Mechanism and Machine Theory最新文献

英文中文

Enhancing anti-disturbance performance of redundant cable-driven parallel robots: Analysis and tension distribution method 提高冗余缆索驱动并联机器人的抗干扰性能：分析和张力分配方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-26 DOI: 10.1016/j.mechmachtheory.2024.105861

Jinhao Duan , Hanqing Liu , Le Yan , Zhufeng Shao , Zhaokun Zhang , Xiaoqiang Tang , Minjian Huang , Zixiang Peng

Anti-disturbance performance reflects the core performance of cable-driven parallel robots (CDPRs) to resist external wrenches and exert wrenches to the outside world, which plays a significant role in the design and control of CDPRs. However, existing analysis methods encounter the issue of dimensional collapse when analyzing the anti-disturbance performance of redundant CDPRs, thereby failing to reflect the influence of tension distribution. In this paper, the augmented wrench space and Augmented Available Wrench Set (AAWS) are proposed for the analysis and tension distribution of redundant CDPRs, establishing the complete mapping between cable tensions and terminal wrenches of redundant CDPRs. The AAWS resolves the issue of dimensional collapse encountered in existing methods, and clarifies the comprehensive impact of tension distribution on the performance of redundant CDPRs. A tension distribution method is developed based on the AAWS to enhance the anti-disturbance performance of redundant CDPRs. Simulation indicates that the proposed AAWS-based tension distribution method effectively improves the anti-disturbance performance compared to the commonly used 2-norm-based method and the centroid method. This paper presents an efficient and universal approach for analyzing, evaluating, and improving the anti-disturbance performance of redundant CDPRs.

抗干扰性能反映了缆索驱动并联机器人（CDPR）抵抗外部扳机和向外界施加扳机的核心性能，在 CDPR 的设计和控制中发挥着重要作用。然而，现有的分析方法在分析冗余 CDPR 的抗干扰性能时，会遇到尺寸塌陷的问题，从而无法反映张力分布的影响。本文提出了用于冗余 CDPR 分析和张力分布的增强扳手空间和增强可用扳手集 (AAWS)，在冗余 CDPR 的电缆张力和终端扳手之间建立了完整的映射关系。AAWS 解决了现有方法中遇到的尺寸塌陷问题，明确了张力分布对冗余 CDPR 性能的全面影响。基于 AAWS 开发了一种张力分布方法，以提高冗余 CDPR 的抗干扰性能。仿真表明，与常用的基于 2-norm 的方法和中心点方法相比，所提出的基于 AAWS 的张力分布方法能有效提高抗干扰性能。本文提出了一种分析、评估和改善冗余 CDPR 抗扰性能的高效通用方法。

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引用次数: 0

On the behaviour of n-planets planetary gear sets influenced by geometrical design factors 关于受几何设计因素影响的 n 行星行星齿轮组的行为

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-25 DOI: 10.1016/j.mechmachtheory.2024.105860

J. Sanchez-Espiga , M. Fuerst , A. Fernandez-del-Rincon , M. Otto , F. Viadero , K. Stahl

This work presents a study focused on the behaviour of low-speed planetary gear sets with 3 to 7 equally spaced planets affected by their inherent geometrical characteristics. On the one hand, this work identifies the conditions that make the transmission act as fixed, even including floatability in the sun gear, due to their inherent geometrical factors in transmissions with an even number of planets. On the other hand, this work extends the criteria employed to classify the kinds of planetary gearboxes according to their geometry, including the order of the sequence in a sequentially phased transmission. A new expression is proposed in order to take this order into account. Then, several different transmissions are modelled covering the possible configurations. To observe the impact that these aspects have in the transmission’s behaviour the load sharing ratio and the orbits described by the sun gear are extracted. These results confirm the importance of the mentioned sequence order in the behaviour of these transmissions.

