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Journal of Mechanisms and Robotics最新文献

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An Analytical Model for Nonlinear-Elastic Compliant Mechanisms with Tension-Compression Asymmetry 具有拉伸-压缩不对称的非线性-弹性顺应机构的分析模型
Journal of Mechanisms and Robotics Pub Date : 2024-03-07 DOI: 10.1115/1.4065025
Brianne Hargrove, M. Frecker, Angela Nastevska, J. Jovanova
{"title":"An Analytical Model for Nonlinear-Elastic Compliant Mechanisms with Tension-Compression Asymmetry","authors":"Brianne Hargrove, M. Frecker, Angela Nastevska, J. Jovanova","doi":"10.1115/1.4065025","DOIUrl":"https://doi.org/10.1115/1.4065025","url":null,"abstract":"\u0000 While nonlinear-elastic materials demonstrate potential in enhancing the performance of compliant mechanisms, their behavior still needs to be captured in a generalized mechanical model. To inform new designs and functionality of compliant mechanisms, a better understanding of nonlinear-elastic materials is necessary and, in particular, their mechanical properties that often differ in tension and compression. In the current work, a beam-based analytical model incorporating nonlinear-elastic material behavior is defined for a folding compliant mechanism geometry. Exact equations are derived capturing the nonlinear curvature profile and shift in the neutral axis due to the material asymmetry. The deflection and curvature profile are compared with finite element analysis along with stress-distribution across the beam thickness. The analytical model is shown to be a good approximation of the behavior of nonlinear-elastic materials with tension-compression asymmetry under the assumptions of the von Kármán strain theory. Through a segmentation approach, the geometries of a semicircular arc and folding compliant mechanism design are defined. The deflection of the folding compliant mechanism due to an applied tip load is then evaluated against finite element analysis and experimental results. The generalized methods presented highlight the utility of the model for designing and predicting the behavior of other compliant mechanism geometries and different nonlinear-elastic materials.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140260537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Folding Miura-ori of Uniform Thickness with One DoF 用一个多工位折叠厚度均匀的三浦织机
Journal of Mechanisms and Robotics Pub Date : 2024-03-06 DOI: 10.1115/1.4065004
Jingyi Yang, Zhong You
{"title":"Folding Miura-ori of Uniform Thickness with One DoF","authors":"Jingyi Yang, Zhong You","doi":"10.1115/1.4065004","DOIUrl":"https://doi.org/10.1115/1.4065004","url":null,"abstract":"\u0000 The Miura-ori is an origami pattern with bi-directional folding capable of transforming a large thin sheet into a compact volume with a single degree of freedom (DoF). A common Miura-ori pattern consists of identical rigid parallelogram facets that can rotate about the creases without twisting or stretching. However, large gaps along the hinges or uneven surfaces in deployed states are inevitable when thick panels are used. In this paper, the authors add uniform thickness to a Miura-ori tessellation and connect the thick panels by revolute joints on either the top or the bottom facets of the panels for valley creases or mountain creases, respectively. To enable its folding, regular slits are made on some facets not only to remove the excess kinematic constraints but also to accommodate the panel thickness during the folding process. Having made the cuts, we demonstrate that the resultant assembly can fold into a compact package with one DoF. We further notice that although the slits open up during the folding process, they close in the deployed state of the assembly, giving flat and continuous surfaces on both the top and bottom sides. The same method can also be applied to fold the derivatives of the Miura-ori such as double corrugated patterns.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140263032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres 允许缆线缠绕在圆柱或球体上的缆线驱动平行机器人的缆线路径分析和运动学控制
Journal of Mechanisms and Robotics Pub Date : 2024-03-04 DOI: 10.1115/1.4064982
Hao Xiong, Yuchen Xu, Y. Yu, Yunjiang Lou
