Mechanism and Machine Theory最新文献

英文中文

Design of a compliant mechanism with collinear input and output

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-21 DOI: 10.1016/j.mechmachtheory.2025.105932

Mao-Lin Liao , Ngoc Dang Khoa Tran , Dung-An Wang

In this paper, we propose an approach for the topology design of a single-input, double-output (SIDO) compliant mechanism with collinear inputs and outputs. The topology design of the SIDO mechanism is accomplished by superimposing two single-input, single-output (SISO) sub-mechanisms. A kinetostatic model, based on the beam constraint model (BCM), is developed for the SIDO mechanism. Subsequently, dimensional design is applied to the conceptual configurations of the SIDO mechanism using an optimization method. The BCM becomes more efficient and capable of addressing complex displacement analyses by integrating the virtual slider model. Potential applications of the proposed SIDO compliant mechanism include miniature presses and tensile testing machines. The primary contributions of this work are twofold. First, we introduce a topology design approach based on superimposition to generate feasible configurations of SIDO planar compliant mechanisms with collinear inputs and outputs. Second, we integrate virtual sliders into a BCM model to address the challenge of modelling linkage-type compliant mechanisms with multiple outputs.

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引用次数: 0

Design, manufacture, and two-step calibration of a piezoelectric parallel microrobot at the millimeter scale for micromanipulation

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-21 DOI: 10.1016/j.mechmachtheory.2025.105928

Jiaxu Shen , Xizheng Fang , Jiacheng Liu , Li Liu , Haojian Lu , Junqiang Lou

The design, manufacture, and calibration of a miniaturized piezoelectric parallel microrobot at the millimeter scale are performed. A composite origami manufacturing process is developed to realize a complex three-dimensional structure from multilayer composite materials through laser cutting, lamination, release, folding, curing, and assembly. The size of the microrobot is 28 × 29 × 29 mm, with a weight of 2.94 g. A two-step calibration strategy is proposed to eliminate the error identification failure caused by the discontinuity of error transmission and coupling errors. The coupling errors of the amplification mechanism are identified using particle swarm optimization, and the errors of the parallel mechanism are identified by the least squares method. Calibration experiments of six trajectories show maximum and RMS positioning error drops of 15.1 and 6.9 µm, from 48.9 to 23.3 µm, respectively. Additionally, a potential application experiment is conducted. The microrobot scans a 4 × 4 microwell array in 2.4 s with a positioning velocity and average error of 125 ms/well and 8 µm, respectively. The potential of the microrobot for rapid positioning and high-throughput screening is demonstrated.

{"title":"Design, manufacture, and two-step calibration of a piezoelectric parallel microrobot at the millimeter scale for micromanipulation","authors":"Jiaxu Shen , Xizheng Fang , Jiacheng Liu , Li Liu , Haojian Lu , Junqiang Lou","doi":"10.1016/j.mechmachtheory.2025.105928","DOIUrl":"10.1016/j.mechmachtheory.2025.105928","url":null,"abstract":"<div><div>The design, manufacture, and calibration of a miniaturized piezoelectric parallel microrobot at the millimeter scale are performed. A composite origami manufacturing process is developed to realize a complex three-dimensional structure from multilayer composite materials through laser cutting, lamination, release, folding, curing, and assembly. The size of the microrobot is 28 × 29 × 29 mm, with a weight of 2.94 g. A two-step calibration strategy is proposed to eliminate the error identification failure caused by the discontinuity of error transmission and coupling errors. The coupling errors of the amplification mechanism are identified using particle swarm optimization, and the errors of the parallel mechanism are identified by the least squares method. Calibration experiments of six trajectories show maximum and RMS positioning error drops of 15.1 and 6.9 µm, from 48.9 to 23.3 µm, respectively. Additionally, a potential application experiment is conducted. The microrobot scans a 4 × 4 microwell array in 2.4 s with a positioning velocity and average error of 125 ms/well and 8 µm, respectively. The potential of the microrobot for rapid positioning and high-throughput screening is demonstrated.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105928"},"PeriodicalIF":4.5,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156100","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

Sym-ML: A symplectic machine learning framework for stable dynamic prediction of mechanical system

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-21 DOI: 10.1016/j.mechmachtheory.2025.105934

Ningning Song , Haijun Peng , Xu Guo

Due to the complexity and nonlinearity of mechanical system, traditional dynamic analysis methods are often struggle to balance computational efficiency and accuracy. In order to overcome the challenges existing in the current numerical methods, this paper proposes a novel mechanism-data hybrid-driven method for dynamic analysis of mechanical system via symplectic mathematical theory, machine learning theory and multibody system theory. The proposed method introduces the variational principle into neural network to establish a symplectic machine learning framework, which leverages the high precision advantages of symplectic theory and the efficient and strong generalization ability of neural network, thereby achieving efficient and high precision dynamic prediction of constrained mechanical system. And the characteristic of symplectic conservation of the proposed strategy is proved both in mathematical and numerical perspectives. In addition, three numerical examples are studied, the comparison results indicate that the proposed strategy can perform outstanding advantages in terms of numerical accuracy and computational efficiency, and the proposed method can also predict high precision results without the need for retraining when certain parameters change of the mechanical system.