这项研究的重点是 3 至 7 个等间距行星的低速行星齿轮组受其固有几何特性影响的行为。一方面，这项研究确定了在偶数行星齿轮变速器中，由于其固有的几何因素而使变速器表现为固定的条件，甚至包括太阳齿轮的浮动性。另一方面，这项工作扩展了根据几何形状对行星齿轮箱进行分类的标准，包括顺序相位变速器中的序列顺序。为了将这种顺序考虑在内，我们提出了一种新的表达式。然后，对几种不同的传动装置进行建模，以涵盖可能的配置。为了观察这些方面对传动性能的影响，提取了负载分担率和太阳齿轮描述的轨道。这些结果证实了上述序列顺序对这些传动装置性能的重要性。

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引用次数: 0

Comments on “Design and optimization of a planar anti-buckling compliant rotational joint with a remote center of motion” by R. Chen et al. published in [Mechanism and Machine Theory 203 (2024) 105816] 对 R. Chen 等人发表在《机械与机器理论》203 (2024) 105816 上的 "具有远程运动中心的平面抗弯曲顺应旋转接头的设计与优化 "一文的评论

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-24 DOI: 10.1016/j.mechmachtheory.2024.105863

Guangbo Hao

引用次数: 0

Automatic Synthesis Method for Multi-speed Automatic Transmission Configuration 多速自动变速器配置的自动合成方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-23 DOI: 10.1016/j.mechmachtheory.2024.105864

Tao Ke , Huafeng Ding , Andrés Kecskemethy

Automatic transmissions (AT) configuration with more pleasant driving and convenient operation have seen increasing attention in the fast-growing automobile industry. This paper presents a new matrix model describing the planetary gear train (PGT) structure, shifting elements layout and clutching sequence of AT configuration. An automatic configuration synthesis method of multi-speed AT is proposed based on this model. Firstly, feasible PGT structures are synthesized by generating corresponding structural matrices subject to structural constraints. Secondly, the shifting elements layouts of each structural matrices are synthesized through distributing brakes and clutches. Thirdly, automatic kinematic analysis of all possible gears is performed to acquire the feasible clutching sequence matrices. Finally, taking the thirteen-speed AT configuration synthesis as an example, the proposed automatic configuration synthesis method was applied to obtain five feasible configurations. Furthermore, the proposed method can automatically synthesize the configuration of other multi-speed AT with multiple planetary gear sets (PGSs) and multiple shifting elements by setting new design constraints.

自动变速器（AT）配置具有驾驶更舒适、操作更便捷的特点，在快速发展的汽车行业受到越来越多的关注。本文提出了一种新的矩阵模型，描述了自动变速器配置的行星齿轮系（PGT）结构、换挡元件布局和离合器顺序。基于该模型，提出了多速自动变速器的自动配置合成方法。首先，根据结构约束条件生成相应的结构矩阵，从而合成可行的 PGT 结构。其次，通过分配制动器和离合器合成各结构矩阵的换挡元件布局。第三，对所有可能的齿轮进行自动运动学分析，以获得可行的离合器顺序矩阵。最后，以十三档自动变速器配置合成为例，应用所提出的自动配置合成方法获得了五种可行配置。此外，所提出的方法还可以通过设置新的设计约束，自动合成其他具有多个行星齿轮组（PGS）和多个换挡元件的多速自动变速器的配置。

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引用次数: 0

Real-time position path smoothing for robotic manipulators by constructing Composite Trajectory Spline 通过构建复合轨迹样条为机器人机械手实时平滑位置路径

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-22 DOI: 10.1016/j.mechmachtheory.2024.105855

Weiguang Yu , Daokui Qu , Fang Xu , Fengshan Zou , Mingmin Liu , Shichang Liu

Aiming at smoothing discontinuous corners in robotic tool paths, a novel spline named “Composite Trajectory Spline”(CT-Spline) is proposed in this paper. Based on CT-Spline, the real-time position path smoothing for robotic manipulators is realized. CT-Spline enables analytical trajectory planning and interpolation without curve length computation, significantly enhancing trajectory generation efficiency and avoiding numerical errors. By directly controlling resultant trajectory acceleration, CT-Spline avoids decomposing it into tangential and normal accelerations, ensuring adherence to the maximum acceleration constraint while fully utilizing acceleration potential. The geometric shape of CT-Spline is determined by three control points and a trajectory model. This paper further develops C1 and C3 continuous CT-Splines based on two different trajectory models, combined with a velocity look-ahead algorithm to achieve real-time local smoothing of path corners. Additionally, an adaptive control algorithm of smoothing error is introduced to dynamically maximize trajectory velocity. Simulations and experiments validate the effectiveness of CT-Spline, and demonstrate that the proposed C3 continuous trajectory smoothing method has several advantages over the method based on Pythagorean-hodograph splines in terms of kinematic constraints, velocity, smoothing errors, and real-time performance.

