Mechanism and Machine Theory最新文献_第6页

Dynamic modeling and parameter optimization for a pneumatic-driven peristaltic origami robot 气动蠕动折纸机器人动力学建模及参数优化

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.2025.106326

Kunming Ren , Tingting Yuan , Jinyang Liu

Origami-inspired soft pneumatic actuators provide adaptable and robust solutions for mechanical design, especially in pneumatic-driven peristaltic robots. Accurate dynamic simulation of such systems is essential for design and performance improvement, yet existing studies remain limited. This paper proposes an enhanced dynamic model that improves upon the bar and hinge approach by employing a consistent mass matrix to accurately compute the moment of inertia of origami panels, achieving both high precision and computational efficiency. The proposed framework incorporates coupling between origami structures and multibody dynamics, while accounting for frictional contact, pneumatic actuation and general interactions, thereby accommodating complex mechanical assemblies. To validate the model, experimental studies on peristaltic origami robots are conducted, demonstrating excellent agreement with simulation results. The experiments involve fabricating Kresling-type origami actuators using laminated carbon fiber and fabric, followed by crease parameter calibration. Furthermore, the motion capabilities of an expanded origami robot are analyzed and optimized for both one-dimensional and two-dimensional locomotion. The results provide valuable insights into the design of origami-based robotic systems and highlight the effectiveness and versatility of the proposed dynamic modeling approach.

折纸启发的软气动执行器为机械设计提供了适应性强的鲁棒解决方案，特别是在气动驱动的蠕动机器人中。精确的动态仿真对系统的设计和性能改进至关重要，但现有的研究仍然有限。本文提出了一种改进的动力学模型，该模型在杆铰法的基础上，采用一致质量矩阵精确计算折纸板的转动惯量，达到了高精度和高效率的目的。提出的框架结合了折纸结构和多体动力学之间的耦合，同时考虑了摩擦接触、气动驱动和一般相互作用，从而适应复杂的机械组件。为了验证该模型，对蠕动折纸机器人进行了实验研究，结果与仿真结果吻合良好。实验采用叠层碳纤维和织物制备了kresling型折纸驱动器，并对折痕参数进行了标定。在此基础上，对扩展型折纸机器人的一维和二维运动能力进行了分析和优化。研究结果为基于折纸的机器人系统的设计提供了有价值的见解，并突出了所提出的动态建模方法的有效性和多功能性。

{"title":"Dynamic modeling and parameter optimization for a pneumatic-driven peristaltic origami robot","authors":"Kunming Ren , Tingting Yuan , Jinyang Liu","doi":"10.1016/j.mechmachtheory.2025.106326","DOIUrl":"10.1016/j.mechmachtheory.2025.106326","url":null,"abstract":"<div><div>Origami-inspired soft pneumatic actuators provide adaptable and robust solutions for mechanical design, especially in pneumatic-driven peristaltic robots. Accurate dynamic simulation of such systems is essential for design and performance improvement, yet existing studies remain limited. This paper proposes an enhanced dynamic model that improves upon the bar and hinge approach by employing a consistent mass matrix to accurately compute the moment of inertia of origami panels, achieving both high precision and computational efficiency. The proposed framework incorporates coupling between origami structures and multibody dynamics, while accounting for frictional contact, pneumatic actuation and general interactions, thereby accommodating complex mechanical assemblies. To validate the model, experimental studies on peristaltic origami robots are conducted, demonstrating excellent agreement with simulation results. The experiments involve fabricating Kresling-type origami actuators using laminated carbon fiber and fabric, followed by crease parameter calibration. Furthermore, the motion capabilities of an expanded origami robot are analyzed and optimized for both one-dimensional and two-dimensional locomotion. The results provide valuable insights into the design of origami-based robotic systems and highlight the effectiveness and versatility of the proposed dynamic modeling approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106326"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145884208","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

Knowledge-enhanced optimization of a mobile parallel robot considering topological structure and dimensions 考虑拓扑结构和尺寸的移动并联机器人的知识增强优化

