首页 > 最新文献

Mechanism and Machine Theory最新文献

英文 中文
Analysis and design optimization of a compliant robotic gripper mechanism with inverted flexure joints 带有倒置挠性接头的顺应式机器人抓手机构的分析与优化设计
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-09-02 DOI: 10.1016/j.mechmachtheory.2024.105779

Flexure-jointed grippers provide compliant grasping capability, have low-cost and flexible manufacturing, and are insusceptible to joint friction and wear. However, their grasp stiffness can be limited by flexure compliance such that loss-of-grasp is prone to occur for high object loads. This paper examines the application of inverted-flexure joints in a cable-driven gripper that can avoid flexure buckling and greatly enhance grasp stiffness and stability. To analyze behavior, an energy-based kinetostatic model is developed for a benchmark grasping problem and validated by hardware experiments. A multi-objective design optimization study is conducted, considering key metrics of peak flexure stress, grasp stiffness, and cable actuation force. Results show that the inverted-flexure design has significantly higher grasp stiffness (63% higher in a targeted design optimization) and requires lower actuation forces (¿20% lower in all optimization cases), compared with equivalent direct-flexure designs. An application study is conducted to validate the predicted operating performance under gravity loading of the grasped object. The results demonstrate that stable and high stiffness grasping can be achieved, even under overload conditions that lead to loss-of-grasp for conventional direct-flexure designs.

挠性接头机械手具有顺应性抓取能力,成本低,制造灵活,不易受接头摩擦和磨损的影响。然而,它们的抓取刚度可能会受到挠性顺应性的限制,因此在物体负载较高时容易出现抓取失灵的情况。本文研究了倒挠性接头在电缆驱动机械手中的应用,它可以避免挠曲屈曲,并大大提高抓取刚度和稳定性。为分析其行为,针对基准抓取问题开发了基于能量的运动静力学模型,并通过硬件实验进行了验证。考虑到弯曲应力峰值、抓取刚度和电缆驱动力等关键指标,进行了多目标优化设计研究。结果表明,与同等的直接挠性设计相比,倒置挠性设计的抓取刚度明显更高(在目标设计优化中提高了 63%),所需的驱动力也更低(在所有优化情况下降低了 20%)。我们进行了一项应用研究,以验证所预测的在抓取物体重力负荷下的工作性能。结果表明,即使在超载条件下,也能实现稳定的高刚度抓取,而传统的直接挠性设计会导致抓取失效。
{"title":"Analysis and design optimization of a compliant robotic gripper mechanism with inverted flexure joints","authors":"","doi":"10.1016/j.mechmachtheory.2024.105779","DOIUrl":"10.1016/j.mechmachtheory.2024.105779","url":null,"abstract":"<div><p>Flexure-jointed grippers provide compliant grasping capability, have low-cost and flexible manufacturing, and are insusceptible to joint friction and wear. However, their grasp stiffness can be limited by flexure compliance such that loss-of-grasp is prone to occur for high object loads. This paper examines the application of inverted-flexure joints in a cable-driven gripper that can avoid flexure buckling and greatly enhance grasp stiffness and stability. To analyze behavior, an energy-based kinetostatic model is developed for a benchmark grasping problem and validated by hardware experiments. A multi-objective design optimization study is conducted, considering key metrics of peak flexure stress, grasp stiffness, and cable actuation force. Results show that the inverted-flexure design has significantly higher grasp stiffness (63% higher in a targeted design optimization) and requires lower actuation forces (¿20% lower in all optimization cases), compared with equivalent direct-flexure designs. An application study is conducted to validate the predicted operating performance under gravity loading of the grasped object. The results demonstrate that stable and high stiffness grasping can be achieved, even under overload conditions that lead to loss-of-grasp for conventional direct-flexure designs.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142122620","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
A novel design method of a nonlinear elastic mechanism for series elastic actuators 串联弹性致动器非线性弹性机构的新型设计方法
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-09-01 DOI: 10.1016/j.mechmachtheory.2024.105775

