Mechanism and Machine Theory最新文献_第4页

Driving rotational motion with Euler parameters: a constraint formulation for multibody systems 用欧拉参数驱动旋转运动：多体系统的约束公式

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-10 DOI: 10.1016/j.mechmachtheory.2025.106315

Madalena Antunes, João Folgado, Carlos Quental

The formulation of rotational driving constraints using angular variables (angle-based formulation) may introduce numerical instabilities and redundancy among kinematic constraints, which can compromise the robustness of multibody analyses. This study proposes an alternative Euler-based formulation, in which Euler parameters, describing the relative orientation between joint-connected bodies, are used to define rotational driving constraints. This formulation avoids singularities, enables full range of motion evaluation, and eliminates redundancy. Both angled-based and Euler-based formulations were applied to different joints within both open and closed kinematic chains using an in-house multibody model of the human body. Kinematic and inverse dynamic analyses were conducted across several movements from multiple subjects, and the results were compared between the two formulations and literature data. The Euler-based formulation provided independent kinematic constraints and showed good agreement with joint kinematics and torques from established methods. In addition, it improved computational efficiency. Overall, the use of Euler parameters offers a robust and efficient alternative to angle-based formulations for rotational driving constraints in multibody system dynamics.

使用角度变量的旋转驱动约束公式（基于角度的公式）可能会引入数值不稳定性和运动约束之间的冗余，从而影响多体分析的鲁棒性。本研究提出了一种基于欧拉的替代公式，其中欧拉参数用于描述关节连接体之间的相对方向，以定义旋转驱动约束。这个公式避免了奇点，使全范围的运动评估，并消除了冗余。使用人体内部多体模型，将基于角度和基于欧拉的公式应用于开放和封闭运动链中的不同关节。运动学和逆动力学分析在多个受试者的几个运动中进行，并将结果与两种公式和文献数据进行比较。基于欧拉的公式提供了独立的运动学约束，并与现有方法的关节运动学和扭矩具有良好的一致性。此外，它还提高了计算效率。总的来说，欧拉参数的使用为多体系统动力学中旋转驱动约束的基于角度的公式提供了一种鲁棒和高效的替代方案。

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引用次数: 0

Corrigendum to “Kinematics of rolling contact: Derivation, misconceptions, and generalisations” [Mechanism and Machine Theory 216 (2025) 106201] “滚动接触运动学：推导、误解和概括”的勘误表[机械与机械理论216 (2025)106201]

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-13 DOI: 10.1016/j.mechmachtheory.2025.106298

Luigi Romano, Sweden Linköping

引用次数: 0

A concept of the metamodel based on the dynamics analysis results of the eccentric crank-rocker mechanism 基于偏心曲柄摇杆机构动力学分析结果的元模型概念

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.mechmachtheory.2025.106333

Andrzej Urbaś, Jacek Stadnicki

This paper presents the concept of using the metamodel of the dynamics of the crank-rocker mechanism with eccentricity for its synthesis. The formalism of joint coordinates, homogeneous transformation matrices, and Lagrange equations are used to derive the mathematical model of the mechanism, which considers the flexibility of the drive and connecting rod. Using the mathematical model of the mechanism, the function of which is to compact the raw material using a rocker, the simulation of many dimensional variants of the mechanism is performed. Next, based on the results, a metamodel of the mechanism is proposed, with the design criterion being the maximal value of the rocker kinetic energy, which is adopted as a measure of the efficiency of raw material compaction. The metamodel is used in practice to determine the lengths of links of the mechanism that met the adopted design criteria. A comparison of options of the analysis of mechanism models with and without the flexibility of the drive or/and connecting rod is also presented.

