Mechanism and Machine Theory最新文献

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IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-01-01

引用次数: 0

Design of jerk model and optimal time trajectory planning method based on smooth continuous oscillatory type curves 基于光滑连续振荡型曲线的振动模型设计及最优时间轨迹规划方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-31 DOI: 10.1016/j.mechmachtheory.2025.106342

Zhaojin Liu , Jiawei Li , Yuxiao Li , Shaoming Yao , Gang Wang

This paper presents a jerk-segmented trajectory planning method based on continuous oscillatory-type curves to address the requirements for smooth and rapid maneuvering of modern industrial robots. The method replaces the traditional step oscillatory curve with a continuous oscillatory curve as the foundational model for the jerk trajectory. Furthermore, the jerk-segment curve is extended to fully exploit the kinematic capabilities. Concurrently, an optimal time solution strategy for jerk-segmented trajectories, informed by effective order, is developed. This strategy enables flexible adjustment of the solution process based on the effective order. Additionally, we introduce a coordination factor to manage the relationship between the initial jerk and its kinematic constraints during continuous changes, thereby maximizing effective drivability and maintaining continuous control time for the jerk. A velocity synchronization strategy is proposed to coordinate multi-axis motion, further establishing the applicability of this method in industrial robotic systems. Numerical simulation analysis results indicate that this method exhibits superior performance in terms of time optimality, vibration generation, and suppression. The method's effectiveness has been field experimentally validated using a complex hybrid robot prototype.

针对现代工业机器人对平稳、快速运动的要求，提出了一种基于连续振荡型曲线的跳变分段轨迹规划方法。该方法用连续振荡曲线代替了传统的阶跃振荡曲线作为跳动轨迹的基础模型。此外，还扩展了抽动段曲线，以充分利用运动学能力。同时，提出了一种基于有效阶数的推力分段轨迹最优时间解策略。该策略允许根据有效顺序灵活调整解决方案流程。此外，我们引入了一个协调因子来管理连续变化过程中初始加速度与其运动学约束之间的关系，从而最大化有效驾驶性能并保持加速度的连续控制时间。提出了一种协调多轴运动的速度同步策略，进一步验证了该方法在工业机器人系统中的适用性。数值仿真分析结果表明，该方法在时间最优性、产生振动和抑制振动方面具有较好的性能。该方法的有效性已通过一个复杂的混合动力机器人样机进行了现场实验验证。

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引用次数: 0

Design and analysis of a Bricard-inspired dexterous hand based on generalized parallel mechanisms 基于广义并联机构的布里卡德式灵巧手设计与分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-30 DOI: 10.1016/j.mechmachtheory.2025.106340

Hongzeng Li , Bo Wang , Chunxu Tian , Dan Zhang

This paper proposes a novel generalized parallel dexterous hand with the aim of enhancing dexterity and stability. First, by using topological synthesis and number synthesis methods, an analysis is conducted on the degrees of freedom (DOF), number of loops, and link combinations of the topological structures of the dexterous hand. This analysis helps to identify effective non-isomorphic Contracted Graphs (CGs). Then, the configuration of a multi-mode deployable dexterous hand is designed based on the threefold-symmetric Bricard mechanism. A reconfigurable base is incorporated into this design to enhance the adaptability of the dexterous hand. Additionally, Lie group theory is employed to analyze the motion modes of the dexterous hand. Through simulation analysis, the grasping and motion performance under different motion modes are evaluated. Moreover, the forward and inverse kinematics of the dexterous hand are analyzed. Coordinate transformation methods are used to reduce the computational complexity. Finally, the workspace and motion force transmission performance of the dexterous hand are evaluated through simulation analysis.

提出了一种新型的广义平行灵巧手，以提高灵巧性和稳定性。首先，采用拓扑综合和数综合的方法，对灵巧手拓扑结构的自由度、环数和连杆组合进行了分析。这种分析有助于识别有效的非同构收缩图（cg）。然后，基于三对称Bricard机构，设计了多模态可展开灵巧手的构型。在设计中加入了可重构的底座，增强了灵巧手的适应性。此外，利用李群理论分析了灵巧手的运动模式。通过仿真分析，对不同运动模式下的抓取和运动性能进行了评价。并对灵巧手的正运动学和逆运动学进行了分析。采用坐标变换方法降低了计算复杂度。最后，通过仿真分析对灵巧手的工作空间和运动力传递性能进行了评价。

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引用次数: 0

Modeling of hysteresis curve and study of torsional rigidity and lost motion characteristics of the RV reducer RV减速器滞回曲线建模及扭转刚度和运动损失特性研究

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-30 DOI: 10.1016/j.mechmachtheory.2025.106335

Lixin Xu , Tianyu Zhao , Jianwei Geng , Yunqing Deng

Torsional rigidity and lost motion are critical performance indicators for evaluating the load capacity, motion stability, and positioning accuracy of the rotating vector (RV) reducer. This paper presents a dynamic modeling method for the RV reducer’s hysteresis curve and evaluates its torsional rigidity and lost motion based on the hysteresis curve. Firstly, the method provides the contact dynamic model of the RV reducer, including the influence of geometric errors in components. Secondly, the simulation control strategy for torque loading is developed based on the hysteresis curve test scheme. Besides, the validity of the calculation results is verified by experiment. Moreover, the effects of contact stiffness, bearing preload and clearance, and geometric errors of components on the hysteresis curve, as well as the torsional rigidity and lost motion, are discussed in detail. The results show that support bearing contact stiffness has the most significant influence on the torsional rigidity; radial clearance of the swivel arm bearing has a significant impact on the lost motion; and geometric errors of components will reduce the torsional rigidity and increase the lost motion.

扭转刚度和运动损失是评价旋转矢量减速器承载能力、运动稳定性和定位精度的关键性能指标。提出了RV减速器滞回曲线的动力学建模方法，并根据滞回曲线对RV减速器的扭转刚度和运动损失进行了评估。该方法首先建立了RV减速器的接触动力学模型，考虑了部件几何误差的影响；其次，基于滞回曲线试验方案，提出了转矩加载的仿真控制策略。并通过实验验证了计算结果的有效性。此外，还详细讨论了接触刚度、轴承预紧力和间隙、部件几何误差对滞回曲线以及扭转刚度和运动损失的影响。结果表明：支承轴承接触刚度对扭转刚度的影响最为显著；转臂轴承的径向游隙对运动损失有显著影响；构件的几何误差会降低扭转刚度，增加运动损失。

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