Series elastic actuators with increasing nonlinear stiffness(NlSEA) have promising applications in human-machine interactions for the existence of a nonlinear elastic mechanism that supplies inherent safety and can implement high torque resolution under low load and quick dynamic response under high load. In this study, a novel design method for a nonlinear elastic mechanism that can be applied in NlSEA is proposed. By combining the S-shaped cantilever beam and specialized cam surface, this study proposed an analytical approach to design a nonlinear elastic mechanism satisfying a given stiffening torque-deformation relationship. The geometric parameters constraints were discussed to support parameter determination. Two kinds of cases of nonlinear elastic mechanisms with increasing and constant stiffness characteristics were conducted to verify the effectiveness and generalizability of the proposed design method by simulations. Moreover, a nonlinear elastic mechanism with an increasing stiffness characteristic was designed and a prototype was fabricated. A torque-deformation verification experiment, regulation response experiments, and sinusoidal tracking experiments were conducted to verify the accuracy, response performance, and tracking performance of the prototype. The designed nonlinear elastic mechanism has a large torque-to-mass ratio in a compact and lightweight structure.

具有增大非线性刚度的串联弹性致动器(NlSEA)在人机交互中具有广阔的应用前景,因为它是一种非线性弹性机构,具有固有的安全性,并能在低负载下实现高扭矩分辨率,在高负载下实现快速动态响应。本研究提出了一种可应用于 NlSEA 的新型非线性弹性机构设计方法。通过结合 S 形悬臂梁和专用凸轮表面,本研究提出了一种分析方法来设计满足给定刚化扭矩-变形关系的非线性弹性机构。讨论了几何参数约束,以支持参数确定。通过仿真验证了所提设计方法的有效性和普适性。此外,还设计了一种刚度特性递增的非线性弹性机构,并制作了原型。为了验证原型的精度、响应性能和跟踪性能,还进行了扭矩变形验证实验、调节响应实验和正弦跟踪实验。所设计的非线性弹性机构结构紧凑、重量轻、扭矩质量比大。
{"title":"A novel design method of a nonlinear elastic mechanism for series elastic actuators","authors":"","doi":"10.1016/j.mechmachtheory.2024.105775","DOIUrl":"10.1016/j.mechmachtheory.2024.105775","url":null,"abstract":"<div><p>Series elastic actuators with increasing nonlinear stiffness(NlSEA) have promising applications in human-machine interactions for the existence of a nonlinear elastic mechanism that supplies inherent safety and can implement high torque resolution under low load and quick dynamic response under high load. In this study, a novel design method for a nonlinear elastic mechanism that can be applied in NlSEA is proposed. By combining the S-shaped cantilever beam and specialized cam surface, this study proposed an analytical approach to design a nonlinear elastic mechanism satisfying a given stiffening torque-deformation relationship. The geometric parameters constraints were discussed to support parameter determination. Two kinds of cases of nonlinear elastic mechanisms with increasing and constant stiffness characteristics were conducted to verify the effectiveness and generalizability of the proposed design method by simulations. Moreover, a nonlinear elastic mechanism with an increasing stiffness characteristic was designed and a prototype was fabricated. A torque-deformation verification experiment, regulation response experiments, and sinusoidal tracking experiments were conducted to verify the accuracy, response performance, and tracking performance of the prototype. The designed nonlinear elastic mechanism has a large torque-to-mass ratio in a compact and lightweight structure.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142117584","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
Real-time control of a soft manipulator based on reduced order extended position-based dynamics 基于减阶扩展位置动力学的软机械手实时控制
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-30 DOI: 10.1016/j.mechmachtheory.2024.105774

Soft robots are high-dimensional nonlinear systems coupled with both geometric and material nonlinearity. Control of such a system is complex and time-consuming. In this study, a real-time trajectory tracking control framework is established based on the reduced order extended position-based dynamics. In contrast to the common nonlinear model order reduction methods that require to collect a large number of data to create the motion subspace, this article's motion subspace is constructed based on the model configuration and material properties. The linear modes of the model and the related modal derivatives provide the reduced order matrix, which streamlines and increases the efficiency of model construction. Then, coupled with the instantaneous optimal control, a real-time reduced order model-based control framework of soft robots can be constructed. Experiments on trajectory tracking of a soft manipulator are conducted to verify the accuracy and efficiency of the proposed controller. The average error of all experiments is within 1 cm; and the single-step calculation time of the controller is about 0.057 s, which is less than the sampling period 0.1 s.

