism (RTM) with parametric curved beams, utilizing the chained beam constraint model (CBCM). By formulating the strain energy within the CBCM framework, the proposed method provides an efficient means to solve the CBCM for the RTM, circumventing the convergence challenges associated with solving the static equilibrium equations directly. A virtual link approach is introduced to derive the geometric constraint equations of the CBCM, where the incorporation of virtual links facilitates the calculation of the torque-angle relationship of the RTM. The RTM-based compliant mechanism can be integrated into robotic joints to enable energy-efficient switching between predefined rotational positions, enhancing performance in tasks such as grasping, indexing, and manipulation. The primary contributions of this work are twofold. First, an energy-based implementation of the CBCM is developed to mitigate convergence issues arising from the discontinuous and nonlinear mechanical responses of linkage-type compliant mechanisms. Second, the integration of virtual links within the CBCM framework enables the formulation of system equations and the computation of desired mechanical responses.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"213 ","pages":"Article 106081"},"PeriodicalIF":4.5,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144106197","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

Computation of kinematic paths and bifurcation points for multi-degree-of-freedom mechanisms with singular value decomposition 基于奇异值分解的多自由度机构运动路径和分岔点计算

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-20 DOI: 10.1016/j.mechmachtheory.2025.106047

Zhao Tang, Huijuan Feng, Jian S. Dai

引用次数: 0

From Henrici’s flexible hyperboloid to snapping spatial four-bars 从Henrici的柔性双曲面到捕捉空间四杆

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-19 DOI: 10.1016/j.mechmachtheory.2025.106057

Hellmuth Stachel , Daniel Huczala

引用次数: 0

Design and analysis of a novel class of hybrid parallel manipulators with 3+3 degrees of freedom and remotely operated grippers 一类新型3+3自由度遥控夹持混合并联机器人的设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-17 DOI: 10.1016/j.mechmachtheory.2025.106073

Donglai Xu, Sheng Guo, Xiaodong Jin, Fuqun Zhao, Yuefa Fang

{"title":"Design and analysis of a novel class of hybrid parallel manipulators with 3+3 degrees of freedom and remotely operated grippers","authors":"Donglai Xu, Sheng Guo, Xiaodong Jin, Fuqun Zhao, Yuefa Fang","doi":"10.1016/j.mechmachtheory.2025.106073","DOIUrl":"10.1016/j.mechmachtheory.2025.106073","url":null,"abstract":"<div><div>Parallel manipulators (PMs) equipped with remotely operated grippers eliminate the need for installing actuators on the end-effector, considerably reducing the mass of the moving platform. Integrated into the PM, the gripper is designed to harmonize with the kinematic and dynamic properties of the system, thereby optimizing operational performance and simplifying the mechanical structure. This paper proposes a novel class of 3 + 3-degree-of-freedom (DOF) hybrid parallel manipulators (HPMs) with remotely operated grippers. The gripper, functioning as part of the limb, is directly connected to the moving platform through a revolute joint. First, the structural synthesis procedure for constructing the HPMs is proposed based on Lie group theory, utilizing Grassmann line geometry and the atlas method. The resulting HPMs exhibit three pinching DOFs and three operational DOFs following the pinching process. Subsequently, one typical mechanism is selected from both the 3T HPMs and the 2T1R HPMs for analysis. The inverse kinematics models are established and verified through ADAMS simulation. Then, the Jacobian matrices are calculated and the operational workspace of the HPMs are evaluated. Finally, a prototype experiment is conducted. The proposed HPMs offer a novel reference scheme for the design and analysis of grasping robots.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106073"},"PeriodicalIF":4.5,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144071143","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

Efficient loss modeling for automated computational design synthesis using a next-generation hybrid dual-clutch transmission 采用新一代混合动力双离合变速器进行自动计算设计合成的高效损耗建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-13 DOI: 10.1016/j.mechmachtheory.2025.106048

J. van der Worp , N. Radadia , J. Wijkniet , T. Hofman

{"title":"Efficient loss modeling for automated computational design synthesis using a next-generation hybrid dual-clutch transmission","authors":"J. van der Worp , N. Radadia , J. Wijkniet , T. Hofman","doi":"10.1016/j.mechmachtheory.2025.106048","DOIUrl":"10.1016/j.mechmachtheory.2025.106048","url":null,"abstract":"<div><div>Estimating transmission power losses or energy efficiency with sufficient accuracy early in the design phase is essential to obtain an optimal transmission design. High-accuracy simulation models usually require large computation times, hence we focus on the development of fast yet accurately designed parametric loss models for the essential gearbox components. To enhance the models’ accuracy, experiment-based research into the distinct analytical loss models for the key transmission components (gears, bearings, synchronizers, clutches, and seals) is required. The main contribution of this work lies in the thorough experimental validation of the existing load-independent and load-dependent loss models with particular attention to gear mesh, clutch drag and gear wheel churning losses; verification and validation of the transmission modeling method, and providing insights into the breakdown of these losses at transmission system level using a next-generation hybrid dual-clutch transmission. The results showcase that the provided loss models with the essential component input parameters from the literature and the provided geometrical parameters of the chosen gearbox can predict the losses dynamically and over the full range of operation. Hereby, an accuracy of less than 15% error by comparing it with a large number of 75 gearboxes, measured on more than 15 different test rigs, over a certified reference drive cycle (WLTC) has been achieved. Furthermore, in most of the operating points, the predicted losses are within the experimental measurement spread, originating from hardware piece-to-piece variation and test bench-to-test bench variation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106048"},"PeriodicalIF":4.5,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143936132","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 surface division method and surface accuracy measurement for parabolic truss-type deployable antenna mechanism 一种抛物桁架式可展开天线机构曲面划分及曲面精度测量方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-12 DOI: 10.1016/j.mechmachtheory.2025.106071