为了平滑机器人工具路径中的不连续拐角，本文提出了一种名为 "复合轨迹样条"（CT-Spline）的新型样条。基于 CT-Spline，实现了机器人机械手的实时位置路径平滑。CT 样条线无需计算曲线长度即可实现分析轨迹规划和插补，大大提高了轨迹生成效率，避免了数值误差。通过直接控制结果轨迹加速度，CT-Spline 避免了将其分解为切向加速度和法向加速度，从而在充分利用加速度潜力的同时确保遵守最大加速度约束。CT-Spline 的几何形状由三个控制点和一个轨迹模型决定。本文基于两种不同的轨迹模型进一步开发了 C1 和 C3 连续 CT-Spline，并结合速度前瞻算法实现了路径拐角的实时局部平滑。此外，还引入了平滑误差自适应控制算法，以动态地最大化轨迹速度。仿真和实验验证了 CT 样条的有效性，并证明所提出的 C3 连续轨迹平滑方法在运动学约束、速度、平滑误差和实时性方面比基于勾股定理样条的方法更具优势。

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引用次数: 0

Dynamic modeling and friction force analysis of ball screw feed system with eccentric load and high acceleration 带偏心载荷和高加速度的滚珠丝杠进给系统的动态建模和摩擦力分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-22 DOI: 10.1016/j.mechmachtheory.2024.105862

Wei Wang , Yanxun Zhou , Yimin Zhang , Hao Lu

Dynamic performance of ball screw feed system is negatively affected by the vibration and friction, which are mainly related to the contact characteristics of rolling kinematic joints. In this study, starting from clarifying the friction mechanism, a coupling dynamic model of a feed system was developed. The excitation forces and moments are analyzed to investigate the contribution to the vibration characteristics. Based on the coulomb and viscous friction theories, the viscous friction, sliding friction and elastic hysteresis friction are formulated. According to the benefits of the comprehensive model, the vibration responses and friction forces can be obtained by solving the dynamic equations, which avoids the iterative formula of contact loads and angles. Vibration testing experiment is performed to prove the validity. In particular, the effects of excitation force, feeding acceleration and eccentric distance on the vibration and friction characteristics are investigated. Furthermore, the model can supply some theoretical principles to suppress vibration and friction. The study also helps to improve the performance of a ball screw feed system.

滚珠丝杠进给系统的动态性能受到振动和摩擦的负面影响，而振动和摩擦主要与滚动运动关节的接触特性有关。本研究从阐明摩擦机理入手，建立了进给系统的耦合动态模型。分析了激振力和激振力矩，以研究其对振动特性的贡献。在库仑摩擦和粘性摩擦理论的基础上，提出了粘性摩擦、滑动摩擦和弹性滞后摩擦。根据综合模型的优点，振动响应和摩擦力可通过求解动态方程获得，从而避免了接触载荷和角度的迭代公式。振动测试实验证明了模型的有效性。其中，研究了激振力、进给加速度和偏心距对振动和摩擦特性的影响。此外，该模型还提供了一些抑制振动和摩擦的理论原则。这项研究还有助于提高滚珠丝杠进给系统的性能。

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引用次数: 0

A novel tooth contact analysis method for conical worm drives: An enhanced ease-off topography-based approach with conforming grid and TE-clearance assessment 锥形蜗杆传动装置的新型齿接触分析方法：基于地形图的增强型易切削方法与保形网格和 TE 净度评估

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-21 DOI: 10.1016/j.mechmachtheory.2024.105837