软机器人是一种高维非线性系统,同时具有几何和材料非线性。对这样的系统进行控制既复杂又耗时。在本研究中,我们建立了一个基于减阶扩展位置动力学的实时轨迹跟踪控制框架。与需要收集大量数据来创建运动子空间的普通非线性模型降阶方法不同,本文的运动子空间是基于模型配置和材料属性构建的。模型的线性模态和相关模态导数提供了降阶矩阵,简化并提高了模型构建的效率。然后,结合瞬时最优控制,就能构建基于模型的软机器人实时减阶控制框架。通过对软机械手轨迹跟踪的实验,验证了所提控制器的准确性和效率。所有实验的平均误差都在 1 cm 以内;控制器的单步计算时间约为 0.057 s,小于采样周期 0.1 s。
{"title":"Real-time control of a soft manipulator based on reduced order extended position-based dynamics","authors":"","doi":"10.1016/j.mechmachtheory.2024.105774","DOIUrl":"10.1016/j.mechmachtheory.2024.105774","url":null,"abstract":"<div><p>Soft robots are high-dimensional nonlinear systems coupled with both geometric and material nonlinearity. Control of such a system is complex and time-consuming. In this study, a real-time trajectory tracking control framework is established based on the reduced order extended position-based dynamics. In contrast to the common nonlinear model order reduction methods that require to collect a large number of data to create the motion subspace, this article's motion subspace is constructed based on the model configuration and material properties. The linear modes of the model and the related modal derivatives provide the reduced order matrix, which streamlines and increases the efficiency of model construction. Then, coupled with the instantaneous optimal control, a real-time reduced order model-based control framework of soft robots can be constructed. Experiments on trajectory tracking of a soft manipulator are conducted to verify the accuracy and efficiency of the proposed controller. The average error of all experiments is within 1 cm; and the single-step calculation time of the controller is about 0.057 s, which is less than the sampling period 0.1 s.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142095195","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
On-board electric powertrain control for the compensation of the longitudinal acceleration oscillations caused by road irregularities 用于补偿路面不平造成的纵向加速度振荡的车载电动动力总成控制装置
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-29 DOI: 10.1016/j.mechmachtheory.2024.105759

Road irregularities affect vehicle comfort by causing vertical and longitudinal acceleration oscillations. While the current ride comfort enhancement solutions are based on the compensation of the vertical acceleration of the sprung mass, the compensation of the longitudinal dynamics excited by road irregularities has been successfully explored only for in-wheel powertrains. The scope of this study is to demonstrate that also on-board electric powertrains with torsional dynamics of the half-shafts have the potential for effective compensation, thanks to the road profile preview. This paper presents a proof-of-concept nonlinear model predictive controller (NMPC) with road preview, which is assessed with a validated simulation model of an all-wheel drive electric vehicle. Three powertrain layouts are considered, with four in-wheel, four on-board, and two on-board electric machines. The control function is evaluated along multiple manoeuvres, through comfort-related key performance indicators (KPIs) that, for the four on-board layout along a road step test at 40 km/h, highlight >80% improvements. Finally, the real-time implementability of the algorithms is demonstrated, and preliminary experiments are conducted on an electric quadricycle prototype, with more than halved oscillations of the relevant variables.