{"title":"Sym-ML: A symplectic machine learning framework for stable dynamic prediction of mechanical system","authors":"Ningning Song , Haijun Peng , Xu Guo","doi":"10.1016/j.mechmachtheory.2025.105934","DOIUrl":"10.1016/j.mechmachtheory.2025.105934","url":null,"abstract":"<div><div>Due to the complexity and nonlinearity of mechanical system, traditional dynamic analysis methods are often struggle to balance computational efficiency and accuracy. In order to overcome the challenges existing in the current numerical methods, this paper proposes a novel mechanism-data hybrid-driven method for dynamic analysis of mechanical system via symplectic mathematical theory, machine learning theory and multibody system theory. The proposed method introduces the variational principle into neural network to establish a symplectic machine learning framework, which leverages the high precision advantages of symplectic theory and the efficient and strong generalization ability of neural network, thereby achieving efficient and high precision dynamic prediction of constrained mechanical system. And the characteristic of symplectic conservation of the proposed strategy is proved both in mathematical and numerical perspectives. In addition, three numerical examples are studied, the comparison results indicate that the proposed strategy can perform outstanding advantages in terms of numerical accuracy and computational efficiency, and the proposed method can also predict high precision results without the need for retraining when certain parameters change of the mechanical system.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105934"},"PeriodicalIF":4.5,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143100774","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

Multiplanar manufacturing: A new approach to design for manufacturing and assembly of origami

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2024.105906

Tyler R. Stevens, Nathan B. Crane

This paper explores multiplanar manufacturing as an alternative approach for fabricating three-dimensional origami-inspired devices. Traditional origami manufacturing techniques typically employ a monoplanar method, which confines origami to a single plane, during manufacturing, and limits their design efficiency. By contrast, multiplanar manufacturing fabricates panels and hinges across multiple planes, offering greater design flexibility and the potential to eliminate some assembly/bonding operations. This study demonstrates the impact of multiplanar manufacturing on material usage, build footprint, and actuation requirements. For the geometries used as a case study, the benefits of multiplanar manufacturing include reducing material usage by up to 62%, actuation steps by up to 93%, and build footprint by up to 91%—relative to a monoplanar configuration in the geometries studied. These benefits improve efficiency, streamline assembly processes, and enable new avenues for fabricating origami-inspired devices. The findings position multiplanar manufacturing as a promising strategy for efficiently producing three-dimensional origami-inspired structures, paving the way for advancements in various engineering fields.

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引用次数: 0

Using the kinematics of the RC linkage to find the degree of the adjoint representation of SE(3)

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2025.105923

J.M. Selig

This work studies the projective algebraic variety formed from the closure of the adjoint representation of the group of rigid-body displacements,

S E (3)

. This is motivated by asking how many assembly configurations a mechanism would have in general, if it was designed to keep six given lines in six linear line complexes.

The main result is to find the degree of the variety defined by the adjoint representation and hence answer the motivating question. A simple special case is discussed, a mechanism that maintains a single given line reciprocal to three fixed lines from the regulus of a cylindrical hyperboloid of one sheet. The three dimensional variety defined in this way can be realised by an RC linkage. More specifically, the variety splits into two components each of which can be realised by an RC linkage. The homology of these 3-dimensional varieties, as subvarieties of the Study quadric, is found and used to determine the degree of the adjoint representation as an algebraic variety.

The possible equations defining the variety determined by the adjoint representation of

S E (3)

, are also discussed but no definitive result is found.

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引用次数: 0

Dynamic modeling and response analysis of cracked herringbone gear transmission systems with installation errors

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-15 DOI: 10.1016/j.mechmachtheory.2025.105924

Wenkang Huang , Haodong Hu , Hui Ma

Installation errors and cracks in the herringbone gear transmission system (HGTS) can alter its dynamic response, decreasing transmission performance and compromising operational safety. Traditional methods to determine the time-varying meshing stiffness (TVMS) of herringbone gears often neglect the impact of the groove, treating the herringbone gear as two helical gears in dynamic models. To address these deficiencies, a new stiffness calculation formula for the herringbone gear pair is proposed, incorporating the combined effects of installation errors and cracks. The TVMS distribution of multiple springs in the dynamic model is determined based on the load distribution during meshing. On this basis, a dynamic model of the cracked HGTS considering installation errors is constructed. The effects of crack faults and installation errors on the dynamic response of the HGTS are investigated. It is found that installation errors aggravate the effect of crack faults on the dynamics of the HGTS.