Kaibin Rong , Jinyuan Tang , Biyun Song , Xuanqi Bu , Xiaoping Zou

This paper focuses on the ease-off based tooth contact analysis (e-TCA) of conical worm gearing with twisted pinion tooth flanks. Existing methods have two significant drawbacks: 1) The calculation of ease-off values employs non-conforming grids, leading to errors, and 2) the determination of contact path boundaries lacks detailed research, resulting in contact patterns that do not reflect variations in the contact ratio. To address the first issue, a conforming discrete grid partitioning method is proposed, which ensures that corresponding nodes lie in the same tangent direction and uses tangent deviation to express ease-off, thereby eliminating errors. To solve the second issue, the TE-clearance formula is introduced, which reflects changes in the contact path length and boundaries under different preset clearance thresholds (PCT), capturing variations in the contact ratio. Additionally, the method for determining the working area has been optimized, making the e-TCA more reliable and enhancing the overall consistency and integrity of the contact curve calculation method. Finally, numerical examples and rolling tests verify the accuracy and advancement of the proposed algorithm, which is expected to replace rolling inspections and finite element analysis.

本文的重点是对具有扭曲小齿轮齿面的锥形蜗杆传动装置进行基于易损性的齿面接触分析（e-TCA）。现有方法有两个重大缺陷：1) 计算易损值时使用的网格不符合要求，导致误差；2) 确定接触路径边界时缺乏详细研究，导致接触模式无法反映接触比的变化。为解决第一个问题，提出了一种符合离散网格划分方法，该方法可确保相应节点位于同一切线方向，并使用切线偏差来表示易失度，从而消除误差。为解决第二个问题，引入了 TE 净空公式，该公式反映了不同预设净空阈值 (PCT) 下接触路径长度和边界的变化，捕捉了接触比的变化。此外，还优化了确定工作区域的方法，使 e-TCA 更加可靠，并增强了接触曲线计算方法的整体一致性和完整性。最后，数值示例和滚动测试验证了所提算法的准确性和先进性，该算法有望取代滚动检查和有限元分析。

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引用次数: 0

Stiff deployable structures via coupling of thick Miura-ori tubes along creases 通过沿折痕耦合粗大的三浦ori 管实现坚固的可展开结构

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-21 DOI: 10.1016/j.mechmachtheory.2024.105851

Sunao Tomita , Kento Shimanuki , Kazuhiko Umemoto , Atsushi Kawamoto , Tsuyoshi Nomura , Tomohiro Tachi

Origami-based structures are crucial to attaining deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami tubes enhances the geometrical variations and mechanical properties. However, existing thickness accommodation for coupling of origami tubes is generally limited to manifold, that is, a polyhedral surface in which each edge is shared by at most two faces. By contrast, this study proposed origami-based structures composed of multiple thick Miura-ori tubes that are not limited to the manifold, possibly having edges shared by more than two faces, resulting in rigid-foldable thick origami cellular structures. Furthermore, the coupling method contributes to the high stiffness of the coupled Miura-ori tubes, as evidenced by the wide gap in the eigenvalues between the one-DOF mode and the elastic modes obtained by the bar-and-hinge models. Finally, meter-scale coupled Miura-ori tubes were fabricated to demonstrate one-DOF motion and high stiffness. The findings of this study enable the rapid construction of structures by one-DOF motion and the enhancement of transportability via flat-foldability.

折纸结构对于通过可编程折叠变形实现可部署机制和独特机械特性至关重要。在以折纸为基础的结构中，通过折纸管的耦合形成的棋盘格结构可增强几何变化和机械性能。然而，现有的折纸管耦合厚度一般仅限于流形，即每个边最多由两个面共享的多面体。相比之下，本研究提出的基于折纸的结构由多个厚厚的三浦织管组成，这些三浦织管不局限于流形，可能有两个以上的面共享边缘，从而形成可刚性折叠的厚折纸蜂窝结构。此外，耦合方法还有助于提高耦合三浦ori 管的刚度，这一点可以从单个 DOF 模式与通过条形铰链模型获得的弹性模式之间的特征值差距很大得到证明。最后，我们制作了米级耦合三浦ori 管，以证明其具有一维运动和高刚度。这项研究的结果使我们能够通过一维运动快速建造结构，并通过平面可折叠性提高可运输性。