路面不规则会引起垂直和纵向加速度振荡,从而影响车辆的舒适性。目前的驾乘舒适性提升方案都是基于对弹簧质量垂直加速度的补偿,而对路面不平顺引起的纵向动力的补偿只在轮内动力系统中进行了成功的探索。本研究的目的是证明,借助路面轮廓预览,具有半轴扭转动力学的车载电动动力系统也具有有效补偿的潜力。本文介绍了一种具有道路预览功能的概念验证非线性模型预测控制器(NMPC),并通过全轮驱动电动汽车的验证仿真模型对其进行了评估。考虑了三种动力总成布局,包括四个轮内、四个车载和两个车载电机。通过与舒适性相关的关键性能指标(KPIs),对控制功能进行了多重操纵评估,其中四车载布局在时速 40 公里的道路阶梯测试中突出表现出 80% 的改进。最后,演示了算法的实时可实施性,并在电动四轮车原型上进行了初步实验,相关变量的振荡减少了一半以上。
{"title":"On-board electric powertrain control for the compensation of the longitudinal acceleration oscillations caused by road irregularities","authors":"","doi":"10.1016/j.mechmachtheory.2024.105759","DOIUrl":"10.1016/j.mechmachtheory.2024.105759","url":null,"abstract":"<div><p>Road irregularities affect vehicle comfort by causing vertical and longitudinal acceleration oscillations. While the current ride comfort enhancement solutions are based on the compensation of the vertical acceleration of the sprung mass, the compensation of the longitudinal dynamics excited by road irregularities has been successfully explored only for in-wheel powertrains. The scope of this study is to demonstrate that also on-board electric powertrains with torsional dynamics of the half-shafts have the potential for effective compensation, thanks to the road profile preview. This paper presents a proof-of-concept nonlinear model predictive controller (NMPC) with road preview, which is assessed with a validated simulation model of an all-wheel drive electric vehicle. Three powertrain layouts are considered, with four in-wheel, four on-board, and two on-board electric machines. The control function is evaluated along multiple manoeuvres, through comfort-related key performance indicators (KPIs) that, for the four on-board layout along a road step test at 40 km/h, highlight &gt;80% improvements. Finally, the real-time implementability of the algorithms is demonstrated, and preliminary experiments are conducted on an electric quadricycle prototype, with more than halved oscillations of the relevant variables.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0094114X24001861/pdfft?md5=bad61528704aed0cb166c0e0228b3d1f&pid=1-s2.0-S0094114X24001861-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142095096","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
Expanding the family of plane-symmetric 6R deployable polygon mechanisms by systematically exploring the layout of R-joint axes 通过系统探索 R 关节轴的布局,扩展平面对称 6R 可展开多边形机构系列
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-28 DOI: 10.1016/j.mechmachtheory.2024.105768

In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.

本文研究了参数变化对平面对称布里卡德机构的可展开运动特性、移动性、输入奇异性和展开/折叠性能的影响。首先,回顾了用于构建可展开多边形机构(DGM)的两类旋翼对轴,并进一步细化了它们的取值范围。其次,首次提出了平面对称 6R DGM 的所有可能的轴布置方案。然后,提出了一种改进的方案合成方法,该方法可用于设计属于平面对称布里卡德机构的所有平面对称 6R DGM。第三,应用改进的设计方法创建一系列单自由度平面对称 6R DGM。然后,进行了可行域搜索,并对其中一些进行了原型设计。随后,分析了平面对称 6R DGM 的输入奇异性。最后,根据实际应用场景,提出了两个展开/折叠性能指标,以评估不同完全展开和完全折叠状态的平面对称 6R DGM 的性能。这项工作拓展了 DGM 的种类和数量,也将推动机器人、机械超材料和叽里咕噜机制的发展。
{"title":"Expanding the family of plane-symmetric 6R deployable polygon mechanisms by systematically exploring the layout of R-joint axes","authors":"","doi":"10.1016/j.mechmachtheory.2024.105768","DOIUrl":"10.1016/j.mechmachtheory.2024.105768","url":null,"abstract":"<div><p>In this paper, the impact of parameter variations on the deployable motion characteristics, mobility, input singularity, and deploying/folding performance of plane-symmetric Bricard mechanisms is studied. Firstly, two classes of revolute pair axes used to construct deployable polygon mechanisms (DGMs) are reviewed, and their value ranges are further refined. Secondly, all possible axes arrangement schemes for plane-symmetric 6R DGMs are presented for the first time. Then, an improved schematic synthesis method is proposed, which can be used to design all plane-symmetric 6R DGMs that belong to the plane-symmetric Bricard mechanisms. Thirdly, the improved design method is applied to create a series of single-degree-of-freedom plane-symmetric 6R DGMs. Then, feasible domain searches are performed, and some of them are prototyped. Subsequently, the input singularity of plane-symmetric 6R DGMs is analyzed. Finally, two deploying/folding performance indices are proposed to evaluate the performance of plane-symmetric 6R DGMs with different fully deployed and fully folded states based on actual application scenarios. This work expands the variety and quantity of DGMs, which will also advance the development of robotics, mechanical metamaterials, and kirigami mechanisms.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142088351","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
A general framework for designing compliant deployable mechanisms via geometrically exact beam theory 通过几何精确梁理论设计顺应式可展开机构的总体框架
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-27 DOI: 10.1016/j.mechmachtheory.2024.105778