本文提出了用偏心曲柄摇杆机构动力学元模型进行综合的概念。采用关节坐标、齐次变换矩阵和拉格朗日方程的形式建立了考虑传动和连杆柔性的机构数学模型。利用该机构的数学模型（其功能是利用摇杆对原材料进行压实），对该机构的多个维度变量进行了仿真。在此基础上，提出了该机构的元模型，设计准则为摇杆动能的最大值，并以此作为衡量原材料压实效率的指标。该元模型在实际中用于确定满足所采用的设计标准的机构的连杆长度。文中还比较了考虑和不考虑传动或连杆柔性的机构模型分析的选择。

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 : 2026-03-01 Epub 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

Integrated geometric modeling, meshing behavior analysis, and experimental prototype validation of arc-cycloid external gear pairs 弧摆线外齿轮副几何建模、啮合特性分析及实验样机验证

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-19 DOI: 10.1016/j.mechmachtheory.2025.106323

Zhigang Wu , Xuan Li , Qi Sun , Minglu Zhu , Tao Chen , Lining Sun

This study presents theoretical design methods and conducts systematic performance analysis for an arc-cycloid external gear pair. The pairing consists of a circular-arc pinion and an enveloping-generated cycloid gear, achieving conjugate meshing via continuous line contact. This design prevents undercutting observed in involute gears and enables higher transmission ratios under identical center distance and structural constraints. Mathematical models of the gears are established using differential geometry and spatial meshing theory. Spatial contact trajectories, pressure angles, and induced normal curvature are computationally analyzed with dependencies quantified. A hybrid loaded tooth contact analysis (LTCA) methodology is developed through the integration of Boussinesq’s elastic half-space theory and the influence coefficient method. This approach enables precise calculation of contact stress distributions across loaded tooth surfaces. The theoretical LTCA model is validated by finite element analysis (FEA), with computational results showing excellent agreement against analytical solutions. Experimental verification is conducted on a purpose-built test rig. Transmission stability and band-shaped contact patterns are confirmed through precise measurements. Consistency is demonstrated between experimental measurements and simulation predictions, independently validating the proposed methodology. The gear pair demonstrates significant potential for applications demanding compact, high-ratio power transmission.

提出了弧摆线外齿轮副的理论设计方法，并进行了系统的性能分析。该啮合由圆弧小齿轮和包络生成摆线齿轮组成，通过连续的线接触实现共轭啮合。这种设计防止在渐开线齿轮中观察到的下切，并在相同的中心距离和结构约束下实现更高的传动比。利用微分几何和空间啮合理论建立了齿轮的数学模型。对空间接触轨迹、压力角和诱导法向曲率进行了计算分析，并对相关关系进行了量化。将Boussinesq弹性半空间理论与影响系数法相结合，提出了一种混合载荷齿接触分析方法。这种方法可以精确计算齿面接触应力分布。通过有限元分析（FEA）验证了理论LTCA模型，计算结果与解析解具有良好的一致性。在专门搭建的试验台上进行了实验验证。通过精确的测量，确定了传输稳定性和带状接触模式。一致性证明了实验测量和模拟预测之间的一致性，独立验证了所提出的方法。齿轮副显示了显著的潜力应用要求紧凑，高比率的动力传输。

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引用次数: 0

Cavitation mechanism of high-speed gears with misalignment 高速齿轮失对空化机理研究

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-13 DOI: 10.1016/j.mechmachtheory.2025.106319

Tiancheng Ouyang , Hongyang Tian , Yang Yang , Shaohui Qin , Yong Chen

In high-speed gear transmissions, cavitation is prone to occur, leading to vibration deterioration and tooth surface erosion. Vibration and engagement characteristics become abnormal when misalignment inevitably occurs due to mounting errors, deformation and long-term wear. However, current gear cavitation studies are set to ideal alignment and it is not clear how misalignment affects cavitation. To investigate the cavitation mechanism in misaligned gears, a kinetic model of misaligned gears is combined with a turbulence model with cavitation for the first time. First, the abnormal vibration responses that derived from the gear finite element model are validated against existing experimental results, and they are applied as boundary rotation conditions for the flow field. Subsequently, the effects of vibration and meshing discrepancies caused by different misalignments on cavitation are comprehensively analyzed. Vapor and pressure distributions in the meshing zone are examined to evaluate the impacts of misalignment degree, rotational speed, vibration, and tooth surface meshing. Results indicate that gear pairs with misalignment exhibit significant cavitation phenomena during high-speed operation. Specifically, vibration amplification induced by radial and yaw misalignments exacerbate the severity of cavitation.