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-01 DOI: 10.1016/j.mechmachtheory.2025.106303

Binbin Lian , Qiqi Dong , Xinming Huo , Zihou Yuan , Qi Li , Tao Sun

Mobile parallel robots, formed by mounting parallel mechanisms on AGVs, combine merits of both automatic transporting and high-precision operation of large-scale parts. Optimal design of mobile parallel robots faces two key challenges: (1) co-optimizing topology of AGV frame and dimension of parallel module, (2) difficulty in embedding domain knowledge to the conventional “black-box” optimization. To address these, we propose a knowledge-enhanced optimization framework. Kinematic, stiffness, and mass models of parallel module, as well as surrogate model of AGV frame are established. A knowledge base is built by explicit knowledge from engineering and knowledge extraction through cluster analysis. Hard and soft constraints are defined, in which soft constraints are embedded to objective. Initial population of optimization searching is determined by preference-domain cluster, and a knowledge-guided multi-objective algorithm is developed. Comparative study to the optimization without knowledge injection show that Pareto front solutions of our method concentrate densely in designer-preferred regions. It achieves 36.45 % higher preference-aligned performance and shows accelerated convergence with stabilized HV progression curves. The framework effectively addresses co-optimization challenges by knowledge fusion and preference guidance.

移动并联机器人是将并联机构安装在agv上形成的，兼具大型零件自动输送和高精度操作的优点。移动并联机器人的优化设计面临两个关键挑战：(1)AGV框架拓扑与并联模块尺寸的协同优化；(2)传统的“黑箱”优化难以嵌入领域知识。为了解决这些问题，我们提出了一个知识增强的优化框架。建立了并联模块的运动学模型、刚度模型和质量模型以及AGV车架的代理模型。从工程中获取显性知识，通过聚类分析提取知识，构建知识库。定义了硬约束和软约束，其中软约束嵌入到目标中。利用偏好域聚类确定优化搜索的初始种群，提出了一种知识引导的多目标算法。与无知识注入优化的对比研究表明，该方法的Pareto前解密集地集中在设计人员偏好的区域。在稳定的HV级数曲线下，该算法的优先对准性能提高了36.45%，收敛速度加快。该框架通过知识融合和偏好引导有效地解决了协同优化挑战。

{"title":"Knowledge-enhanced optimization of a mobile parallel robot considering topological structure and dimensions","authors":"Binbin Lian , Qiqi Dong , Xinming Huo , Zihou Yuan , Qi Li , Tao Sun","doi":"10.1016/j.mechmachtheory.2025.106303","DOIUrl":"10.1016/j.mechmachtheory.2025.106303","url":null,"abstract":"<div><div>Mobile parallel robots, formed by mounting parallel mechanisms on AGVs, combine merits of both automatic transporting and high-precision operation of large-scale parts. Optimal design of mobile parallel robots faces two key challenges: (1) co-optimizing topology of AGV frame and dimension of parallel module, (2) difficulty in embedding domain knowledge to the conventional “black-box” optimization. To address these, we propose a knowledge-enhanced optimization framework. Kinematic, stiffness, and mass models of parallel module, as well as surrogate model of AGV frame are established. A knowledge base is built by explicit knowledge from engineering and knowledge extraction through cluster analysis. Hard and soft constraints are defined, in which soft constraints are embedded to objective. Initial population of optimization searching is determined by preference-domain cluster, and a knowledge-guided multi-objective algorithm is developed. Comparative study to the optimization without knowledge injection show that Pareto front solutions of our method concentrate densely in designer-preferred regions. It achieves 36.45 % higher preference-aligned performance and shows accelerated convergence with stabilized HV progression curves. The framework effectively addresses co-optimization challenges by knowledge fusion and preference guidance.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106303"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685302","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

Flank modification and meshing analysis of harmonic drives with controlled backlash 可控间隙谐波传动的侧面修正与啮合分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-11-27 DOI: 10.1016/j.mechmachtheory.2025.106296