Compliant deployable mechanisms (CDMs), as a novel and promising type of mechanisms, have been gradually used in medical industry, aerospace and other engineering fields that require high space utilization and compactness. Therefore, it is necessary to develop a general and efficient methodology to design and analyze CDMs. This paper proposes a general framework for designing and analyzing CDMs. The proposed framework has been verified by finite element method (FEM) first. Then, for practical validation, we design two types of compliant deployable mechanisms for different application scenarios within this framework, and experimental testing has been conducted to prove the feasibility of the proposed framework. Compared to the existing methods for designing CDMs, this framework demonstrates a more general scheme where different engineering scenarios can be taken into account to meet the design requirements, presenting several desired advantages over the existing methods, such as higher accuracy and less computational expense.

顺应式可展开机构(CDMs)作为一种新颖且前景广阔的机构类型,已逐渐应用于医疗行业、航空航天和其他对空间利用率和紧凑性要求较高的工程领域。因此,有必要开发一种通用、高效的方法来设计和分析 CDM。本文提出了设计和分析 CDM 的一般框架。首先通过有限元法(FEM)验证了所提出的框架。然后,为了进行实际验证,我们在此框架内针对不同的应用场景设计了两种类型的兼容可部署机构,并进行了实验测试,以证明所提框架的可行性。与现有的 CDM 设计方法相比,该框架展示了一种更通用的方案,可以考虑不同的工程场景以满足设计要求,与现有方法相比具有更高的精度和更少的计算费用等优势。
{"title":"A general framework for designing compliant deployable mechanisms via geometrically exact beam theory","authors":"","doi":"10.1016/j.mechmachtheory.2024.105778","DOIUrl":"10.1016/j.mechmachtheory.2024.105778","url":null,"abstract":"<div><p>Compliant deployable mechanisms (CDMs), as a novel and promising type of mechanisms, have been gradually used in medical industry, aerospace and other engineering fields that require high space utilization and compactness. Therefore, it is necessary to develop a general and efficient methodology to design and analyze CDMs. This paper proposes a general framework for designing and analyzing CDMs. The proposed framework has been verified by finite element method (FEM) first. Then, for practical validation, we design two types of compliant deployable mechanisms for different application scenarios within this framework, and experimental testing has been conducted to prove the feasibility of the proposed framework. Compared to the existing methods for designing CDMs, this framework demonstrates a more general scheme where different engineering scenarios can be taken into account to meet the design requirements, presenting several desired advantages over the existing methods, such as higher accuracy and less computational expense.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142084440","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
A new solution to force analysis including Coulomb friction in mechanism joints 包括库仑摩擦在内的机构连接受力分析新方案
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-26 DOI: 10.1016/j.mechmachtheory.2024.105776

The objective of this paper is to propose a novel approximate solution for determining the reactions of joints in mechanical systems, which involves the influence of Coulomb friction. It is widely acknowledged that if Coulomb friction is used in determining an exact solution to the equilibrium equations for a mechanism, then it will involve nonlinear systems of equations. With the abundance of computer tools now available, tasks of this kind, especially numerical computations, are not particularly challenging. However, new analytically tractable approximate methods are still valuable as a straightforward way of solving the problem. Several studies have been carried out in this field to find a simple solution. In this paper, a new approach based on friction circle concept and Babylonian algorithm is developed for various mechanisms, which is exceptionally well-suited for calculating and streamlining the solution process for mechanical systems by eliminating the necessity for iterative steps at each stage of the force analysis.

