Mechanism and Machine Theory最新文献

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Design and strength analysis of a gimbaled nozzle mechanism

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-27 DOI: 10.1016/j.mechmachtheory.2025.105957

Jing-Shan Zhao, Xiao-Cheng Sun, Han-Lin Sun

This paper proposes an over-constrained mechanism for the gimbaled thrust nozzle of a solid-fuel rocket engine, aiming at reducing its self-weight by replacing the traditional anti-torsion device and distributing the load across its distributed limbs. This mechanism prevents excessive load concentration on any single limb. However, the link dimensions play a critical role, requiring internal stress analysis under dynamic loading for effective optimization. The kinematics analysis begins with determining the velocity screw of the mechanism. Then, the dynamics equations for each link are established by using the momentum screw and force screw of each rigid body. The transformation matrix is developed to transfer all force screws from the absolute coordinate frame to the cross-section frame, uniformly representing the loads at each specified cross-section. Analyzing the stresses at the most critical points in the cross-section yields the principal stress, which is used to calculate the equivalent stress based on the third strength theory. This method enables condition monitoring of links on-time and provides a theoretical foundation for the dimension design of a mechanism.

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引用次数: 0

Design, dynamic modelling and experimental study on a tether-net system for active debris removal

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-24 DOI: 10.1016/j.mechmachtheory.2025.105958

Chenchen Wu , Pengyuan Zhao , Pengxu Chen , Zhiyu Ni , Shuai Yue , Liang Li , Dingguo Zhang , Guangbo Hao

The tether-net capture is considered to be a promising technology for active debris removal, due to its advantages of low cost, large capture range, and high stability. In this paper, we aim to address problems of mechanism design, dynamic modeling and experimental verification for a tether-net capture system. A compact tether-net capture system is initially designed. An improved dynamic model considering torsion of the tether-net capture system is innovatively developed on the basis of the concentrated mass method and the Kelvin–Voigt model. A collision detection model is followed to examine the collision between multiple objects and to determine the contact force. Additionally, the tether-net deployment and object capture are simulated, and a dragging simulation of the assembly of the tether-net capture system and the space debris is conducted using this model. Finally, ground tests for vertically and horizontally capturing a balloon are performed. The simulation results demonstrate that the improved model is accurate to describe the dynamic characteristics of the tether-net capture system. The prototype shows a capability to successfully capture objects.

{"title":"Design, dynamic modelling and experimental study on a tether-net system for active debris removal","authors":"Chenchen Wu , Pengyuan Zhao , Pengxu Chen , Zhiyu Ni , Shuai Yue , Liang Li , Dingguo Zhang , Guangbo Hao","doi":"10.1016/j.mechmachtheory.2025.105958","DOIUrl":"10.1016/j.mechmachtheory.2025.105958","url":null,"abstract":"<div><div>The tether-net capture is considered to be a promising technology for active debris removal, due to its advantages of low cost, large capture range, and high stability. In this paper, we aim to address problems of mechanism design, dynamic modeling and experimental verification for a tether-net capture system. A compact tether-net capture system is initially designed. An improved dynamic model considering torsion of the tether-net capture system is innovatively developed on the basis of the concentrated mass method and the Kelvin–Voigt model. A collision detection model is followed to examine the collision between multiple objects and to determine the contact force. Additionally, the tether-net deployment and object capture are simulated, and a dragging simulation of the assembly of the tether-net capture system and the space debris is conducted using this model. Finally, ground tests for vertically and horizontally capturing a balloon are performed. The simulation results demonstrate that the improved model is accurate to describe the dynamic characteristics of the tether-net capture system. The prototype shows a capability to successfully capture objects.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"208 ","pages":"Article 105958"},"PeriodicalIF":4.5,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474536","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

A novel cutter design method to enhance adaptability and accuracy in CNC gear skiving process

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-22 DOI: 10.1016/j.mechmachtheory.2025.105956

Trong-Thuan Luu , Thi Thanh-Hai Tran , Yu-Ren Wu

Currently, power skiving is a preferred method for efficient gear manufacturing. Achieving high accuracy in the skiving process can enhance gear drive performance or diminish the tool wear in subsequent finishing processes. Therefore, this study proposes a novel correction method to improve the accuracy of skived gears and the machining flexibility of the cutter. The cutting edge is first assumed to be the intersection curve between the imaginary helical gear and the rake plane. The normal vectors of cutter flanks along the cutting edge are then predicted by rotating the normal vectors of the imaginary helical gear about the tangent vectors of the cutting edge. Accordingly, this approach allows for determining the contact points between the generating rack and the cutter. Subsequently, the 3-D generating rack is attained, leading to the generation of the final cutting edge. The numerical results illustrate the high accuracy of the skived gears even with varying the cutter's design cutting angles and the work gear's helix angles and teeth numbers.

