Mechanism and Machine Theory最新文献

英文中文

The atlas of 1-DoF finger prostheses and orthoses based on six-bar linkages

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

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

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.

{"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

A 3-RER multi-mode parallel mechanism that has both shaky and regular operation modes

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-25 DOI: 10.1016/j.mechmachtheory.2025.106023

Xianwen Kong

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.

{"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

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-25 DOI: 10.1016/j.mechmachtheory.2025.106040

M. Boryga

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.

{"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

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106044

Qizhi Meng , Yukio Takeda

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.

{"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

Modeling and analysis of a four-leg tensegrity mechanism

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106009

Karol Muñoz , Mathieu Porez , Philippe Wenger

In this paper, we present an innovative four-leg tensegrity mechanism designed for cooperative robotic applications. This lightweight mechanism has two degrees of freedom (2-DoFs) and is co-actuated by three cables. The novelty of the proposed mechanism is based on the use of a central leg to constrain torsion. This central leg eliminates torsional compliance and the need to use an additional motor to control the tension of a fourth central cable. Our study includes a detailed analysis of the kinematics, the Geometric Workspace (GW), the static behavior and the Wrench Feasible Workspace (WFW), together with the optimization of some geometric design parameters. We also present a modeling approach based on a reduced form of the static Newton–Euler equations derived from an analysis of the free-motion space. Through this work, we aim to address key challenges in tensegrity robotics, advancing the field, and opening up new avenues of exploration.

引用次数: 0

Dimensional synthesis and topological analysis of a novel transformable wheel-legged hexapod with multi-morphology and vary-topology characteristics

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-24 DOI: 10.1016/j.mechmachtheory.2025.106043

Yinghan Peng , Mingyang Shan , Yuanhao Pan , Chaoxiong Lin , Gaohan Zhu , Songlin Zhou , Feng Gao , Yang Pan , Weixing Chen

Multi-morphology robot is one of the most promising solutions to enhance the terrain adaptability of mobile robots. To tackle the challenge posed by the multi-morphology and vary-topology characteristics in design and analysis of mechanisms, this paper proposes a multi-morphology dimensional synthesis and vary-topology morphological analysis strategy based on a transformable wheel-legged hexapod (TWLHex), using the performance chart-based design methodology (PCbDM). First, the kinematic model of is established. Second, the PCbDM is applied for dimensional synthesis in response to the multi-morphology characteristic. Third, sensitivity analysis is performed followed by the performance distribution evaluation of the hip joints and the foot-tips within the workspace, based on the optimized dimensions. Fourth, the PCbDM is used for the morphological analysis considering the vary-topology characteristic. Finally, the optimized dimensions, priority of position error sensitivity, performance distribution trends, and morphological distribution patterns are obtained. This work not only firstly introduces the concept of vary-topology into the research of multi-morphology robots, but also applies the PCbDM to multi-morphology robots, providing new insights for multi-morphology and vary-topology synergistic design.

{"title":"Dimensional synthesis and topological analysis of a novel transformable wheel-legged hexapod with multi-morphology and vary-topology characteristics","authors":"Yinghan Peng , Mingyang Shan , Yuanhao Pan , Chaoxiong Lin , Gaohan Zhu , Songlin Zhou , Feng Gao , Yang Pan , Weixing Chen","doi":"10.1016/j.mechmachtheory.2025.106043","DOIUrl":"10.1016/j.mechmachtheory.2025.106043","url":null,"abstract":"<div><div>Multi-morphology robot is one of the most promising solutions to enhance the terrain adaptability of mobile robots. To tackle the challenge posed by the multi-morphology and vary-topology characteristics in design and analysis of mechanisms, this paper proposes a multi-morphology dimensional synthesis and vary-topology morphological analysis strategy based on a transformable wheel-legged hexapod (TWLHex), using the performance chart-based design methodology (PCbDM). First, the kinematic model of is established. Second, the PCbDM is applied for dimensional synthesis in response to the multi-morphology characteristic. Third, sensitivity analysis is performed followed by the performance distribution evaluation of the hip joints and the foot-tips within the workspace, based on the optimized dimensions. Fourth, the PCbDM is used for the morphological analysis considering the vary-topology characteristic. Finally, the optimized dimensions, priority of position error sensitivity, performance distribution trends, and morphological distribution patterns are obtained. This work not only firstly introduces the concept of vary-topology into the research of multi-morphology robots, but also applies the PCbDM to multi-morphology robots, providing new insights for multi-morphology and vary-topology synergistic design.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106043"},"PeriodicalIF":4.5,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865234","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

Towards understanding the geometric error coupling effect on squareness error identification in circular tests

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106045

Sihan Yao , Lingtao Weng , Weiguo Gao , Wenjie Tian , Zhoujie Zhao , Dawei Zhang , Tian Huang

For circular tests, the measurement data are simultaneously affected by the coupling effect of position-dependent geometric errors (PDGEs) and squareness errors. Consequently, identification method that solely considers squareness errors struggle to accurately determine the true squareness error values. To address this issue and obtain the actual squareness error, the identification method considering the geometric error coupling effect is proposed. The PDGE values and the distance data of the geometric error coupling effect are obtained based on the multi-instrument measurement data fusion, enabling the establishment of a squareness error identification model that incorporates PDGEs. The validity of the identification results is corroborated through volumetric error prediction, yielding a maximum deviation of 18.9 µm between the predicted and measured volumetric errors. The prediction accuracies of the proposed method and Ballbar 20 software, characterized by the root-mean-square error between the predicted and measured volumetric errors, are 6.7 and 20.4 µm, respectively. This indicates that the proposed method prediction results are closer to the measured values. The proposed method mathematically elucidates the coupling effect of PDGEs and squareness errors for circular tests.