本文旨在提出一种新的近似解法,用于确定机械系统中涉及库仑摩擦影响的关节反作用力。人们普遍认为,如果库仑摩擦用于确定机械平衡方程的精确解,那么就会涉及非线性方程组。随着计算机工具的普及,这类任务,尤其是数值计算,已不再具有特别的挑战性。然而,新的可分析近似方法作为解决问题的直接方法仍然很有价值。为了找到简单的解决方案,该领域已经开展了多项研究。本文基于摩擦圆概念和巴比伦算法,为各种机构开发了一种新方法,该方法非常适合机械系统的计算和简化求解过程,省去了每个受力分析阶段的迭代步骤。
{"title":"A new solution to force analysis including Coulomb friction in mechanism joints","authors":"","doi":"10.1016/j.mechmachtheory.2024.105776","DOIUrl":"10.1016/j.mechmachtheory.2024.105776","url":null,"abstract":"<div><p>The objective of this paper is to propose a novel approximate solution for determining the reactions of joints in mechanical systems, which involves the influence of Coulomb friction. It is widely acknowledged that if Coulomb friction is used in determining an exact solution to the equilibrium equations for a mechanism, then it will involve nonlinear systems of equations. With the abundance of computer tools now available, tasks of this kind, especially numerical computations, are not particularly challenging. However, new analytically tractable approximate methods are still valuable as a straightforward way of solving the problem. Several studies have been carried out in this field to find a simple solution. In this paper, a new approach based on friction circle concept and Babylonian algorithm is developed for various mechanisms, which is exceptionally well-suited for calculating and streamlining the solution process for mechanical systems by eliminating the necessity for iterative steps at each stage of the force analysis.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142077346","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
Kinematic synthesis and mechanism design of a six-bar jumping leg for elastic energy storage and release based on dead points 基于死点的弹性储能和释放的六杆跳跃腿的运动学合成和机构设计
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-24 DOI: 10.1016/j.mechmachtheory.2024.105777

Small jumping robots widely adopt complex catapult mechanisms. This paper presents a novel jumping strategy using dead point instead of traditional catapult mechanisms, achieving efficient energy storage and release without increasing mechanical complexity. Single degree-of-freedom (DOF) planar six-bar linkages are widely used in bionic mechanism design due to their simple control and strong design flexibility. However, their complex configuration and numerous parameters make it challenging to carry out multi-objective and multi-constraint designs. In this paper, a design method of single DOF six-bar linkages based on dead-point constraints is proposed to design a frog-inspired leg mechanism. By enumerating the basic configuration atlas and using a stepwise closed-loop method, initial value screening is completed to improve the efficiency of objective function optimization. The dead-point constraints are simplified with graphical geometric properties. The resulting mechanism satisfies multiple objectives and constraints, including shape, motion posture and trajectory, demonstrating the feasibility of the method. Simulations and experiments confirmed the excellent jumping performance of the 147.1-g prototype, with a jump height of 8.55 times leg length and an energy-storing capacity of 35.39 J/kg.

