Mechanism and Machine Theory最新文献_第9页

Optimizing suspension parameters for ride comfort in four-wheel hub-motor electric vehicles using multibody dynamics and multi-objective algorithms 基于多体动力学和多目标算法的四轮轮毂电动汽车悬架参数平顺性优化

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-09 DOI: 10.1016/j.mechmachtheory.2025.106120

Ling Ma , Yongjun Pan , Wei Liu , Gengxiang Wang , Aki Mikkola

{"title":"Optimizing suspension parameters for ride comfort in four-wheel hub-motor electric vehicles using multibody dynamics and multi-objective algorithms","authors":"Ling Ma , Yongjun Pan , Wei Liu , Gengxiang Wang , Aki Mikkola","doi":"10.1016/j.mechmachtheory.2025.106120","DOIUrl":"10.1016/j.mechmachtheory.2025.106120","url":null,"abstract":"<div><div>The integration of transmission systems in four-wheel hub motor-driven (4WHMD) electric vehicles enhances efficiency and handling but increases unsprung mass, reducing ride comfort compared to centralized motor-driven (CMD) vehicles. This paper presents an optimization framework to address this challenge, advancing mechanism design through multibody dynamics analysis and multi-objective optimization. First, high-fidelity multibody dynamics models for 4WHMD and CMD vehicles are established, capturing nonlinear suspension behavior and wheel-ground interactions to quantify vibrational energy transfer and ride comfort metrics. Second, a comparative study between 4WHMD and CMD vehicles are conducted. Third, a surrogate model is developed using design of experiment (DOE) and gaussian process regression (GPR), enabling rapid evaluation of suspension parameters while reducing computational complexity. Finally, multi-objective simulated annealing algorithm (MOSA), non-dominated sorting genetic algorithm (NSGA-II), and hybrid multi-objective optimization algorithm (HMOA) are applied to optimize riding comfort performance, balancing five indices with a trade-off strategy. The optimized 4WHMD perform better in vertical and roll acceleration than CMD vehicle, but worse in suspension dynamic deflection and wheel dynamic load, with HMOA demonstrating the comprehensive ability of global and local search. This research contributes to the development of high-performance mechanical systems through integrated dynamic modeling and intelligent optimization techniques.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106120"},"PeriodicalIF":4.5,"publicationDate":"2025-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144580369","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

Leveraging hybrid knowledge-based and data-driven modeling techniques for complex contact/impact phenomena 利用基于知识和数据驱动的混合建模技术来处理复杂的接触/冲击现象

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-07 DOI: 10.1016/j.mechmachtheory.2025.106122

Jia Ma , Can Luo , Kexian Li , Menghao Bai , Shuai Dong , Lairong Yin

{"title":"Leveraging hybrid knowledge-based and data-driven modeling techniques for complex contact/impact phenomena","authors":"Jia Ma , Can Luo , Kexian Li , Menghao Bai , Shuai Dong , Lairong Yin","doi":"10.1016/j.mechmachtheory.2025.106122","DOIUrl":"10.1016/j.mechmachtheory.2025.106122","url":null,"abstract":"<div><div>Accurate modeling of the contact/impact process between complex contacting surfaces is crucial for understanding and predicting dynamic behaviors of intricate systems. Although data-driven methods address certain limitations inherent in traditional physical models, their <span><math><msup><mrow></mrow><mrow><mo>′</mo></mrow></msup></math></span>black-box<span><math><msup><mrow></mrow><mrow><mo>′</mo></mrow></msup></math></span> nature limits the model’s interpretability and credibility. Moreover, existing approaches frequently struggle with challenges from sparse data, noise interference, and extrapolation tasks. To address these issues, this study proposes a dually knowledge-data driven strategy that integrates physical constraints with data-driven methods to enhance the interpretability, generalization and robustness of traditional contact/impact network models. Taking the interaction process between the inner bore and projectile as a case study, a finite element model of contact/impact process is firstly revisited to generate the sample dataset. Subsequently, effective physical information is extracted, and the collaborative mechanism between physical constraints and data-driven techniques is explored. The sample signals are subsequently subjected to pre-processing procedures including noise injection, data sparsification, and extrapolation treatment. These processed datasets then serve as the foundation for constructing knowledge-data driven models via back-propagation algorithms. Through comprehensive comparisons with purely data-driven models, the proposed hybrid modeling strategy demonstrates superior predictive performance across diverse scenarios, including noisy conditions, sparse datasets, and extrapolation tasks.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106122"},"PeriodicalIF":4.5,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144662922","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

OmniQuad: A wheeled-legged hybrid robot with omnidirectional wheels OmniQuad：一种具有全向轮的轮腿混合机器人

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-07 DOI: 10.1016/j.mechmachtheory.2025.106125

