Mechanism and Machine Theory最新文献_第8页

Development and validation of a rigid-flexible hybrid robotic leg with structural compliance and intrinsic contact sensing capability 具有结构柔度和内在接触传感能力的刚柔混合机器人腿的研制与验证

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-10 DOI: 10.1016/j.mechmachtheory.2025.106271

Shujie Tang , Siyue Yao , Xingyue Zhu , Tao Yu , Hao Wang , Haoyong Yu , Genliang Chen

{"title":"Development and validation of a rigid-flexible hybrid robotic leg with structural compliance and intrinsic contact sensing capability","authors":"Shujie Tang , Siyue Yao , Xingyue Zhu , Tao Yu , Hao Wang , Haoyong Yu , Genliang Chen","doi":"10.1016/j.mechmachtheory.2025.106271","DOIUrl":"10.1016/j.mechmachtheory.2025.106271","url":null,"abstract":"<div><div>Elastic elements in robotic legs offer benefits in terms of adaptability, energy efficiency, and robustness. This paper presents a novel concept of a robotic leg with a fully elastic arc-shaped link that serves as both a structural component for motion transmission and a leaf spring. This unique design endows the robotic leg with structural compliance, which is particularly advantageous for impact absorption during interactions with the environment. Furthermore, the deformation of the elastic link enables intrinsic contact sensing capability. A compact deflection sensor capable of measuring large-scale deformations was developed and integrated with the elastic link. A contact sensing model was derived using a discretization-based approach to predict the foot contact force and position by leveraging elastic deformation and hip motor torque. Various experimental validations were performed using the fabricated prototype. The results demonstrate a 35% reduction in the impact loads compared to those of a rigid counterpart. Moreover, foot contact force sensing and control in both static and dynamic scenarios were achieved, and useful terrain information was obtained using the sensed force.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106271"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145520303","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

Generalized kinematic solution of hyper redundant multi Gough–Stewart Platform connected serially using deep reinforcement learning with time optimization 基于时间优化深度强化学习的超冗余多Gough-Stewart串联平台广义运动学解

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-10-27 DOI: 10.1016/j.mechmachtheory.2025.106260

Amirhossein Nourian , Mohammad Reza Ghazavi , Mehdi Tale Masouleh

{"title":"Generalized kinematic solution of hyper redundant multi Gough–Stewart Platform connected serially using deep reinforcement learning with time optimization","authors":"Amirhossein Nourian , Mohammad Reza Ghazavi , Mehdi Tale Masouleh","doi":"10.1016/j.mechmachtheory.2025.106260","DOIUrl":"10.1016/j.mechmachtheory.2025.106260","url":null,"abstract":"<div><div>This paper presents a comprehensive kinematic modeling framework for hyper-redundant, serially-connected Gough–Stewart platforms mechanisms using a deep reinforcement learning approach. The study investigates kinematic chains composed of two, four, and six Gough–Stewart platforms, forming redundant parallel mechanisms with degrees of freedom exceeding six. Addressing the inherent challenge of non-unique inverse kinematic solutions, an effective redundancy resolution strategy is proposed, leveraging time optimization to manage the hybrid platform’s redundancy. The research further tackles the challenge of generalizing solutions across diverse goals within a continuous robotic workspace. Two distinct methods are explored for initial positioning: starting from a distant point to reach a goal or following trajectories for nearby targets. Additionally, a novel recursive implementation of the Proximal Policy Optimization algorithm is employed, enabling the system to achieve sub-0.015 m error in goal-reaching tasks across all configurations. This approach ensures robust and reliable performance, independently of target accuracy requirements. Consistent goal achievement is thereby guaranteed, independently of target accuracy requirements. Furthermore, a new evaluation method is introduced, which can serve as a baseline for future, more complex tasks within this research field.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106260"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145371408","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 Library of Approaches: A systematic mapping of approaches for the mechanical design of tendon-driven, rigid-sequential anthropomorphic robot hands 方法库：为肌腱驱动的机械设计方法的系统映射，刚性顺序拟人化机器人手

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-05 DOI: 10.1016/j.mechmachtheory.2025.106257

Daniel Gossen , Tianyi Jin , Sebastian Polzin , Mark Witte , Eugen Schustermann , Ana Laura Urzua , Clément Gosselin , Mathias Hüsing , Burkhard Corves