引用次数: 0

Backstepping control of tendon-driven continuum robots in large deflections using the Cosserat rod model

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-19 DOI: 10.1016/j.mechmachtheory.2025.105953

Rana Danesh, Farrokh Janabi-Sharifi

This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for various applications. However, modeling and controlling them pose challenges due to their nonlinear dynamics. To model their dynamics, the Cosserat rod method is employed to account for significant deflections, and a numerical solution method is developed to solve the resulting partial differential equations. Previous studies on controlling tendon-driven continuum robots using Cosserat rod theory focused on sliding mode control and were not tested for large deflections, lacking experimental validation. In this paper, backstepping control is proposed as an alternative to sliding mode control for achieving a significant bending. The numerical results are validated through experiments in this study, demonstrating that the proposed backstepping control approach is a promising solution for achieving large deflections with smoother trajectories, reduced settling time, and lower overshoot. Furthermore, two scenarios involving external forces and disturbances were introduced to further highlight the robustness of the backstepping control approach.

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引用次数: 0

Type synthesis of 2T1H parallel mechanisms without helical joints based on analytic formulation of screw type terminal constraints

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-18 DOI: 10.1016/j.mechmachtheory.2025.105954

Bo Hu , Peng Bai

The type synthesis of 2T1H PMs without helical joints has not been carried out in the field of mechanisms. In this paper, we propose an analytical based approach combining solving vector equations and screw theory for the type synthesis of 2T1H PMs without helical joints. Firstly, the conditions of the terminal constraints for constructing the 2T1H PMs are analyzed based on the freedom and constraint space and screw theory. Secondly, the limbs suitable for constructing 2T1H PMs are screened and determined. Thirdly, the assembly conditions for 2T1H PMs are obtained from the analytical expressions of the corresponding terminal constraints and a series of novel PMs are synthesized through the synthesis process. Finally, the kinematics of a novel 2T1H PM is analyzed and the pitch characteristic of its terminal constraints is revealed. The research provides an effective method for the type synthesis of PMs with screw type terminal constraints and motions. The proposed new mechanisms will enrich the configurations of existing PMs.

引用次数: 0

Development and evaluation of numerical models of an aircraft seat assembly and occupant for the simulation of dynamic certification tests

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-18 DOI: 10.1016/j.mechmachtheory.2025.105940

Ana P. Martins , Marta S. Carvalho , Gerardo Olivares , Hamid Lankarani

The use of numerical simulation presents an opportunity for advancements in aircraft seat design while upholding rigorous safety standards. This study is focused on the development of three numerical models for simulating dynamic tests to certify aircraft seats, including a simplified Multibody model, a Multibody model with plastic hinges and a Finite Element model. The accuracy of these models was assessed by comparing simulation results with experimental measurements. The findings indicate that these models have the potential to serve as valuable tools for designing and enhancing aircraft seat configurations as well as streamlining the certification process. Providing accurate results with low computational time, Multibody models serve as an efficient and cost-effective approach for assessing seat performance while emphasizing occupant safety.