Xinzi Li, Chaosheng Song, Hailan Song

To address the challenge of correlating tooth flank modification design with meshing performance in harmonic drives, this study proposes an optimization method for meshing characteristics based on the control of meshing backlash. First, geometric models of the flexspline (produced by hobbing) and circular spline (produced by power skiving) are established. Subsequently, a computational procedure for determining meshing backlash in harmonic drives, incorporating tooth flank modification, is developed based on kinematic modeling. Finite element analysis is then employed to investigate the relationship between tooth flank modification, backlash distribution, and contact characteristics. The results indicate that controlling the meshing backlash through tooth flank modification shifts the contact pattern on the flexspline tooth surface from the heel to the toe region, reducing the maximum contact pressure by approximately 33.75% under rated torque and 31.03% during start-stop torque. This approach effectively mitigates the stress concentration and uneven load distribution observed in zero-backlash modification designs.

针对谐波传动中齿面修形设计与啮合性能之间的关系，提出了一种基于啮合间隙控制的啮合特性优化方法。首先，建立了柔键（滚刀加工）和圆花键（动力刨削加工）的几何模型。随后，在运动学建模的基础上，建立了包含齿面修正的谐波传动啮合间隙的计算方法。采用有限元分析方法研究了齿面修形、齿隙分布和接触特性之间的关系。结果表明：通过齿侧修形控制啮合间隙，使柔花键齿面接触模式由足跟区转移到趾部，最大接触压力在额定转矩下降低约33.75%，在启停转矩下降低约31.03%。这种方法有效地缓解了应力集中和不均匀荷载分布观察到的零侧隙修改设计。

{"title":"Flank modification and meshing analysis of harmonic drives with controlled backlash","authors":"Xinzi Li, Chaosheng Song, Hailan Song","doi":"10.1016/j.mechmachtheory.2025.106296","DOIUrl":"10.1016/j.mechmachtheory.2025.106296","url":null,"abstract":"<div><div>To address the challenge of correlating tooth flank modification design with meshing performance in harmonic drives, this study proposes an optimization method for meshing characteristics based on the control of meshing backlash. First, geometric models of the flexspline (produced by hobbing) and circular spline (produced by power skiving) are established. Subsequently, a computational procedure for determining meshing backlash in harmonic drives, incorporating tooth flank modification, is developed based on kinematic modeling. Finite element analysis is then employed to investigate the relationship between tooth flank modification, backlash distribution, and contact characteristics. The results indicate that controlling the meshing backlash through tooth flank modification shifts the contact pattern on the flexspline tooth surface from the heel to the toe region, reducing the maximum contact pressure by approximately 33.75% under rated torque and 31.03% during start-stop torque. This approach effectively mitigates the stress concentration and uneven load distribution observed in zero-backlash modification designs.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106296"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145600394","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

Singularity conditions from a kinetostatic analysis of a new parallel robot for human balance and gait rehabilitation 一种新型人体平衡与步态康复并联机器人的动静力学分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-22 DOI: 10.1016/j.mechmachtheory.2025.106328

Paul Diego, Erik Macho, Francisco J. Campa, Saioa Herrero, Mikel Diez, Javier Corral, Charles Pinto

This paper presents a novel device for the rehabilitation of balance and gait functions in patients with neurological disorders. The device is composed of two sensorized footplates, one for each foot of the patient, which are driven by two identical 4-DOF parallel manipulators. The mobility and kinematic analyses of this new parallel manipulator are conducted for the first time, including the resolution of the inverse position problem and the formulation of the overall Jacobian matrix. Then, a simplification of the kinetostatic problem is proposed, which not only reduces the computational cost but also leads to a reduced matrix that enhances the singularity analysis process. Using this matrix and placing emphasis on the geometric interpretation of the singularity conditions, a thorough characterization of them is carried out, which has proven useful for the working mode selection and for visual verification of the rehabilitation trajectories proposed in the path planning process. The paper concludes with the presentation of a prototype intended to validate the usefulness of this device in the rehabilitation field.