Guoxing Zhang , Jie Wang , Jinwei Guo , Jun Wang , Yini Xu , Fenghuang Hu

{"title":"A novel surface division method and surface accuracy measurement for parabolic truss-type deployable antenna mechanism","authors":"Guoxing Zhang , Jie Wang , Jinwei Guo , Jun Wang , Yini Xu , Fenghuang Hu","doi":"10.1016/j.mechmachtheory.2025.106071","DOIUrl":"10.1016/j.mechmachtheory.2025.106071","url":null,"abstract":"<div><div>Surface division research is crucial for improving the surface accuracy of large-diameter parabolic deployable antennas. To achieve higher surface accuracy, a procedural surface division method based on combined geometric shapes is proposed. First, the configuration design of the parabolic deployable antenna mechanism is carried out, and a mathematical model for surface division is established. Next, numerical computation software is used to validate the procedural division model, enabling the procedural division of the antenna's surface. A prototype of the deployable antenna mechanism’s composite element is then developed, and a comparative analysis of the surface and the procedural division results is conducted to confirm the feasibility of the proposed method. Finally, surface accuracy measurements are performed based on the physical prototype, and error analysis is conducted by comparing experimental scanning results with the 3D model, further verifying the accuracy of the surface division method. The research results offer new insights into the division of reflective surfaces for parabolic truss-type deployable antennas and provide a theoretical foundation for the development of deployable antennas with larger diameters and higher precision.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106071"},"PeriodicalIF":4.5,"publicationDate":"2025-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143936117","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

Novel dynamic modeling and analysis method of the wind turbine gearbox gear-bearing coupling system considering gear crack and tooth modification with support shaft flexibility 考虑齿轮裂纹和齿形变化及支承轴柔性的风电齿轮箱-轴承耦合系统动力学建模与分析新方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-11 DOI: 10.1016/j.mechmachtheory.2025.106058

Shuyi Yang, Caichao Zhu, Chengwu Li, Ye Zhou, Wenxuan Wang, Shengkai Wang

{"title":"Novel dynamic modeling and analysis method of the wind turbine gearbox gear-bearing coupling system considering gear crack and tooth modification with support shaft flexibility","authors":"Shuyi Yang, Caichao Zhu, Chengwu Li, Ye Zhou, Wenxuan Wang, Shengkai Wang","doi":"10.1016/j.mechmachtheory.2025.106058","DOIUrl":"10.1016/j.mechmachtheory.2025.106058","url":null,"abstract":"<div><div>Wind turbine gearboxes are subjected to coupled excitations from gear cracks, gear modifications, and flexible shaft deformations. However, most existing studies examine the dynamic behavior under isolated excitation conditions. This study proposes a novel dynamic modeling approach for the wind turbine gear-bearing coupling system, combining isogeometric analysis (IGA) and lumped parameter methods. An improved slice method is developed to evaluate the time-varying meshing stiffness (TVMS), considering the gear crack and modifications. Then, the refined integration method is developed to solve the gear contact analysis integrating the system vibration responses. Subsequently, the dynamic model is validated through bench testing, and system dynamic characteristics are thoroughly investigated. The results indicate that gear cracks may shift contact load distribution away from the cracked region, increase bearing contact load amplitude, reduce the bearing's load area, and induce periodic impacts. Additionally, gear axial crown modification (ACM) is more sensitive to the contact load distribution of gear-bearing and alleviates the impact response of the coupled system. Furthermore, the flexibility of the supporting shaft (FS) may lead to tooth disengagement and exacerbate impact vibrations in the system.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106058"},"PeriodicalIF":4.5,"publicationDate":"2025-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143931694","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

Unit design and splicing scheme for a modular assembled mesh antenna 一种组合式网状天线的单元设计与拼接方案

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-10 DOI: 10.1016/j.mechmachtheory.2025.106060

Bowen Deng , Baiyan He , Rui Nie , Kangkang Li , Biao Yu , Guobiao Wang , Yesen Fan