Francesco Iotti, Alok Ranjan, Franco Angelini, Manolo Garabini

{"title":"OmniQuad: A wheeled-legged hybrid robot with omnidirectional wheels","authors":"Francesco Iotti, Alok Ranjan, Franco Angelini, Manolo Garabini","doi":"10.1016/j.mechmachtheory.2025.106125","DOIUrl":"10.1016/j.mechmachtheory.2025.106125","url":null,"abstract":"<div><div>Combining wheeled and legged locomotion within a single robotic platform offers the potential to harness the advantages of both systems. The development of such hybrid systems remains an active area of research. While legged robots exhibit remarkable adaptability for traversing uneven and rugged terrains, their relatively low speed limits their practicality in indoor environments. Conversely, wheeled robots demonstrate higher efficiency on flat surfaces but often encounter difficulties when navigating obstacles such as steps. This paper introduces <em>OmniQuad</em>, a novel hybrid robot that integrates mecanum wheels with legged locomotion to exploit the benefits of both modalities. Mecanum wheels provide omnidirectional mobility, enhancing the robot’s maneuvrability by enabling agile movement in confined spaces and the ability to maintain a consistent orientation during task execution. In this work, we first present the design of a custom <em>wheeled-foot</em> featuring mecanum wheels. Subsequently, we describe the complete robot assembly, comprising these wheeled feet and EM-Act actuators. Finally, we detail the control scheme developed to govern the OmniQuad and evaluate its performance through experimental trials conducted in both indoor and outdoor environments.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106125"},"PeriodicalIF":4.5,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144570339","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

Nonlinear dynamics of space manipulator system considering planetary gear joints 考虑行星齿轮关节的空间机械臂系统非线性动力学

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-05 DOI: 10.1016/j.mechmachtheory.2025.106136

Zhiyuan Ning , Zhengfeng Bai

引用次数: 0

Quantitative comparison of cable models through dimensional analysis 通过量纲分析对缆索模型进行定量比较

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-05 DOI: 10.1016/j.mechmachtheory.2025.106130

Charles-Antoine Buisson , Philippe Cardou , Antoine Fréchette

{"title":"Quantitative comparison of cable models through dimensional analysis","authors":"Charles-Antoine Buisson , Philippe Cardou , Antoine Fréchette","doi":"10.1016/j.mechmachtheory.2025.106130","DOIUrl":"10.1016/j.mechmachtheory.2025.106130","url":null,"abstract":"<div><div>The use of cables enables the design of Cable-Driven Parallel Robots (CDPRs) of various sizes and payloads. However, this scalability does not always extend to their mechanical models: different sizes and payloads generally require different models. Unlike standard robots, CDPR cables are prone to sag and stretch. These phenomena are well documented, and several models have been proposed to describe them. Despite this, there is no established method for selecting the most appropriate model for a given application. This article addresses this issue by proposing a quantitative comparison using dimensional analysis applied to four common cable models: Massless Rigid, Massless Elastic, Catenary, and Catenary Elastic. The method compares cable-end positions under identical loading conditions for each model. A simulation study compares computed and predicted data, showing that the relative error of a model can be predicted with this approach. A large-scale CDPR is then used for experimental validation. The proposed methodology and results suggest that dimensional analysis is a valid tool for selecting the appropriate cable model.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106130"},"PeriodicalIF":4.5,"publicationDate":"2025-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144563276","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

Neural network surrogates for finite element models in loaded tooth contact analysis of polymeric gears 基于神经网络的聚合物齿轮加载齿接触有限元模型研究

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-04 DOI: 10.1016/j.mechmachtheory.2025.106127

Christos Papalexis , Emmanouil Sakaridis , Klearchos Terpos , Christos Kalligeros , Antonios Tsolakis , Vasilios Spitas

{"title":"Neural network surrogates for finite element models in loaded tooth contact analysis of polymeric gears","authors":"Christos Papalexis , Emmanouil Sakaridis , Klearchos Terpos , Christos Kalligeros , Antonios Tsolakis , Vasilios Spitas","doi":"10.1016/j.mechmachtheory.2025.106127","DOIUrl":"10.1016/j.mechmachtheory.2025.106127","url":null,"abstract":"<div><div>This paper introduces a neural network (NN) model for loaded tooth contact analysis in polymeric gears. The NN model is trained on 10,000 finite element (FE) simulations, which utilize a large deformation framework and span a 17-dimensional input space, including geometry, material and load related parameters. Combining a parametric meshing scheme and a robust implicit solver implementation enables the automated extraction of static transmission error (STE) curves. Leveraging the symmetry of periodicity and a conversion from a dimensional to a dimensionless parametric space, an approximately 9,000-parameter fully connected neural network achieves a mean absolute percentage error of 0.49% on a test set of 1,000 previously unseen STE curves. This error represents an order of magnitude more accurate replication of FE results than typical, analytical, physics-based solvers, with the effects of corner contact being predicted more faithfully. The computational cost of the NN model remains comparable to simple, linearly approximated formulas, indicating that data-driven approaches can be both more accurate and less computationally intensive than physics-based surrogates to FE simulations for large deformations.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106127"},"PeriodicalIF":4.5,"publicationDate":"2025-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144548398","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 for tensegrity structures based on screw theory 基于螺旋理论的张拉整体结构动力学