小型跳跃机器人普遍采用复杂的弹射机构。本文提出了一种新颖的跳跃策略,用死点代替传统的弹射机构,在不增加机械复杂性的情况下实现高效的能量存储和释放。单自由度(DOF)平面六杆连杆因其控制简单、设计灵活而被广泛应用于仿生机构设计中。然而,其复杂的构造和众多的参数使得进行多目标和多约束设计具有挑战性。本文提出了一种基于死点约束的单 DOF 六杆连杆机构设计方法,用于设计一种青蛙启发腿机构。通过枚举基本配置图集和使用逐步闭环法完成初始值筛选,从而提高目标函数优化的效率。利用图形几何特性简化了死点约束。最后得到的机构满足多个目标和约束条件,包括形状、运动姿态和轨迹,证明了该方法的可行性。模拟和实验证实,147.1g 的原型具有出色的跳跃性能,跳跃高度是腿长的 8.55 倍,蓄能能力为 35.39 J/kg。
{"title":"Kinematic synthesis and mechanism design of a six-bar jumping leg for elastic energy storage and release based on dead points","authors":"","doi":"10.1016/j.mechmachtheory.2024.105777","DOIUrl":"10.1016/j.mechmachtheory.2024.105777","url":null,"abstract":"<div><p>Small jumping robots widely adopt complex catapult mechanisms. This paper presents a novel jumping strategy using dead point instead of traditional catapult mechanisms, achieving efficient energy storage and release without increasing mechanical complexity. Single degree-of-freedom (DOF) planar six-bar linkages are widely used in bionic mechanism design due to their simple control and strong design flexibility. However, their complex configuration and numerous parameters make it challenging to carry out multi-objective and multi-constraint designs. In this paper, a design method of single DOF six-bar linkages based on dead-point constraints is proposed to design a frog-inspired leg mechanism. By enumerating the basic configuration atlas and using a stepwise closed-loop method, initial value screening is completed to improve the efficiency of objective function optimization. The dead-point constraints are simplified with graphical geometric properties. The resulting mechanism satisfies multiple objectives and constraints, including shape, motion posture and trajectory, demonstrating the feasibility of the method. Simulations and experiments confirmed the excellent jumping performance of the 147.1-g prototype, with a jump height of 8.55 times leg length and an energy-storing capacity of 35.39 J/kg.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142058383","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
Design and analysis of a flexible struts V-expander tensegrity robot for navigating pipes 设计和分析用于管道导航的柔性支柱 V 型张拉机器人
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-21 DOI: 10.1016/j.mechmachtheory.2024.105757

Tensegrity robots have increasingly attracted attention in recent years. Traditionally, these robots rely on rigid struts and cables to maintain equilibrium configurations. However, the inflexibility inherent in these rigid struts curtails the robot’s capacity for deformation, thereby amplifying structural intricacy and imposing limitations on potential applications, particularly in the realm of pipe inspection. Drawing inspiration from the V-expander tensegrity structure, this paper presents a design, analysis, and validation of a flexible struts tensegrity robot. The integration of flexible struts enables the robot to exhibit a compact structure, passive compliance, and excellent adaptability. Through the actuation of three active cables, the robot exhibits inchworm-like motion capabilities for pipes ranging from 50 mm to 110 mm in diameters. A kinetostatics modeling approach is presented to predict the shapes of flexible struts and control the motion behaviors of the robot. To validate the capabilities of the proposed robot and assess the effectiveness of the kinetostatics model, a prototype was constructed and subjected to a series of experiments. The results demonstrate that the prototype exhibits remarkable shape changeability, mobility, and adaptability, while precisely controlling the contact force.

近年来,张力机器人越来越受到人们的关注。传统上,这些机器人依靠刚性支柱和缆绳来保持平衡配置。然而,这些刚性支柱固有的不灵活性限制了机器人的变形能力,从而扩大了结构的复杂性,并对潜在应用造成了限制,尤其是在管道检测领域。本文从 V 型张拉结构中汲取灵感,介绍了柔性支柱张拉机器人的设计、分析和验证。柔性支柱的集成使机器人结构紧凑,具有被动顺应性和出色的适应性。通过三根主动缆绳的驱动,该机器人在直径为 50 毫米至 110 毫米的管道上实现了类似尺蠖的运动能力。本文介绍了一种运动学建模方法,用于预测柔性支柱的形状和控制机器人的运动行为。为了验证拟议机器人的能力和评估运动学模型的有效性,我们制作了一个原型并进行了一系列实验。实验结果表明,该原型机器人在精确控制接触力的同时,还具有出色的形状可变性、移动性和适应性。
{"title":"Design and analysis of a flexible struts V-expander tensegrity robot for navigating pipes","authors":"","doi":"10.1016/j.mechmachtheory.2024.105757","DOIUrl":"10.1016/j.mechmachtheory.2024.105757","url":null,"abstract":"<div><p>Tensegrity robots have increasingly attracted attention in recent years. Traditionally, these robots rely on rigid struts and cables to maintain equilibrium configurations. However, the inflexibility inherent in these rigid struts curtails the robot’s capacity for deformation, thereby amplifying structural intricacy and imposing limitations on potential applications, particularly in the realm of pipe inspection. Drawing inspiration from the V-expander tensegrity structure, this paper presents a design, analysis, and validation of a flexible struts tensegrity robot. The integration of flexible struts enables the robot to exhibit a compact structure, passive compliance, and excellent adaptability. Through the actuation of three active cables, the robot exhibits inchworm-like motion capabilities for pipes ranging from 50 mm to 110 mm in diameters. A kinetostatics modeling approach is presented to predict the shapes of flexible struts and control the motion behaviors of the robot. To validate the capabilities of the proposed robot and assess the effectiveness of the kinetostatics model, a prototype was constructed and subjected to a series of experiments. The results demonstrate that the prototype exhibits remarkable shape changeability, mobility, and adaptability, while precisely controlling the contact force.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142020533","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
Continuous optimization method of micro geometry for unparallel beveloid gears 非平行双曲面齿轮微观几何的连续优化方法
IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2024-08-21 DOI: 10.1016/j.mechmachtheory.2024.105771