{"title":"Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres","authors":"Hao Xiong, Yuchen Xu, Y. Yu, Yunjiang Lou","doi":"10.1115/1.4064982","DOIUrl":"https://doi.org/10.1115/1.4064982","url":null,"abstract":"\u0000 Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a Cable-Driven Parallel Robot (CDPR) in recent years. However, it is not entirely clear whether the path of a cable wrapped on the surface of different rigid bodies can or cannot be solved analytically. To this end, this paper analyzes the statics of a cable wrapped on a general surface and proposes necessary conditions for a path of a cable wrapped on a general frictionless surface. This paper shows that only the path of a cable wrapped on a frictionless surface included in a handful of surfaces, including cylinders and spheres, can be solved analytically. Then, the cable path and inverse velocity kinematics of a CDPR with cables, every of which wraps on a frictionless cylinder or a frictionless sphere, are solved. A CDPR prototype with cables wrapped on cylinders fixed to the base and a CDPR prototype with cables wrapped on a spherical end-effector are established. The kinematics-based control of the CDPR prototypes is achieved.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140265537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
DESIGN OF A NOVEL LINKAGE FOR ELECTRONIC PARKING BRAKE TRANSMISSION SYSTEMS 设计用于电子驻车制动传动系统的新型连杆机构
Journal of Mechanisms and Robotics Pub Date : 2024-03-04 DOI: 10.1115/1.4064983
Giuseppe Quaglia, Fortunato Pepe, Lorenzo Toccaceli, Giovanni Colucci
{"title":"DESIGN OF A NOVEL LINKAGE FOR ELECTRONIC PARKING BRAKE TRANSMISSION SYSTEMS","authors":"Giuseppe Quaglia, Fortunato Pepe, Lorenzo Toccaceli, Giovanni Colucci","doi":"10.1115/1.4064983","DOIUrl":"https://doi.org/10.1115/1.4064983","url":null,"abstract":"\u0000 The paper presents a novel mechanical transmission for pulling-cable Electronic Parking Brakes. The system is interposed between the brake electric actuator and the brake pads, and it exploits a 2-dof planar linkage to provide the requested brake force and ensure the correct vehicle standstill. The paper describes the working principles and main component of the adopted architecture, and compares it with the EPB state of the art. Thereafter, the paper focuses on the system requirements and consequent functional design. A first prototype of the presented mechanical transmission is then presented to discuss the role of a mechanical engagement within the system to ensure its proper behaviour. In conclusion, the EPB drive motor assessment is discussed on the basis of a simplified drive chain dynamic model.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140265628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Reconfigurable Thick-Panel Structures Based on a Stacked Origami Tube 基于叠层折纸管的可重构厚面板结构
Journal of Mechanisms and Robotics Pub Date : 2024-02-22 DOI: 10.1115/1.4064836
Weiqi Liu, Yuxing Song, Yan Chen, Xiao Zhang
{"title":"Reconfigurable Thick-Panel Structures Based on a Stacked Origami Tube","authors":"Weiqi Liu, Yuxing Song, Yan Chen, Xiao Zhang","doi":"10.1115/1.4064836","DOIUrl":"https://doi.org/10.1115/1.4064836","url":null,"abstract":"\u0000 Variable crease origami that exhibits crease topological morphing allows a given crease pattern to be folded into multiple shapes, greatly extending the reconfigurability of origami structures. However, it is a challenge to enable the thick-panel forms of such crease patterns to bifurcate uniquely and reliably into desired modes. Here, thick-panel theory combined with cuts is applied to a stacked origami tube with multiple bifurcation paths. The thick-panel form corresponding to the stacked origami tube is constructed, which can bifurcate exactly between two desired modes without falling into other bifurcation paths. Then, kinematic analysis is carried out and the results exhibit that the thick-panel origami tube is kinematically equivalent to its zero-thickness form with one degree of freedom (DOF). In addition, a reconfigurable physical prototype of the thick-panel origami tube is produced, which achieves reliable bifurcation control through a single actuator. Such thick-panel origami tubes with controllable reconfigurability have great potential engineering applications in the fields of morphing systems such as mechanical metamaterials, morphing wings, and deployable structures.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140438720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
2023 Reviewers With Distinction Award 2023 年杰出评审员奖
Journal of Mechanisms and Robotics Pub Date : 2024-02-16 DOI: 10.1115/1.4064781