本文介绍了一种用于神经系统疾病患者平衡和步态功能康复的新型装置。该装置由两个传感器踏板组成，每只脚对应一个踏板，由两个相同的4-DOF并联机械手驱动。首次对该并联机器人进行了运动学和机动性分析，求解了该并联机器人的位置逆问题，建立了该并联机器人的总体雅可比矩阵。然后，提出了一种运动静力问题的简化方法，不仅减少了计算量，而且简化了矩阵，从而提高了奇异性分析的过程。利用该矩阵并着重于奇点条件的几何解释，对其进行了彻底的表征，这对工作模式的选择和路径规划过程中提出的修复轨迹的视觉验证是有用的。论文最后提出了一个原型，旨在验证该设备在康复领域的实用性。

{"title":"Singularity conditions from a kinetostatic analysis of a new parallel robot for human balance and gait rehabilitation","authors":"Paul Diego, Erik Macho, Francisco J. Campa, Saioa Herrero, Mikel Diez, Javier Corral, Charles Pinto","doi":"10.1016/j.mechmachtheory.2025.106328","DOIUrl":"10.1016/j.mechmachtheory.2025.106328","url":null,"abstract":"<div><div>This paper presents a novel device for the rehabilitation of balance and gait functions in patients with neurological disorders. The device is composed of two sensorized footplates, one for each foot of the patient, which are driven by two identical 4-DOF parallel manipulators. The mobility and kinematic analyses of this new parallel manipulator are conducted for the first time, including the resolution of the inverse position problem and the formulation of the overall Jacobian matrix. Then, a simplification of the kinetostatic problem is proposed, which not only reduces the computational cost but also leads to a reduced matrix that enhances the singularity analysis process. Using this matrix and placing emphasis on the geometric interpretation of the singularity conditions, a thorough characterization of them is carried out, which has proven useful for the working mode selection and for visual verification of the rehabilitation trajectories proposed in the path planning process. The paper concludes with the presentation of a prototype intended to validate the usefulness of this device in the rehabilitation field.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106328"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840001","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

Enhanced obstacle-crossing capability of redundantly actuated wheel-legged robot through dynamic stability and actuation pattern analyses 通过对冗余驱动轮腿机器人的动态稳定性和驱动模式分析，增强了其越障能力

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1016/j.mechmachtheory.2025.106305

Bike Zhu, Jun He, Feng Gao

The exploration of challenging terrains requires robotic systems with advanced mobility and adaptability. However, maintaining stability and maneuverability while traversing obstacles remains a significant challenge for such systems. Redundantly actuated wheel-legged rovers present a promising solution by introducing additional degrees of actuation, enabling more optimized motion strategies and enhanced overall performance. This paper focuses on enhancing the obstacle-crossing capability of these systems by analyzing the dynamic stability criteria and actuation patterns, using the TAWL rover as demonstration. Firstly, the dynamic models of the TAWL rover’s individual leg and the whole body are established, and the dynamic stability criteria are introduced. Secondly, the actuation patterns of the redundant system are analyzed to identify feasible actuation patterns and evaluate associated energy consumption. Thirdly, enhanced obstacle-crossing strategies are proposed, consisting of two components: increasing the rover’s maximum obstacle-crossing height and improving its stability when traversing specific obstacles. Finally, the proposed method is validated on the TAWL rover. The results demonstrate that the proposed method enables the rover to achieve maximum obstacle-crossing height and exhibit superior stability margin while traversing obstacles.

探索具有挑战性的地形需要具有先进机动性和适应性的机器人系统。然而，在穿越障碍物时保持稳定性和机动性仍然是这种系统面临的重大挑战。冗余驱动轮腿漫游者通过引入额外的驱动度，实现更优化的运动策略和增强的整体性能，提供了一个有前途的解决方案。本文以TAWL探测车为例，分析了该系统的动态稳定性准则和驱动模式，重点研究了如何提高该系统的越障能力。首先，建立了TAWL漫游车单腿和整体的动力学模型，并引入了其动态稳定性准则；其次，对冗余系统的驱动模式进行了分析，确定了可行的驱动模式，并对相关能耗进行了评估。第三，提出了增强的越障策略，包括提高漫游车的最大越障高度和提高漫游车在穿越特定障碍物时的稳定性两部分。最后，在TAWL漫游车上对该方法进行了验证。结果表明，该方法能使漫游车在越障过程中获得最大越障高度和优越的稳定裕度。