在高速齿轮传动中，容易产生空化现象，导致振动恶化和齿面侵蚀。当由于安装误差、变形和长期磨损而不可避免地出现不对准时，振动和啮合特性就会异常。然而，目前的齿轮空化研究是设定为理想的对准，不清楚不对准如何影响空化。为了研究齿对空化机理，首次将齿对空化动力学模型与考虑空化的湍流模型相结合。首先，将齿轮有限元模型得到的异常振动响应与已有的实验结果进行验证，并将其作为流场的边界旋转条件。在此基础上，综合分析了不同对准误差引起的振动和啮合误差对空化的影响。研究了啮合区域内的蒸汽和压力分布，以评估误差程度、转速、振动和齿面啮合的影响。结果表明，齿轮副在高速运行过程中存在明显的空化现象。具体而言，径向和偏航错位引起的振动放大加剧了空化的严重程度。

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引用次数: 0

Nonlinear topology optimization design of compliant mechanisms with tailored input/output stiffness 输入/输出刚度定制柔性机构的非线性拓扑优化设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.mechmachtheory.2025.106330

Yueyou Tang , Meng He , Zhen-Pei Wang , Liang Xia

Topology optimization of compliant mechanisms (CMs) typically seeks to maximize input stiffness while minimizing output stiffness to achieve optimal geometric advantage (GA). However, simultaneously tailoring input and output stiffness inherently conflicts with these objectives, a challenge that is exacerbated under nonlinear conditions. To address this, we propose a nested optimization framework incorporating geometric and material nonlinearities, which decouples the problem into two levels: the outer loop maximizes GA, while the inner loop enables precise input/output stiffness customization. An adaptive volume control strategy is further introduced to suppress hinge-like features and improve material efficiency. Numerical examples demonstrate that the method yields hinge-free topologies with input and output stiffness closely matching the targets. Finally, a series of CMs with varying stiffness ratios were designed and fabricated. Experimental results confirm the effectiveness of proposed method in tailoring input/output stiffness, while verifying the output-end resistance to external excitations and the required input actuation force. The method is applicable to mechanisms with specific performance demands, such as low-actuation, high-output-stability robotic grippers and medical instruments with both high input and output stability.

柔性机构（CMs）的拓扑优化通常寻求最大的输入刚度和最小的输出刚度，以实现最佳的几何优势（GA）。然而，同时调整输入和输出刚度本身就与这些目标相冲突，在非线性条件下，这是一个更大的挑战。为了解决这个问题，我们提出了一个包含几何和材料非线性的嵌套优化框架，该框架将问题解耦为两个层次：外环最大化遗传算法，而内环实现精确的输入/输出刚度定制。进一步引入自适应体积控制策略来抑制铰链特征并提高材料效率。数值算例表明，该方法得到的无铰拓扑结构输入和输出刚度与目标结构高度匹配。最后，设计并制作了一系列不同刚度比的复合材料。实验结果证实了该方法在调整输入/输出刚度方面的有效性，同时验证了输出端对外部激励的阻力和所需的输入作动力。该方法适用于具有特定性能要求的机构，如低驱动、高输出稳定性的机器人抓手和高输入输出稳定性的医疗器械。

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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 : 2026-03-01 Epub 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

Rigid-foldable tapered origami patterns derived from type III Bricard octahedra 可刚性折叠的锥形折纸图案源自第三型布里卡八面体

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-18 DOI: 10.1016/j.mechmachtheory.2025.106325

