Mechanism and Machine Theory最新文献_第9页

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

A reciprocating vector propulsion underwater vehicle based on a parallel reconfigurable mechanism 基于并联可重构机构的往复式矢量推进水下航行器

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-30 DOI: 10.1016/j.mechmachtheory.2025.106055

Yifan Wu , Yuanhao Zhang , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song

{"title":"A reciprocating vector propulsion underwater vehicle based on a parallel reconfigurable mechanism","authors":"Yifan Wu , Yuanhao Zhang , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song","doi":"10.1016/j.mechmachtheory.2025.106055","DOIUrl":"10.1016/j.mechmachtheory.2025.106055","url":null,"abstract":"<div><div>Underwater propulsion technology is a critical aspect of underwater equipment. The paradigm of underwater propulsion primarily based on propellers diminishes propulsion efficiency due to the lateral induced flow. Addressing this issue, our work proposes a reciprocating straight propulsion underwater propulsion strategy based on a passive folding mechanism. This propulsion form enhances effective thrust, and improves the motion efficiency of the vehicle via adopting the proposed straight propulsion mechanism which eliminates lateral induced water flow. To achieve vector propulsion ability, a 4-PRU parallel reconfigurable mechanism is added to the straight propulsion mechanism. The propulsion principle, parallel mechanism design, overall structure design of the vehicle, and dynamic analysis are detailed presented. Computational fluid dynamics analysis is used to validate the feasibility of the propulsion principle and the reliability of the dynamic model. Experiments confirm that the motion efficiency of the vehicle under uniform acceleration propulsion mode ranges from 61 % to 69 %, which is higher than traditional propeller propulsion methods. Additionally, the vector-propelled vehicle demonstrates good maneuverability in turning tests in a water pool.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106055"},"PeriodicalIF":4.5,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143891807","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 search method integrating configuration synthesis, screening, and optimization for a dual-planetary gear set four-mode configuration in battery electric vehicles 纯电动汽车双行星齿轮组四模构型综合筛选优化搜索方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-26 DOI: 10.1016/j.mechmachtheory.2025.106021

Yang Tian , Yusen Miao , Jiahao Qin , Yahui Zhang , Nong Zhang , Guilin Wen

{"title":"A search method integrating configuration synthesis, screening, and optimization for a dual-planetary gear set four-mode configuration in battery electric vehicles","authors":"Yang Tian , Yusen Miao , Jiahao Qin , Yahui Zhang , Nong Zhang , Guilin Wen","doi":"10.1016/j.mechmachtheory.2025.106021","DOIUrl":"10.1016/j.mechmachtheory.2025.106021","url":null,"abstract":"<div><div>Planetary gear sets (PGS) are regarded for their compact structure, high efficiency, and other advantages. They have been successfully implemented in several battery electric vehicles, delivering outstanding performance. This paper examines a dual-motor, dual-PGS four-mode configuration and introduces an innovative matrix-based search method. This approach integrates configuration synthesis, screening, and optimization to identify the most appropriate structure and parameters for the vehicle intended to utilize this configuration. In this process, connection units and structure matrices are defined to complete configuration synthesis. By leveraging the characteristics of PGS and the structure matrices, the speed, torque, and efficiency are calculated for each working mode. Configuration screening is conducted based on the performance requirements of the motor, PGS, and vehicle to preemptively eliminate unqualified configurations. To reduce the computational burden of configuration optimization, a novel energy management strategy is designed that approximates the performance of dynamic programming. This search method is applied to an example vehicle. The results demonstrate that this method can effectively search for the optimal configuration and corresponding parameters under specific requirements.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106021"},"PeriodicalIF":4.5,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877257","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 atlas of 1-DoF finger prostheses and orthoses based on six-bar linkages 基于六杆机构的1自由度手指假肢和矫形器图谱

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-26 DOI: 10.1016/j.mechmachtheory.2025.106046

Alessandro Ceccarelli, Fabrizio Taffoni, Loredana Zollo, Nevio Luigi Tagliamonte

{"title":"The atlas of 1-DoF finger prostheses and orthoses based on six-bar linkages","authors":"Alessandro Ceccarelli, Fabrizio Taffoni, Loredana Zollo, Nevio Luigi Tagliamonte","doi":"10.1016/j.mechmachtheory.2025.106046","DOIUrl":"10.1016/j.mechmachtheory.2025.106046","url":null,"abstract":"<div><div>Robotic solutions can be adopted to develop prostheses, and substitute hands following amputation, or orthoses, and assist impaired hands. Even if the human finger can be easily considered a planar kinematic chain with a single Degree of Freedom (DoF), in both applications, different mechanisms are able to replicate its motion. This paper presents a list of 1-DoF planar mechanisms for implementing finger flexion/extension in hand prostheses and orthoses, based on 6 links and 7 revolute joints (six-bar linkages). Our proposed enumeration process starts from 495 initial combinations, which are systematically analyzed and filtered through three tests that assess their topology based on adjacency matrix representation. The tests exclude mechanisms with open loops, which are isomorphic with respect to others, and which are not compatible with the human finger kinematic structure. This filtering process led to the identification of 14 resulting mechanisms, represented in the paper in terms of graphs, kinematic sketches and implementation concepts. The overview of the enumerated mechanisms highlights several topological solutions and provides perspective designers with useful hints for addressing specific needs such as comfort and compactness.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106046"},"PeriodicalIF":4.5,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143873394","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

Topology optimization of compliant mechanisms under displacement feedback control with time delay 时滞位移反馈控制下柔顺机构的拓扑优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-26 DOI: 10.1016/j.mechmachtheory.2025.106041