To enhance the bearing capacity and minimize the loaded transmission error for unparallel beveloid gears, a continuous optimization method of micro geometry is proposed. Considering that the conjugate characteristic of tooth surfaces is destroyed by misalignments and modification, an unload contact analysis model is first developed. This includes a contact tooth sequence determination model and an unloaded transmission error calculation model for multi-tooth contact. To determine contact due to deformation, a potential contact point matching model of non-contact tooth surfaces is introduced. Further, a numerical loaded contact analysis model based on the influence coefficient method for unparallel beveloid gear is developed. For multi-tooth contact of modified tooth surfaces, the transmission error compatibility condition is introduced. Based on the loaded contact model, a continuous optimization model for the comprehensive performance of contact pressures and loaded transmission error within a meshing cycle is established. To improve optimization efficiency, a calculation strategy for continuous optimization is developed. The feasibility of the proposed method is validated using a numerical example.

为了提高非平行齿面齿轮的承载能力并最大限度地减小载荷传动误差,提出了一种微观几何连续优化方法。考虑到齿面的共轭特性会因错位和改动而遭到破坏,首先开发了一种非负载接触分析模型。这包括一个接触齿序确定模型和一个多齿接触的无负荷传动误差计算模型。为了确定变形引起的接触,引入了非接触齿面的潜在接触点匹配模型。此外,还开发了基于影响系数法的非平行齿面齿轮加载接触数值分析模型。对于修正齿面的多齿接触,引入了传动误差兼容条件。基于加载接触模型,建立了啮合周期内接触压力和加载传动误差综合性能的连续优化模型。为了提高优化效率,还开发了连续优化的计算策略。通过一个数值实例验证了所提方法的可行性。
{"title":"Continuous optimization method of micro geometry for unparallel beveloid gears","authors":"","doi":"10.1016/j.mechmachtheory.2024.105771","DOIUrl":"10.1016/j.mechmachtheory.2024.105771","url":null,"abstract":"<div><p>To enhance the bearing capacity and minimize the loaded transmission error for unparallel beveloid gears, a continuous optimization method of micro geometry is proposed. Considering that the conjugate characteristic of tooth surfaces is destroyed by misalignments and modification, an unload contact analysis model is first developed. This includes a contact tooth sequence determination model and an unloaded transmission error calculation model for multi-tooth contact. To determine contact due to deformation, a potential contact point matching model of non-contact tooth surfaces is introduced. Further, a numerical loaded contact analysis model based on the influence coefficient method for unparallel beveloid gear is developed. For multi-tooth contact of modified tooth surfaces, the transmission error compatibility condition is introduced. Based on the loaded contact model, a continuous optimization model for the comprehensive performance of contact pressures and loaded transmission error within a meshing cycle is established. To improve optimization efficiency, a calculation strategy for continuous optimization is developed. The feasibility of the proposed method is validated using a numerical example.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142020532","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
期刊
Mechanism and Machine Theory
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1