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-03 DOI: 10.1016/j.mechmachtheory.2025.106129

Yihang Wang, Jingfeng He, Xin Li, Yuheng Gao, Hongzhou Jiang

{"title":"Dynamics for tensegrity structures based on screw theory","authors":"Yihang Wang, Jingfeng He, Xin Li, Yuheng Gao, Hongzhou Jiang","doi":"10.1016/j.mechmachtheory.2025.106129","DOIUrl":"10.1016/j.mechmachtheory.2025.106129","url":null,"abstract":"<div><div>This paper proposes a screw theory-based dynamics formulation that employs the motion of rigid bodies(compressive members) within tensegrity structures as generalized coordinates. The formulation can be applied to classic <em>bar-cable tensegrity</em>, <em>class k tensegrity</em>, <em>general tensegrity</em> and <em>clustered tensegrity</em>. By leveraging screw theory, the formulation describes structural dynamics within a unified global coordinate system, significantly simplifying kinematic representation and constraint handling. A <em>dependency matrix</em> is introduced to characterize the relationships between nodes and rigid bodies, forming the foundation for Jacobian matrices that map rigid bodies to nodes and cables while facilitating wrench analysis. To address potential node coincidences, a <em>constraint matrix</em> is employed to establish constraint equations, whose temporal differentiation yields a constrained dynamics formulation specifically for class k tensegrity. Representative structural examples illustrate the formulation’s applicability and effectiveness across various tensegrity structures.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106129"},"PeriodicalIF":4.5,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144535008","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

Complete gravity balancing of the general four-bar linkage using linear springs 用直线弹簧完成一般四杆机构的重力平衡

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-03 DOI: 10.1016/j.mechmachtheory.2025.106140

Chin-Hsing Kuo

引用次数: 0

General multi-tooth contact analysis of spiral bevel and hypoid gears with arbitrary shaft angles considering the point clouds reconstruction of gear surface based on deep neural network 基于深度神经网络的任意轴角螺旋锥齿轮和准双曲面齿轮的一般多齿接触分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-03 DOI: 10.1016/j.mechmachtheory.2025.106139

Jingwei Pang , Siyuan Liu , Chaosheng Song , Chengcheng Liang

{"title":"General multi-tooth contact analysis of spiral bevel and hypoid gears with arbitrary shaft angles considering the point clouds reconstruction of gear surface based on deep neural network","authors":"Jingwei Pang , Siyuan Liu , Chaosheng Song , Chengcheng Liang","doi":"10.1016/j.mechmachtheory.2025.106139","DOIUrl":"10.1016/j.mechmachtheory.2025.106139","url":null,"abstract":"<div><div>Tooth contact analysis is one of the most significant means to support the high-quality spiral bevel and hypoid gears design. This paper proposes a general multi-tooth contact analysis methodology of spiral bevel and hypoid gears with arbitrary shaft angle configurations considering the point clouds reconstruction of the gear surface. Crossing point sets of tooth flanks are established by transforming coordinates into a global coordinate system, enabling pre-contact calculations. The pre-contact calculation of the rotation angle has been derived to provide the basis for an accurate contact path determination. When the minimum distance falls below a specified tolerance, the potential contact region is identified, centered on the point of the global minimum distance. A deep neural network-based surface fitting algorithm generates a polynomial representation of the potential contact region. Based on the contact ratio and contact distance region, the contact pattern considering multi-tooth alternating contact can be performed. Finite element analysis and experimental validation confirm strong agreement, demonstrating the method's efficient.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106139"},"PeriodicalIF":4.5,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144548397","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

Theoretical considerations on 2D multistable tensegrity structures based on equilateral triangles 基于等边三角形的二维多稳定张拉整体结构的理论思考

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-07-02 DOI: 10.1016/j.mechmachtheory.2025.106126

David Herrmann, Leon Schaeffer, Lukas Lehmann, Valter Böhm

{"title":"Theoretical considerations on 2D multistable tensegrity structures based on equilateral triangles","authors":"David Herrmann, Leon Schaeffer, Lukas Lehmann, Valter Böhm","doi":"10.1016/j.mechmachtheory.2025.106126","DOIUrl":"10.1016/j.mechmachtheory.2025.106126","url":null,"abstract":"<div><div>This paper investigates the stability and stiffness characteristics of two-dimensional tensegrity structures based on two equilateral triangles connected by tensioned members, resulting in three multistable structural variants. The stability analysis is conducted by examining the system’s potential energy. Using a form-finding algorithm, the study reveals how the stiffness of tensioned members impacts global compliance distribution and the transition between equilibrium positions. By adjusting the stiffness of individual members and varying force application points, significant modifications in the overall stiffness of the structure can occur. The study shows that increasing the force amplitude can lead to equilibrium position changes, particularly in asymmetrical structures. These findings provide valuable insights for designing adaptable, stiffness-tunable structures. The results emphasize the critical role of force direction, stiffness distribution, and transitions between stable equilibrium states in the development of advanced mechanical systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106126"},"PeriodicalIF":4.5,"publicationDate":"2025-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144522973","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