Yucai Hu, Yongliang Luo

While origami has long served as physical analogs for classical mechanisms, few large origami patterns are directly derived from these kinematic systems. This paper presents single-degree-of-freedom rigid-foldable tapered origami patterns based on the type III Bricard octahedron (BOIII), a foundational flexible polyhedral mechanism. Building on extending BOIII into tubular structures, we demonstrate how kinematic equivalence and interchangeability between isogram and antiisogram enable the development of rigid-foldable configurations with bilateral origami-patterned surfaces. The rigid foldability of the BOIII and its derived crease patterns is validated through the consistent application of facet compatibility conditions. Using symmetric BOIII units, tapered origami patterns of spiral, zigzag, and hybrid profiles are constructed. Notably, the spiral pattern featuring two tapering vertices mimics natural spirals in ammonites and snails. An inverse design approach is established to generate tapered crease patterns, ensuring their bottom boundary edges conforms to the target planar curve at a prescribed fold angle. This mechanism-based approach expands the design space of rigidly and flat-foldable quadrilateral mesh origami patterns by incorporating the tapering feature, offering potential applications in deployable aerospace structures, reconfigurable robotics, and metamaterials.

虽然折纸长期以来一直是经典机构的物理类比，但很少有大型折纸图案直接来自这些运动学系统。提出了一种基于三型布里卡德八面体（BOIII）的单自由度刚性可折叠锥形折纸图案。在将BOIII扩展到管状结构的基础上，我们展示了等线和反等线之间的运动等效性和互换性如何使具有双边折纸图案表面的刚性可折叠构型得以发展。BOIII及其衍生折痕图的刚性可折叠性通过面相容性条件的一致性应用得到验证。使用对称BOIII单元，锥形折纸图案的螺旋，之字形，和混合轮廓被构造。值得注意的是，螺旋图案具有两个逐渐变细的顶点，模仿了鹦鹉螺和蜗牛的天然螺旋。建立了一种生成锥形折痕图的反设计方法，保证折痕图的底边在规定的折角下符合目标平面曲线。这种基于机制的方法通过结合锥形特征扩展了刚性和可平折四边形网格折纸图案的设计空间，在可展开的航空航天结构、可重构机器人和超材料中提供了潜在的应用。

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引用次数: 0

An efficient algorithm for evaluating kinematic closed-loop constraint forces of flexible multibody systems 一种评估柔性多体系统运动闭环约束力的有效算法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-18 DOI: 10.1016/j.mechmachtheory.2025.106324

Qixing Yue , Xiaoting Rui , Jianshu Zhang , Kuankuan Gang , Baichen Yang , Shengwei Miao

The formulation of closed-loop flexible multibody systems can be accomplished via the reduced transfer matrix method, which employs joint coordinates, elastic modal coordinates, and a tree-based topology description achieved by imaginarily cutting specific joints, resulting in a minimal set of generalized coordinates for the forward dynamic analysis utilizing recursive procedures. An efficient algorithm is proposed in this paper to eliminate redundant evaluations for kinematic closed-loop constraint forces within these recursive procedures. The transfer equations and recursive relationship of the accelerations for flexible body components are reformulated in lightweight forms characterized by the minimal sets of closed-loop constraint forces. Complementarily, the kinematic closed-loop constraint equations are reformulated in lightweight manners upon the minimal sets of closed-loop constraint forces, whereby the corresponding constraint forces are evaluated through redundancy-free computations. Three numerical examples are finally presented to illustrate the effectiveness, versatility, and efficiency of the proposed algorithm. It can be concluded that the proposed algorithm provides a computationally efficient alternative to the recursive solution procedures for the forward dynamic analysis of flexible multibody systems.

闭环柔性多体系统的表述可以通过简化传递矩阵法来完成，该方法采用关节坐标、弹性模态坐标和基于树的拓扑描述，通过想象切割特定的关节来实现，从而产生最小的广义坐标集，用于利用递推程序进行正动力分析。本文提出了一种有效的算法来消除这些递归过程中运动学闭环约束力的冗余评估。将柔性体各部件的加速度传递方程和递推关系以闭环约束力最小集的轻量化形式重新表述。此外，在闭环约束力最小集的基础上，以轻量化的方式重新表述了运动学闭环约束方程，通过无冗余计算来评估相应的约束力。最后给出了三个数值算例，说明了该算法的有效性、通用性和高效性。结果表明，该算法为柔性多体系统的正演动力学分析提供了一种计算效率高的替代方法。

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引用次数: 0