{"title":"Enhanced obstacle-crossing capability of redundantly actuated wheel-legged robot through dynamic stability and actuation pattern analyses","authors":"Bike Zhu, Jun He, Feng Gao","doi":"10.1016/j.mechmachtheory.2025.106305","DOIUrl":"10.1016/j.mechmachtheory.2025.106305","url":null,"abstract":"<div><div>The exploration of challenging terrains requires robotic systems with advanced mobility and adaptability. However, maintaining stability and maneuverability while traversing obstacles remains a significant challenge for such systems. Redundantly actuated wheel-legged rovers present a promising solution by introducing additional degrees of actuation, enabling more optimized motion strategies and enhanced overall performance. This paper focuses on enhancing the obstacle-crossing capability of these systems by analyzing the dynamic stability criteria and actuation patterns, using the TAWL rover as demonstration. Firstly, the dynamic models of the TAWL rover’s individual leg and the whole body are established, and the dynamic stability criteria are introduced. Secondly, the actuation patterns of the redundant system are analyzed to identify feasible actuation patterns and evaluate associated energy consumption. Thirdly, enhanced obstacle-crossing strategies are proposed, consisting of two components: increasing the rover’s maximum obstacle-crossing height and improving its stability when traversing specific obstacles. Finally, the proposed method is validated on the TAWL rover. The results demonstrate that the proposed method enables the rover to achieve maximum obstacle-crossing height and exhibit superior stability margin while traversing obstacles.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106305"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685304","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 globally discretized ALE beam model for cable-driven parallel robots with large deformations 大变形索驱动并联机器人的全局离散ALE梁模型

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-03-01 Epub Date: 2025-12-16 DOI: 10.1016/j.mechmachtheory.2025.106321

Zheng Chen, Hui Ren, Ping Zhou, Wei Fan

Three-dimensional (3D) beam structures with large deformations and sliding boundaries face critical challenges in balancing accuracy and computational efficiency. To overcome these limitations, a novel globally discretized Arbitrary Lagrangian-Eulerian beam model is proposed for 3D large deformation dynamic analysis. Analytical assumed modes of sectional angles and strains are adopted for global discretization, capturing complex deformations with minimal degrees of freedom. Explicit derivations of both configurational forces and governing equations for large overall motions are achieved. An explicit integration scheme with updating rotation on the SO(3) manifold is proposed to efficiently solve the weak stiff equations of slender cables. An implicit integration scheme is adopted for thick beams with full strain consideration, where analytically derived Jacobian matrices are utilized to enhance computational performance. Numerical results show that the present model demonstrates >80 % reduction in degrees of freedom while maintaining high accuracy. Its efficacy is further proven through the cable-driven parallel robots, achieving real-time capability for large-scale applications. The current approach shows promising potential for modeling other sliding-boundary systems, such as concentric-tube soft robots and variable-length space manipulators.

具有大变形和滑动边界的三维梁结构在平衡精度和计算效率方面面临着严峻的挑战。为了克服这些局限性，提出了一种新的全局离散化任意拉格朗日-欧拉梁模型，用于三维大变形动力分析。采用截面角和应变的解析假设模态进行全局离散化，以最小自由度捕获复杂变形。实现了大整体运动的构型力和控制方程的显式推导。为了有效地求解细长索的弱刚性方程，提出了一种基于SO(3)流形的旋转更新显式积分方案。对于考虑全应变的厚梁，采用隐式积分方案，利用解析导出的雅可比矩阵提高计算性能。数值结果表明，该模型在保持较高精度的同时，自由度降低了80%。通过电缆驱动的并联机器人进一步证明了其有效性，实现了大规模应用的实时能力。目前的方法显示了对其他滑动边界系统建模的潜力，如同心管软机器人和变长空间操纵器。