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引用次数: 0

A global approach for the redefinition of higher-order flexibility and rigidity 重新定义高阶柔性和刚性的全球方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-20 DOI: 10.1016/j.mechmachtheory.2024.105853

Georg Nawratil

The famous example of the double-Watt mechanism given by Connelly and Servatius raises some problems concerning the classical definitions of higher-order flexibility and rigidity, respectively, as they attest the cusp configuration of the mechanism a third-order rigidity, which conflicts with its continuous flexion. Some attempts were done to resolve the dilemma but they could not settle the problem. As cusp mechanisms demonstrate the basic shortcoming of any local mobility analysis using higher-order constraints, we present a global approach inspired by Sabitov’s finite algorithm for testing the bendability of a polyhedron, which allows us (a) to compute iteratively configurations with a higher-order flexion and (b) to come up with a proper redefinition of higher-order flexibility and rigidity. The presented approach is demonstrated on several examples (double-Watt mechanisms and Tarnai’s Leonardo structure). Moreover, we determine all configurations of a given 3-RPR manipulator with a third-order flexion and present a corresponding joint-bar framework of flexion order 23.

康奈利和塞尔维提乌斯给出的双瓦特机构的著名例子分别对高阶柔性和刚度的经典定义提出了一些问题，因为他们认为该机构的尖顶构造是三阶刚度，这与它的连续弯曲相冲突。为解决这一难题，人们进行了一些尝试，但都未能解决问题。由于尖顶机构证明了任何使用高阶约束的局部流动性分析的基本缺陷，我们提出了一种受萨比托夫有限算法启发的全局方法，用于测试多面体的可弯曲性，该方法允许我们（a）反复计算具有高阶弯曲性的配置，以及（b）对高阶柔性和刚度进行适当的重新定义。我们在几个例子（双瓦特机制和塔尔奈的莱昂纳多结构）中演示了所提出的方法。此外，我们还确定了具有三阶屈曲的给定 3-RPR 机械手的所有配置，并提出了相应的屈曲阶数为 23 的关节杆框架。

引用次数: 0

Quasi-static modeling of a cable-driven continuum manipulator considering non-smooth cable-hole friction and experimental verification 考虑非光滑缆孔摩擦的缆索驱动连续机械手准静态建模与实验验证

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2024-11-18 DOI: 10.1016/j.mechmachtheory.2024.105856

Shucui Zhang , Jiayuan Zhao , Xingang Zhang , Haohao Bi , Wenli Yao , Fanxiu Chen , Haijun Peng , Caishan Liu

In cable-driven continuum manipulator (CDCM) systems, the driving hysteresis effect due to non-smooth friction significantly affects motion control. In this paper, a quasi-static model of a CDCM considering non-smooth friction is proposed. The finite element method is used to discretize the backbone, neglecting the inertial effect in the driving process, and the nodal force vector for the backbone is obtained. Then, by considering the attenuation and non-smoothness of friction, the nodal force vector for the driving cables is obtained, and the tangent stiffness matrix of the nodal force vector is derived in detail. Subsequently, cable reeling/unreeling experiments were also conducted, and the hysteresis loops obtained were consistent with the theoretical model, thus verifying the validity of the non-smooth model. Finally, trajectory tracking simulations along spatial curves are conducted, and the influence of sliding friction and loading history on the evolution of driving force is studied.

在缆索驱动连续机械手（CDCM）系统中，非光滑摩擦导致的驱动滞后效应会严重影响运动控制。本文提出了一种考虑非光滑摩擦的 CDCM 准静态模型。在忽略驱动过程中惯性效应的前提下，采用有限元法对主干进行离散，得到主干的节点力矢量。然后，通过考虑摩擦的衰减和非光滑性，得到驱动电缆的节点力矢量，并详细推导出节点力矢量的切线刚度矩阵。随后，还进行了电缆收放实验，得到的滞后环与理论模型一致，从而验证了非光滑模型的有效性。最后，进行了沿空间曲线的轨迹跟踪模拟，研究了滑动摩擦和加载历史对驱动力演变的影响。

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引用次数: 0

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