引用次数: 0

Identification of Tool and Machine Settings for Hypoid Gear Based on Non-Uniform Discretization

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-12 DOI: 10.1016/j.mechmachtheory.2025.105951

Xinqi Wei , Shuo Wang , Yawen Wang , Weiqing Zhang , Teik C Lim

Identifying the tool and machine settings of tooth surfaces in hypoid gears is challenging, considering the highly model nonlinearities and the ill-conditioned Jacobian matrix. To tackle these problems, we propose a novel identification model based on non-uniform discretization for hypoid gear, with the goal of efficiently obtaining accurate design parameters. The model employs a non-uniform discretization scheme for the tooth surface, approximating the quadrature of the surface variation using the Gaussian rule. This scheme is based on the Chebyshev node, which better captures gradient variation of surface variation and provides more accurate quadrature results than a uniform grid of the same size. The fundamental analysis of the problem characteristics is performed through the condition number of the Jacobian matrix, and numerical stability is guaranteed using the non-uniform discretization and fixing non-influential variables. Finally, a numerical example is presented, and the simulations in variations scenarios are conducted to validate the proposed model. The results demonstrate that the model guarantees both identification accuracy and efficiency, with outcomes aligning with the expectations based on condition number analysis.

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引用次数: 0

An analytical model for the drum-rope interaction in hoisting mechanisms and cable-driven systems

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-12 DOI: 10.1016/j.mechmachtheory.2025.105939

Javier González-Carbajal

This study introduces a new analytical model for the drum-rope interaction in mechanical systems actuated through ropes or cables. The model consists of a set of analytical force–displacement relations that capture the extensibility of the rope and the drum-rope contact interaction, assuming linear elastic behavior and Coulomb friction. It is derived from a detailed analysis of the tension distribution along the rope when subjected to a dynamic pulling force, distinguishing between stick and slip regions. The response of the rope is found to be linear under gross slip conditions, becoming significantly nonlinear under partial slip. In practical terms, the proposed drum-rope model can be applied to the dynamic simulation of hoisting mechanisms and cable driven systems. This is achieved by introducing a nonlinear spring, defined by specific force–displacement relations, to represent each cable wound on a reeling drum within the overall model. The presented approach is numerically validated using a finite element model, with remarkable agreement between both solutions. It is also compared with a conventional modeling approach that assumes no slippage between drum and rope, demonstrating 39% higher accuracy in a representative scenario.

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引用次数: 0

A bilateral wrist robotic system with compliant actuation for rehabilitation training

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-10 DOI: 10.1016/j.mechmachtheory.2025.105937

Zhimin Hou, Yao Tong, Ke Shi, Haoyong Yu

In this article, we present a bilateral wrist robotic system for rehabilitation training that extracts subject-adaptive reference movements from the unaffected limb using a passive module while safely assisting the affected limb using an active module. The system features a parallel mechanism for both modules, supporting three degrees of freedom (DoF) in wrist motion with reduced inertia. The active module employs three linear series elastic actuators (SEAs) to ensure low mechanical impedance and safe interaction. Force and motion tracking controls are implemented in the robot’s end-effector space to enable various bilateral training exercises. Additionally, we introduce a dynamic model for the multi-DoF SEA-driven parallel robot, with a feedforward design compensating for unmodeled nonlinearities. Experimental results validate the system’s performance in transparency, force tracking, and motion tracking. Finally, the bilateral training framework’s effectiveness is demonstrated through two case studies involving healthy subjects with simulated impairments.

引用次数: 0

Evaluation of robot kinematic performance under motion constraints in a teleoperated robotic ultrasound system

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-02-10 DOI: 10.1016/j.mechmachtheory.2025.105952

Kai Wu , Shaoxiong Feng , Hengyi An , Giuseppe Carbone , Weihua Li

In a teleoperated robotic ultrasound system based on serial robots, a doctor uses a master device to control a slave serial robot for performing ultrasound inspections on patients. To effectively detect organs deep beneath the skin, the robot's motion direction and velocity must be precisely controlled, where the translational or rotational motion is constrained to move separately. During the inspection, the target position and motion velocity need to be continuously synchronized between the master device and the serial robot to ensure optimal coordination. However, the kinematic performance of serial robots is inconsistent across the spatial workspace, leading to issues such as protective stops, velocity fluctuations, and tracking delay errors. This paper proposes an evaluation method for the kinematic performance of serial robots based on the maximum attainable velocity in any direction. An algorithm is described to determine the corresponding maximum achievable translational or rotational velocities when rotational or translational motion is constrained. Experimental results confirm the high accuracy of this algorithm. Consequently, further workspace analysis is conducted to inform the layout and velocity settings of the teleoperated robotic ultrasound system for practical applications.

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引用次数: 0

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