{"title":"The Library of Approaches: A systematic mapping of approaches for the mechanical design of tendon-driven, rigid-sequential anthropomorphic robot hands","authors":"Daniel Gossen , Tianyi Jin , Sebastian Polzin , Mark Witte , Eugen Schustermann , Ana Laura Urzua , Clément Gosselin , Mathias Hüsing , Burkhard Corves","doi":"10.1016/j.mechmachtheory.2025.106257","DOIUrl":"10.1016/j.mechmachtheory.2025.106257","url":null,"abstract":"<div><div>The mechanical design of anthropomorphic robot hands is complex and comprehensive and accessing relevant information remains challenging. Existing reviews provide valuable insights but lack a structured overview of the mechanical design approaches for robot hands. This work addresses this gap by introducing the Library of Approaches (LoA), a collection of mechanical design approaches for tendon-driven, rigid-sequential anthropomorphic robot hands, organized in morphological boxes. In a systematic mapping following the PRISMA guideline, joint-related design approaches are collected and used to synthesize initially undocumented principal solutions (PSs) for fields of interest (FoIs). Literature references are then categorized into the established PSs and assigned to different morphological boxes. To comprehensively capture the state of the art, five separate search strategies are conducted, resulting in the analysis of 147 publications, including 87 robot hands and 110 authors. In total, 92 FoIs and 177 PSs are identified. The main objective is to provide a convenient initial source of references for the early mechanical design of anthropomorphic robot hands, without claim of completeness. The study concludes with a discussion of current limitations and potential future work.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106257"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145468041","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

Singularity analysis and identification of a novel (6+1)-DOFs kinematically redundant parallel mechanism based on Grassmann line geometry 基于格拉斯曼线几何的新型（6+1）自由度冗余并联机构奇异性分析与辨识

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-15 DOI: 10.1016/j.mechmachtheory.2025.106258

Xiao Li , Haibo Qu , Yili Kuang , Giuseppe Carbone , Sheng Guo

{"title":"Singularity analysis and identification of a novel (6+1)-DOFs kinematically redundant parallel mechanism based on Grassmann line geometry","authors":"Xiao Li , Haibo Qu , Yili Kuang , Giuseppe Carbone , Sheng Guo","doi":"10.1016/j.mechmachtheory.2025.106258","DOIUrl":"10.1016/j.mechmachtheory.2025.106258","url":null,"abstract":"<div><div>This paper addresses the challenges in analyzing and identifying singularities in a novel (6+1) degrees of freedom (DOFs) kinematically redundant parallel mechanism (KRPM) using Grassmann line geometry. First, the structural features and DOFs analysis of the mechanism are presented, followed by a clear explanation of the process for solving its inverse kinematics problem. Next, a method combining the global Jacobian matrices with sub-Jacobian matrices is proposed for singularity analysis, which helps to avoid false positives and negatives when identifying singularities based solely on the global Jacobian matrix. Additionally, the degradation of different linear subspaces corresponding to the singularities of the global forward Jacobian matrix is explored using the Grassmann line geometry. Finally, a new singularity classification and identification method based on geometric conditions is introduced, providing an intuitive approach for identifying singular configurations through singular coordinates. The results contribute to the comprehensive singularity analysis of KRPMs and offer an effective method for identifying singular configurations in certain three-limbed 6-DOFs symmetric parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106258"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145520298","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 the natural frequencies and mode shapes of a single gimbal control moment gyro considering internal rotor flexibility and gimbal rotation effects 考虑转子内柔度和云台旋转效应的单云台控制力矩陀螺固有频率和振型研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-15 DOI: 10.1016/j.mechmachtheory.2025.106289

Miao Xue , Jianghai Miao , Wei Pu

{"title":"Research on the natural frequencies and mode shapes of a single gimbal control moment gyro considering internal rotor flexibility and gimbal rotation effects","authors":"Miao Xue , Jianghai Miao , Wei Pu","doi":"10.1016/j.mechmachtheory.2025.106289","DOIUrl":"10.1016/j.mechmachtheory.2025.106289","url":null,"abstract":"<div><div>Natural frequencies and mode shapes are crucial to understanding the transmission path of harmonic disturbances in a control moment gyro system. However, no analytical model has yet been developed for identifying the mechanism of the micro-vibration characteristics observed in experiments. In this study, a semi-analytical model was established to analyze the micro-vibration mechanisms and natural frequencies of the high-speed rotor in a control moment gyro considering rotor flexibility, nonlinear effects of supporting bearings and gimbal rotation. The disturbance frequency characteristics of the support bearings were empirically determined through experimental observations. The governing equations of a single-gimbal control moment gyro were derived by using the Newton–Euler method. The model was validated in experiments measuring representative micro-vibration responses. The effects of rotor flexibility and gimbal rotation on the first several natural characteristics were quantitatively analyzed. The results indicated that gimbal rotations had notable influences on natural frequencies and stiffness of supporting bearings. This study provides deep insights into vibration analysis and structural optimization for designing ultra-precision control moment gyros.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106289"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145520300","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