{"title":"Unit design and splicing scheme for a modular assembled mesh antenna","authors":"Bowen Deng , Baiyan He , Rui Nie , Kangkang Li , Biao Yu , Guobiao Wang , Yesen Fan","doi":"10.1016/j.mechmachtheory.2025.106060","DOIUrl":"10.1016/j.mechmachtheory.2025.106060","url":null,"abstract":"<div><div>In-orbit assembly technology is a promising direction for large space structures, which combines numbers of small identical or similar units into one large assembly. This paper proposes a modular assembled mesh antenna constituted by several hexagonal platform units. The principle and configuration of using approximate hexagonal platform units to constitute a spherical truss is first investigated. Then, considering the units’ non-interference, assembly sequence and interchangeability, detailed unit mechanical design with docking interface and splicing scheme is addressed. The whole mesh antenna is a pre-stressed structure caused by the inner-unit cable mesh pretension and the outer-unit assembly stress. So, considering both the surface accuracy and the low-stress assembly requirement, an optimization strategy is put forward. Low docking force and assembly stress can be achieved by optimizing the cable mesh’s pretension and the docking points’ initial position. Finally, a case study is illustrated. Compared with the form-finding method without considering assembly, the antenna unit designed using the proposed optimization strategy exhibits smaller contact forces during assembly, and smaller RMS error after assembly, which still meets the design requirement.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106060"},"PeriodicalIF":4.5,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929499","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 high fidelity simulation for vertical planar motion control of underwater vehicle navigating near surface waves using joint mechanism control 基于关节机构控制的水下航行器近表面波垂直平面运动高保真仿真

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-09 DOI: 10.1016/j.mechmachtheory.2025.106056

Junjie Wang , Gong Xiang , Xianbo Xiang , C. Guedes Soares

{"title":"A high fidelity simulation for vertical planar motion control of underwater vehicle navigating near surface waves using joint mechanism control","authors":"Junjie Wang , Gong Xiang , Xianbo Xiang , C. Guedes Soares","doi":"10.1016/j.mechmachtheory.2025.106056","DOIUrl":"10.1016/j.mechmachtheory.2025.106056","url":null,"abstract":"<div><div>Traditional underwater vehicle (UV) motion control simulations primarily rely on dynamic modeling but often neglect the precise consideration of fluid forces, such as turbulence effects, viscous phenomena, and flow separation. To address this limitation, this study focuses on UV operations near the water surface and embeds a vertical plane integrated control strategy, combining Line-of-Sight Proportional–Integral–Derivative (LOS-PID) rudder angle control and ballast weight control, within a Computational Fluid Dynamics (CFD) framework. This approach achieves precise depth maintenance and pitch stability. The primary contributions of this research include the following three aspects: (1) A novel high-fidelity motion simulation framework is proposed via coupling closed loop motion control algorithms within CFD to study the UV navigating near surface waves. (2) The sea state and water depth affect the surfacing behaviors of UV during low-speed navigation near the surface waves. The second order waves cause the surfacing velocity to become faster when the UV is going up, consequently bringing control difficulty. (3) A comparative analysis of different control strategies shows that the stern rudder control is unable to overcome the second-order wave induced motion while the joint mechanism (rudder and ballast) control demonstrates effective suppression of surfacing behavior of UV navigating near surface waves. This integrated motion simulation framework provides a robust approach for investigating the control and simultaneous fluid mechanic behaviors of UVs in complex oceanic environments.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106056"},"PeriodicalIF":4.5,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143922014","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

Spatial geometric modelling and tessellation for modular hexagonal frustum deployable mechanism 模块化六角形截台展开机构的空间几何建模与镶嵌

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-08 DOI: 10.1016/j.mechmachtheory.2025.106059

Baiyan He , Kangkang Li , Rui Nie , Yesen Fan , Guobiao Wang

{"title":"Spatial geometric modelling and tessellation for modular hexagonal frustum deployable mechanism","authors":"Baiyan He , Kangkang Li , Rui Nie , Yesen Fan , Guobiao Wang","doi":"10.1016/j.mechmachtheory.2025.106059","DOIUrl":"10.1016/j.mechmachtheory.2025.106059","url":null,"abstract":"<div><div>The demand for large-scale space deployable structures is growing as space exploration advances in various aerospace missions. A modular hexagonal frustum mechanism composed of similar modules holds promise for constructing large-scale space deployable antennas. However, geometrical conflicts emerge when attempting hemispherical assembly using identical hexagonal frustum modules. This paper introduces a tessellation method for modular mechanisms under motion compatibility constraints. For a single deployable module, the rib angles are treated as variables, and the coordinates of member nodes varying with the degree of deployment are derived through kinematic analysis. For multiple modules, we determine rib angles based on the geometric consistency condition to achieve kinematic compatibility, thereby fundamentally resolving geometrical conflicts in tessellating identical deployable modules. Subsequently, we propose module tessellation schemes that maximize the area utilization ratio under specific size requirements. Finally, we design and fabricate a scaled prototype, perform deployment experiments, and measure motion trajectories of member points. The results demonstrate that the rib angle can adaptively adjust to meet the motion compatibility condition of the mechanism, and the measured rib angle variation aligns with the calculation results.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106059"},"PeriodicalIF":4.5,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143922013","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