{"title":"A globally discretized ALE beam model for cable-driven parallel robots with large deformations","authors":"Zheng Chen, Hui Ren, Ping Zhou, Wei Fan","doi":"10.1016/j.mechmachtheory.2025.106321","DOIUrl":"10.1016/j.mechmachtheory.2025.106321","url":null,"abstract":"<div><div>Three-dimensional (3D) beam structures with large deformations and sliding boundaries face critical challenges in balancing accuracy and computational efficiency. To overcome these limitations, a novel globally discretized Arbitrary Lagrangian-Eulerian beam model is proposed for 3D large deformation dynamic analysis. Analytical assumed modes of sectional angles and strains are adopted for global discretization, capturing complex deformations with minimal degrees of freedom. Explicit derivations of both configurational forces and governing equations for large overall motions are achieved. An explicit integration scheme with updating rotation on the SO(3) manifold is proposed to efficiently solve the weak stiff equations of slender cables. An implicit integration scheme is adopted for thick beams with full strain consideration, where analytically derived Jacobian matrices are utilized to enhance computational performance. Numerical results show that the present model demonstrates >80 % reduction in degrees of freedom while maintaining high accuracy. Its efficacy is further proven through the cable-driven parallel robots, achieving real-time capability for large-scale applications. The current approach shows promising potential for modeling other sliding-boundary systems, such as concentric-tube soft robots and variable-length space manipulators.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"219 ","pages":"Article 106321"},"PeriodicalIF":4.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145790362","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

Numerical and experimental investigations on time-varying dynamic characteristics of three-point contact ball bearings 三点接触球轴承时变动态特性的数值与实验研究

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-22 DOI: 10.1016/j.mechmachtheory.2025.106299

Jilai Zhou , Zhong Luo , Lei Li , Tianyue Ma , Shiqiang Qiu , Xinping Luo

Three-point contact ball bearings (TPCBBs) are essential components in aero-engines. Their dynamic characteristics directly determine the mechanical system’s stability and safety. In order to analyze their time-varying dynamic characteristics, a quasi-static model of TPCBBs is proposed. The proposal of this model takes into account the equilibrium states of the balls and the inner rings comprehensively. Utilizing a dual-level iteration principle, the Newton-Raphson method serves as the solution method for this model. Notably, the Jacobian matrix within it is analytically derived. The overall stiffness variation, time-varying stiffness, contact forces, and contact angles are solved and analyzed. Furthermore, the validity of the proposed model is verified through experiments. The results indicate that the variation patterns and amplitudes of stiffness with external forces are different under different contact states. The contact forces supported by the inner and outer rings in the state of three-point contact show an increase contrasted with the state of two-point contact. And one of the inner rings will change from a load-free state to a loaded state.

三点接触球轴承（TPCBBs）是航空发动机的重要部件。它们的动态特性直接决定了机械系统的稳定性和安全性。为了分析多氯联苯的时变动态特性，提出了一种准静态模型。该模型综合考虑了球和内圈的平衡状态。利用双级迭代原理，Newton-Raphson方法作为该模型的求解方法。值得注意的是，其中的雅可比矩阵是解析导出的。对整体刚度变化、时变刚度、接触力和接触角进行了求解和分析。最后，通过实验验证了该模型的有效性。结果表明，在不同的接触状态下，刚度随外力的变化规律和幅度是不同的。与两点接触状态相比，三点接触状态下内外环所承受的接触力有所增加。其中一个内环会从无载荷状态变成有载荷状态。