Dynamics representation of mechanical systems for time-stepping problems 机械系统时间步进问题的动力学表示

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-19 DOI: 10.1016/j.mechmachtheory.2025.106292

David M. Solanillas Francés , József Kövecses

{"title":"Dynamics representation of mechanical systems for time-stepping problems","authors":"David M. Solanillas Francés , József Kövecses","doi":"10.1016/j.mechmachtheory.2025.106292","DOIUrl":"10.1016/j.mechmachtheory.2025.106292","url":null,"abstract":"<div><div>This paper introduces a novel two-stage time-stepping framework for mechanical systems. The method separates the update of configuration and dynamics: configuration is advanced using independent (joint) velocities, while the dynamic equations are formulated using a dependent set of velocities—specifically, the velocity of body-fixed points and the angular velocity of each rigid body. These dependent velocities are projected onto the joint space to ensure that kinematic constraints are satisfied at the position level, eliminating the need for constraint stabilization techniques. A key advantage of this decomposition is that it enables a compact and transparent expression of the nonlinear inertial terms, which can then be integrated either explicitly or implicitly within the same framework. This flexibility makes the approach particularly well suited for time-stepping schemes, including those used in challenging scenarios such as unilateral contact problems. Numerical results illustrate how different integration strategies and velocity representations affect the stability and accuracy of the solution, highlighting the robustness of the proposed method.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106292"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145569273","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 nonlinear deflections of initially curved beams with large curvatures 大曲率初弯曲梁的非线性挠度建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-13 DOI: 10.1016/j.mechmachtheory.2025.106290

Nan Yang, Ruiyu Bai, Jiaqiang Yao, Bo Li, Guimin Chen

{"title":"Modeling nonlinear deflections of initially curved beams with large curvatures","authors":"Nan Yang, Ruiyu Bai, Jiaqiang Yao, Bo Li, Guimin Chen","doi":"10.1016/j.mechmachtheory.2025.106290","DOIUrl":"10.1016/j.mechmachtheory.2025.106290","url":null,"abstract":"<div><div>Understanding and modeling nonlinear deflections of compliant components are the major challenges of designing compliant mechanisms. Initially curved beams, can exhibit diverse mechanical behaviors, serving as useful alternatives to straight beams in compliant mechanisms. This paper presents a closed-form model for intermediate deflections of circular beams with normalized curvatures up to <span><math><mrow><mo>±</mo><mi>π</mi><mo>/</mo><mn>4</mn></mrow></math></span>, in which Taylor series expansion and truncation are employed. By combining this model with the chained scheme, it can capture large deflections of initially curved beams with a very small discretization number, considerably reducing the computational complexity. An experimental validation and the results comparison of the proposed model with nonlinear finite element models and the previous chained beam constrained model on three examples are provided, demonstrating its accuracy and efficiency. The model presented in this work offers a parameterized tool for designing the compliant mechanisms containing initially curved beams with large curvatures and constant sections.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106290"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145520301","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 cable-driven parallel rehabilitation robot for active training of supine patients’ lower limbs 一种用于仰卧病人下肢主动训练的缆索驱动并联康复机器人

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-15 Epub Date: 2025-11-24 DOI: 10.1016/j.mechmachtheory.2025.106300