Guikai Guo , Jichang Yang , Zhongshan Yao , Ziyu Liang , Huanhuan Gao

{"title":"Topology optimization of compliant mechanisms under displacement feedback control with time delay","authors":"Guikai Guo , Jichang Yang , Zhongshan Yao , Ziyu Liang , Huanhuan Gao","doi":"10.1016/j.mechmachtheory.2025.106041","DOIUrl":"10.1016/j.mechmachtheory.2025.106041","url":null,"abstract":"<div><div>This paper presents a multi-material topology optimization method to enhance the output displacement of compliant mechanisms by using piezoelectric material with embedded active control algorithms. In the optimization problem, under the influence of time delay effects, the constraint function of the quasi-static problem is discretized into multiple governing equations. The weighted sum of displacements at the output points is set as the objective function. Sensitivities of constraint functions and objective functions with respect to design variables are derived by employing the adjoint vector method. The effectiveness of active control (rather than the effect of piezoelectric material stiffness) is verified through numerical examples. Additionally, the influence of time delay effects is discussed. The results demonstrate that the active control and time delay effects significantly impact the output displacement of compliant mechanisms. These findings underscore the need to account for such effects during the design process. This method has potential applications in precision devices, robotic, and aerospace engineering, where high-performance and actively controlled compliant mechanisms are critical.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106041"},"PeriodicalIF":4.5,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877258","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 3-RER multi-mode parallel mechanism that has both shaky and regular operation modes 3-RER 多模式并联机构，具有摇摆和正常运行两种模式

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-25 DOI: 10.1016/j.mechmachtheory.2025.106023

Xianwen Kong

{"title":"A 3-RER multi-mode parallel mechanism that has both shaky and regular operation modes","authors":"Xianwen Kong","doi":"10.1016/j.mechmachtheory.2025.106023","DOIUrl":"10.1016/j.mechmachtheory.2025.106023","url":null,"abstract":"<div><div>Multi-mode parallel mechanisms (PMs) are a class of reconfigurable PMs that can switch between different operation modes without needing to be disconnected and reassembled. This paper reveals that a 3-RER (or 3-UPU) PM, proposed in an earlier publication by the author, has both regular operation modes, where the moving platform has the same instantaneous degree-of-freedom (DOF) and finite DOF, and shaky operation modes, where the moving platform has different instantaneous DOF and finite DOF. The reconfiguration analysis, including the motion mode analysis using the primary decomposition of ideals and the instantaneous mobility analysis of the PM using screw theory, are presented. The analysis shows that the 3-RER multi-mode PM has nine operation modes, including four 3-DOF spatial translation modes, three 3-DOF planar operation modes, and two 3-DOF zero-torsion operation modes. Among the three operation modes that the PM can switch between without link interference, two are shaky, while the remaining one is regular. This work provides a starting point for further research on multi-mode PMs that have a shaky operation mode.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106023"},"PeriodicalIF":4.5,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143868086","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

Systematization of open, serial kinematic chains with three degrees of freedom 三自由度开放、串联运动链的系统化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-25 DOI: 10.1016/j.mechmachtheory.2025.106040

M. Boryga

{"title":"Systematization of open, serial kinematic chains with three degrees of freedom","authors":"M. Boryga","doi":"10.1016/j.mechmachtheory.2025.106040","DOIUrl":"10.1016/j.mechmachtheory.2025.106040","url":null,"abstract":"<div><div>The paper presents a systematization of kinematic chains with three degrees of freedom, consisting of revolute and/or prismatic pairs with perpendicular and/or parallel axes. Kinematic chains are classified into groups based on the orientation of the axes. Chains within each group are organized in tables. To simplify notation and facilitate referencing of individual chains, multiple chains, or entire groups, a designation method based on group membership is introduced. It is demonstrated that the base chains selected in each group can be transformed into chains of subsequent subgroups by a single rotation, forming a subgroup of identical chains that differ only in spatial orientation. Quaternions are used to represent these rotations. Out of a total of 216 chains, 40 subgroups of identical chains are selected. Additionally, altering the rotation angle of the second kinematic pair further reduces the number of identical chain subgroups to 36. The proposed systematization of kinematic chains lays the groundwork for future research on workspace determination, which could serve as a basis for designing robotic arms tailored to specific applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106040"},"PeriodicalIF":4.5,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143868087","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

Enhancing distal motion-force interaction performance of parallel mechanisms through integration of closed-loop passive limb 通过集成闭环被动肢体提高并联机构远端运动-力相互作用性能

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106044

Qizhi Meng , Yukio Takeda

{"title":"Enhancing distal motion-force interaction performance of parallel mechanisms through integration of closed-loop passive limb","authors":"Qizhi Meng , Yukio Takeda","doi":"10.1016/j.mechmachtheory.2025.106044","DOIUrl":"10.1016/j.mechmachtheory.2025.106044","url":null,"abstract":"<div><div>Dimensional synthesis is widely recognized as a core approach for enhancing the performance of parallel mechanisms. However, is it possible to improve their performance further? This paper aims to provide a novel method to enhance the performance of a 5R parallel mechanism, which already possesses optimal dimensional parameters, by introducing a closed-loop passive limb. First, typical closed-loop limb-type parallel mechanisms and motion-force interaction performance are introduced as background. Then, the identification of wrenches and twists, and interaction indices for general planar two-degree-of-freedom parallel mechanisms are presented as the mathematical foundation for performance evaluation. Finally, building upon the 5R parallel mechanism with optimal dimensional parameters, its performance is further enhanced by introducing a closed-loop passive limb. The results show that the distal interaction performance of the redesigned kinematic chain is effectively improved through the integration of a closed-loop passive limb. This work provides a new and effective approach for enhancing the performance of parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106044"},"PeriodicalIF":4.5,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865235","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