{"title":"Towards understanding the geometric error coupling effect on squareness error identification in circular tests","authors":"Sihan Yao , Lingtao Weng , Weiguo Gao , Wenjie Tian , Zhoujie Zhao , Dawei Zhang , Tian Huang","doi":"10.1016/j.mechmachtheory.2025.106045","DOIUrl":"10.1016/j.mechmachtheory.2025.106045","url":null,"abstract":"<div><div>For circular tests, the measurement data are simultaneously affected by the coupling effect of position-dependent geometric errors (PDGEs) and squareness errors. Consequently, identification method that solely considers squareness errors struggle to accurately determine the true squareness error values. To address this issue and obtain the actual squareness error, the identification method considering the geometric error coupling effect is proposed. The PDGE values and the distance data of the geometric error coupling effect are obtained based on the multi-instrument measurement data fusion, enabling the establishment of a squareness error identification model that incorporates PDGEs. The validity of the identification results is corroborated through volumetric error prediction, yielding a maximum deviation of 18.9 µm between the predicted and measured volumetric errors. The prediction accuracies of the proposed method and Ballbar 20 software, characterized by the root-mean-square error between the predicted and measured volumetric errors, are 6.7 and 20.4 µm, respectively. This indicates that the proposed method prediction results are closer to the measured values. The proposed method mathematically elucidates the coupling effect of PDGEs and squareness errors for circular tests.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106045"},"PeriodicalIF":4.5,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143858977","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

Finding mechanisms of exceptional mobility using numerical algebraic geometry

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106033

Charles W. Wampler , Mark Plecnik

Mechanisms of exceptional mobility, including both overconstrained mechanisms and robots with self-motion, move with more degrees of freedom than predicted by the Grübler–Kutzbach formulas. Although a number of such cases are known, it is difficult to find new examples. This article explains a geometric formulation, called a fiber product, that facilitates finding exceptional mechanisms using tools from numerical algebraic geometry. The purpose of this article is to specialize the mathematical theory developed in A.J. Sommese and C.W. Wampler (2008) to the realm of kinematics and to present simple planar, spherical, and spatial examples that illustrate basic concepts. Although the formulation is general, its application to more complicated mechanisms will require the development of more refined solution techniques that exploit the symmetry inherent in fiber products.

引用次数: 0

Type synthesis of 3-RSR equivalent 2R1T parallel mechanisms based on screw theory

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-23 DOI: 10.1016/j.mechmachtheory.2025.106032

Ziming Chen , Xianwen Kong , Chen Zhao , Zhen Huang

This paper systematically synthesizes a family of parallel mechanisms (PMs) kinematically equivalent to the 3-RSR (R and S are short for revolute joint and spherical joint, respectively) PM with two rotational and one translational (2R1T) degrees of freedom (DOFs). Based on the parallel virtual chain and subchain replacement methodology, three classes of branches with different symmetry characteristics are designed. The PMs designed by these branches can break the constraint of original 3-RSR PM that the moving platform and the base must be symmetrical about a mid-plane where all axes of rotation lie. Consequently, the relationship between the moving platform and the axis of rotation can be more flexible. This increased flexibility enhances the applicability of the 3-RSR equivalent PMs in fields such as pointing mechanisms, rehabilitation robots, motion simulators, medical robots.

引用次数: 0

Transmission error modeling and control for a swing roller movable teeth transmission considering load based on quasi-static assumptions

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-04-19 DOI: 10.1016/j.mechmachtheory.2025.106042

Yali Yi , Meiyu Chen , Zhenkun Sun , Herong Jin , Rui Wei

A swing roller movable teeth transmission (SRMTT) has compact structure and large speed ratio due to its unique structure. However, because its multi-tooth meshing characteristics, the influence of error-deformation coupling on the transmission error is more sensitive under load. In this work, a link equivalent mechanism model is proposed and error coordinate systems built on each component are established. Links size and theirs error and deformation vectors are defined to establish a load transmission error model. Considering the coordination relationship of multi-tooth meshing deformation, the transmission error solving strategy of coupling error and deformation is developed by tooth by tooth clearance method. Through comparative analysis of load sharing coefficient and transmission error under the disturbance of machining errors of each component, the disturbance rule and influence magnitude of each error are clarified. Based on this, four schemes are designed to realize the active control of machining precision level of key error terms under load. Experiments verify the correctness of transmission error theoretical model and the effectiveness of error control approach.

{"title":"Transmission error modeling and control for a swing roller movable teeth transmission considering load based on quasi-static assumptions","authors":"Yali Yi , Meiyu Chen , Zhenkun Sun , Herong Jin , Rui Wei","doi":"10.1016/j.mechmachtheory.2025.106042","DOIUrl":"10.1016/j.mechmachtheory.2025.106042","url":null,"abstract":"<div><div>A swing roller movable teeth transmission (SRMTT) has compact structure and large speed ratio due to its unique structure. However, because its multi-tooth meshing characteristics, the influence of error-deformation coupling on the transmission error is more sensitive under load. In this work, a link equivalent mechanism model is proposed and error coordinate systems built on each component are established. Links size and theirs error and deformation vectors are defined to establish a load transmission error model. Considering the coordination relationship of multi-tooth meshing deformation, the transmission error solving strategy of coupling error and deformation is developed by tooth by tooth clearance method. Through comparative analysis of load sharing coefficient and transmission error under the disturbance of machining errors of each component, the disturbance rule and influence magnitude of each error are clarified. Based on this, four schemes are designed to realize the active control of machining precision level of key error terms under load. Experiments verify the correctness of transmission error theoretical model and the effectiveness of error control approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106042"},"PeriodicalIF":4.5,"publicationDate":"2025-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143847616","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

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