Yuze Zhang , Lu Bai , Rongjie Kang , Jian S. Dai , Zhibin Song

{"title":"A cable-driven parallel rehabilitation robot for active training of supine patients’ lower limbs","authors":"Yuze Zhang , Lu Bai , Rongjie Kang , Jian S. Dai , Zhibin Song","doi":"10.1016/j.mechmachtheory.2025.106300","DOIUrl":"10.1016/j.mechmachtheory.2025.106300","url":null,"abstract":"<div><div>Patients with lower limb motor dysfunction typically require supine rehabilitation during early recovery. Compared to rigid-structure robots, cable-driven supine rehabilitation robots offer distinct safety and cost advantages. However, existing such robots are generally limited to passive training, particularly those with under-constrained cable-suspended structures. This study proposes a novel admittance model for the under-constrained cable-suspended system for active training in supine status, providing resistance along a specified trajectory. To enhance the training experience, two tunnel models orthogonal to the trajectory were proposed, rigid mode and compliant mode. They meet personalized rehabilitation requirements better by adjusting the impedance model parameters. To prove the efficiency of the under-constrained active training method, a cable-driven parallel robot (CDPR) for lower limb supine training was developed, achieving multi-joint lower limb movement via four cables. Considering that positioning of patient relative to the proposed robot is necessary for performing active training, an autonomous patient position identification method is introduced, without extra sensors. Experiments on the prototype confirmed the position identification method’s feasibility and the under-constrained active training control model’s effectiveness in both tunnel modes.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106300"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617870","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 physics-based and data-driven framework providing a guideline for state estimation in active magnetic bearing-supported rotors 基于物理和数据驱动的框架为主动磁轴承转子状态估计提供了指导

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-01 Epub Date: 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106250

Ali Moharrami , Tuhin Choudhury , Gyan Ranjan , Behnam Ghalamchi , Henrik Ebel , Jussi Sopanen

{"title":"A physics-based and data-driven framework providing a guideline for state estimation in active magnetic bearing-supported rotors","authors":"Ali Moharrami , Tuhin Choudhury , Gyan Ranjan , Behnam Ghalamchi , Henrik Ebel , Jussi Sopanen","doi":"10.1016/j.mechmachtheory.2025.106250","DOIUrl":"10.1016/j.mechmachtheory.2025.106250","url":null,"abstract":"<div><div>This study proposes a low-cost methodology for response estimation in rotor systems supported by active magnetic bearings (AMBs). The methodology forms a framework that integrates multidisciplinary physics-based and data-driven modules, enabling reliable and computationally efficient estimations in various operating conditions (OCs). The developments involve a time-domain simulation based on full rotordynamic finite element (FE) modeling, and rigid body-, Kalman filter (KF)-, and machine learning (ML)-based estimations, to make use of their capabilities in suitable OCs and to highlight their weaknesses. Model and data reductions and inclusion of physical information are incorporated into the framework. As a case study, the methodology is implemented for the estimation of unmeasured translational displacements at the actuator locations. Time- and frequency-domain validations with noisy signals prove that the rigid body and KF estimations are unable to track the system dynamics and diverge from the reference simulation in the vicinity of the critical speeds, where ML provides considerably more precise estimates. The effectiveness of multiple approaches in the framework is concluded with an estimation guideline. Modular developments in the framework are proposed for future studies.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106250"},"PeriodicalIF":4.5,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270621","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

One-DOF hexagonal thick-panel origami with uniform thickness, flat deployable surface and compact folding 一自由度六边形厚板折纸，厚度均匀，可展开表面平整，折叠紧凑

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-12-01 Epub Date: 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106252

Yuanqing Gu , Li Wen , Jiayao Ma , Xiao Zhang , Zhong You , Yan Chen

{"title":"One-DOF hexagonal thick-panel origami with uniform thickness, flat deployable surface and compact folding","authors":"Yuanqing Gu , Li Wen , Jiayao Ma , Xiao Zhang , Zhong You , Yan Chen","doi":"10.1016/j.mechmachtheory.2025.106252","DOIUrl":"10.1016/j.mechmachtheory.2025.106252","url":null,"abstract":"<div><div>Thick-panel origami considers the panel thickness for engineering requirements such as solar arrays and reflectarray antennas. However, it is still a challenge to generate the flat surface for two-dimensional deployable structures based on thick-panel origami. In this paper, a construction method for a family of one-degree-of-freedom (one-DOF) folding assemblies with uniform thickness, flat deployable surface and compact folding is proposed based on hexagonal thick panels. Taking the spatial 8<em>R</em> linkage as the kinematic model of thick-panel unit, the one-DOF mechanism networks of 8<em>R</em> linkages are investigated to create hexagon-based folding assemblies with kinematic compatibility and folding capability. Through flipping transformations and various connection forms, a total of sixteen cases of folding assemblies and their one-DOF mechanism topologies are developed to present flat deployable surfaces and compactly folded advantages. Furthermore, the surface integrality of folding assemblies is presented without physical interference, and the prototype is fabricated to verify kinematic properties. The newly found design strategy and construction method can be readily extended to other polygon-based assemblies with potential applications such as deployable structures for aerospace exploration and architecture.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"217 ","pages":"Article 106252"},"PeriodicalIF":4.5,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145270622","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