V. Krovi
{"title":"2023 Reviewers With Distinction Award","authors":"V. Krovi","doi":"10.1115/1.4064781","DOIUrl":"https://doi.org/10.1115/1.4064781","url":null,"abstract":"\u0000 The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2023. Serving as reviewers for the journal is a critical service necessary to maintain the quality of our publication and to provide the authors with a valuable peer review of their work. Below is a complete list of reviewers for 2023. We would also like to acknowledge three outstanding Reviewers of the Year and nine Reviewers With Distinction.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140454903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Performance Analysis of a Gripper for Microsatellite Berthing 用于微型卫星停泊的机械手性能分析
Journal of Mechanisms and Robotics Pub Date : 2024-02-15 DOI: 10.1115/1.4064765
Alexander Titov, Matteo Russo, Marco Ceccarelli
{"title":"Performance Analysis of a Gripper for Microsatellite Berthing","authors":"Alexander Titov, Matteo Russo, Marco Ceccarelli","doi":"10.1115/1.4064765","DOIUrl":"https://doi.org/10.1115/1.4064765","url":null,"abstract":"\u0000 In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139776366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Performance Analysis of a Gripper for Microsatellite Berthing 用于微型卫星停泊的机械手性能分析
Journal of Mechanisms and Robotics Pub Date : 2024-02-15 DOI: 10.1115/1.4064765
Alexander Titov, Matteo Russo, Marco Ceccarelli
{"title":"Performance Analysis of a Gripper for Microsatellite Berthing","authors":"Alexander Titov, Matteo Russo, Marco Ceccarelli","doi":"10.1115/1.4064765","DOIUrl":"https://doi.org/10.1115/1.4064765","url":null,"abstract":"\u0000 In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the square-profiled bodies of CubeSats of 1U and 12U sizes. A topology search defines fingertips form and configurations to fulfill requirements, and operational limitations are presented in terms of geometry and dynamic parameters. The grasping performance then is analyzed in the side grasp and corner grasp cases and validated with a numerical case study.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139835997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Integrated wheel-foot-arm design of a mobile platform with linkage mechanisms 带联动机构的移动平台轮脚臂一体化设计
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064741
Yuting Du, Q. Ruan, Yanan Yao
{"title":"Integrated wheel-foot-arm design of a mobile platform with linkage mechanisms","authors":"Yuting Du, Q. Ruan, Yanan Yao","doi":"10.1115/1.4064741","DOIUrl":"https://doi.org/10.1115/1.4064741","url":null,"abstract":"\u0000 Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules and it is designed for heavy transportation on unstructured terrain. The platform possesses smooth wheeled locomotion and obstacle adaptive legged locomotion to enhance maneuverability. The kinematics of the six-bar bipedal modules is analyzed using the vector loop method, subsequently ascertaining the drive scheme. The foot trajectory compensation curve is generated using the fixed axis rotation contour algorithm, which effectively reduces the centroid fluctuation and enabling seamless switching between wheels and legs. When encountering obstacles, the revolving linkage legs act as climbing arms, facilitating seamless integration of wheel, foot and arm. A physical prototype is developed to test the platform on three typical terrains: flat terrain, slope and vertical obstacle. The experimental results demonstrated the feasibility of the platform structure. The platform can climb obstacles higher than its own height without adding extra actuation.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139789080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model 通过动态接触综合攀爬模型提高腿式爬墙机器人的性能
Journal of Mechanisms and Robotics Pub Date : 2024-02-09 DOI: 10.1115/1.4064742
Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang
{"title":"Advancing Legged Wall Climbing Robot Performance through Dynamic Contact-Integrated Climbing Model","authors":"Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang","doi":"10.1115/1.4064742","DOIUrl":"https://doi.org/10.1115/1.4064742","url":null,"abstract":"\u0000 Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139847927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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