引用次数: 0

Spatial impedance realization by grasps with fingers in soft contact

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105910

Shuguang Huang, Joseph M. Schimmels

This paper characterizes the space of spatial impedance behaviors that can be realized by grasps having multiple fingers in soft contact with a held object. The dimension of the space of achievable impedance matrices is identified for each multi-finger case. Not all impedance matrices can be achieved by a soft-finger grasp regardless of the number of fingers used. For each multi-finger case, a set of necessary and sufficient conditions for impedance matrix realization is derived. For a grasp having 4 or fewer fingers, the space of realizable impedances is not only restricted by the number of fingers but also by the number of distinct object surface normals at the fingertip contact locations. A synthesis procedure for the realization of an arbitrary full rank impedance matrix in the realizable impedance subspace is developed for a minimum-finger grasp. Using this procedure, a specified grasp-realizable object impedance matrix can be achieved by a 3-finger grasp by properly selecting the locations of fingertips in contact with the held object and the fingertip impedance at each contact location.

引用次数: 0

A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105908

Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda

Parallel Continuum Robots (PCRs) offer flexibility, safety, and agility due to their continuous structure. The parallel configuration further enhances precision and stiffness, making them particularly suitable for applications in confined spaces and human-contact environments, such as collaborative and surgical robots. In this paper, we conducted thorough investigation of a novel 3-Degree-of-Freedom PCR design with a large orientation workspace which we have proposed before. We first provided a general kineto-static model based on Kirchhoff rod theory, which is a simplified form of Cosserat rod theory. The workspace of the novel PCR design was then analyzed through MATLAB simulations using the developed kineto-static model. Experiments were conducted to validate the twisting motion ability and investigate the motion of the prototype in comparison to model predictions. Additionally, we analyzed several singularity configurations from the perspective of elastic potential energy. The paper concludes with a summary of the behavior of this design and a discussion of future research directions.

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引用次数: 0

Systematic mapping of synthesis methods for compliant grippers using PRISMA

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-11 DOI: 10.1016/j.mechmachtheory.2024.105900

Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena

Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.

{"title":"Systematic mapping of synthesis methods for compliant grippers using PRISMA","authors":"Estefania Hermoza Llanos , Burkhard Corves , Mathias Huesing , Anupam Saxena","doi":"10.1016/j.mechmachtheory.2024.105900","DOIUrl":"10.1016/j.mechmachtheory.2024.105900","url":null,"abstract":"<div><div>Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105900"},"PeriodicalIF":4.5,"publicationDate":"2025-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156098","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-01-09 DOI: 10.1016/j.mechmachtheory.2025.105918

F.J. Morales, L.M. Romero, F.G. Benitez

Inertial Continuous Variable Transmissions (ICVTs) are relatively unknown transmission systems. Based on a generated computational model, calibrated with real-world data, and analytical equations, a parametric analysis reveals the influence of each parameter in ICVTs operation. This research provides a clearer understanding of ICVTs and offers practical insights for future transmission system research and development. The study concludes that the effects of nearly all parameters on the output speed are dualistic, depending on the dominance of specific phenomena related to the chosen parameter value. This indicates that, for a given parameter, there may be a positive correlation between the output speed and certain ranges of values, and a negative correlation for others, while maintaining the engine at the same operating point. This suggests the relation is non-linear. The research differentiates the behavioural nuances between inertial and traditional kinematic CVTs, emphasising how some parameter values adjustments, which can be negative for kinematic CVTs, potentially enhance output speed and the transmitted torque in inertial CVTs.

{"title":"Behaviour analysis and general consideration for optimizing Inertial Continuous Variable Transmissions","authors":"F.J. Morales, L.M. Romero, F.G. Benitez","doi":"10.1016/j.mechmachtheory.2025.105918","DOIUrl":"10.1016/j.mechmachtheory.2025.105918","url":null,"abstract":"<div><div>Inertial Continuous Variable Transmissions (ICVTs) are relatively unknown transmission systems. Based on a generated computational model, calibrated with real-world data, and analytical equations, a parametric analysis reveals the influence of each parameter in ICVTs operation. This research provides a clearer understanding of ICVTs and offers practical insights for future transmission system research and development. The study concludes that the effects of nearly all parameters on the output speed are dualistic, depending on the dominance of specific phenomena related to the chosen parameter value. This indicates that, for a given parameter, there may be a positive correlation between the output speed and certain ranges of values, and a negative correlation for others, while maintaining the engine at the same operating point. This suggests the relation is non-linear. The research differentiates the behavioural nuances between inertial and traditional kinematic CVTs, emphasising how some parameter values adjustments, which can be negative for kinematic CVTs, potentially enhance output speed and the transmitted torque in inertial CVTs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"206 ","pages":"Article 105918"},"PeriodicalIF":4.5,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143156093","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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Mechanism and Machine Theory

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