{"title":"Numerical and experimental investigations on time-varying dynamic characteristics of three-point contact ball bearings","authors":"Jilai Zhou , Zhong Luo , Lei Li , Tianyue Ma , Shiqiang Qiu , Xinping Luo","doi":"10.1016/j.mechmachtheory.2025.106299","DOIUrl":"10.1016/j.mechmachtheory.2025.106299","url":null,"abstract":"<div><div>Three-point contact ball bearings (TPCBBs) are essential components in aero-engines. Their dynamic characteristics directly determine the mechanical system’s stability and safety. In order to analyze their time-varying dynamic characteristics, a quasi-static model of TPCBBs is proposed. The proposal of this model takes into account the equilibrium states of the balls and the inner rings comprehensively. Utilizing a dual-level iteration principle, the Newton-Raphson method serves as the solution method for this model. Notably, the Jacobian matrix within it is analytically derived. The overall stiffness variation, time-varying stiffness, contact forces, and contact angles are solved and analyzed. Furthermore, the validity of the proposed model is verified through experiments. The results indicate that the variation patterns and amplitudes of stiffness with external forces are different under different contact states. The contact forces supported by the inner and outer rings in the state of three-point contact show an increase contrasted with the state of two-point contact. And one of the inner rings will change from a load-free state to a loaded state.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106299"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145569272","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

Optimum design of a parallel spindle head based on kinematics and dynamics indices 基于运动学和动力学指标的并联主轴头优化设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-21 DOI: 10.1016/j.mechmachtheory.2025.106294

Bin Zhu , Liping Wang , Hongzheng Zhang , Yutian Wang , Liwen Guan , Yanling Tian

To develop a spindle head that meets stringent workspace and acceleration requirements for high-efficiency machining, this study proposes a geometric-parameter optimization framework that integrates performance atlases with a Pareto-based multi-objective optimization algorithm. Novel inertia-matrix-based performance indices are introduced to enable accurate evaluation of the spindle head’s linear and angular acceleration capabilities. The kinematic and dynamic performance distributions are subsequently mapped over the design space, and a feasible high-performance design region is identified using predefined performance constraints. Within this region, Pareto optimization is performed to generate a Pareto front, from which the optimal geometric parameters are selected. The spindle head performance, based on the optimized geometric parameters, is verified through dynamic simulations under representative cutting-force conditions; under the specified acceleration profiles, the maximum actuator driving force is

3.82 kN

. The results confirm that the spindle head satisfies the acceleration requirements while maintaining actuator forces within practical limits, thereby supporting the development of next-generation high-performance hybrid machine tools.

为了开发满足高效加工严格的工作空间和加速度要求的主轴头，本研究提出了一种将性能图集与基于pareto的多目标优化算法相结合的几何参数优化框架。引入了新的基于惯性矩阵的性能指标，以便准确评估主轴头的线性和角加速度能力。随后将运动学和动态性能分布映射到设计空间上，并使用预定义的性能约束确定可行的高性能设计区域。在该区域内，进行帕累托优化生成帕累托前沿，并从中选择最优几何参数。基于优化后的几何参数，通过动态仿真验证了代表性切削力条件下主轴头的性能；在规定的加速度剖面下，执行器的最大驱动力为3.82kN。结果证实，主轴头满足加速度要求，同时将致动器力保持在实际范围内，从而支持下一代高性能混合动力机床的开发。

{"title":"Optimum design of a parallel spindle head based on kinematics and dynamics indices","authors":"Bin Zhu , Liping Wang , Hongzheng Zhang , Yutian Wang , Liwen Guan , Yanling Tian","doi":"10.1016/j.mechmachtheory.2025.106294","DOIUrl":"10.1016/j.mechmachtheory.2025.106294","url":null,"abstract":"<div><div>To develop a spindle head that meets stringent workspace and acceleration requirements for high-efficiency machining, this study proposes a geometric-parameter optimization framework that integrates performance atlases with a Pareto-based multi-objective optimization algorithm. Novel inertia-matrix-based performance indices are introduced to enable accurate evaluation of the spindle head’s linear and angular acceleration capabilities. The kinematic and dynamic performance distributions are subsequently mapped over the design space, and a feasible high-performance design region is identified using predefined performance constraints. Within this region, Pareto optimization is performed to generate a Pareto front, from which the optimal geometric parameters are selected. The spindle head performance, based on the optimized geometric parameters, is verified through dynamic simulations under representative cutting-force conditions; under the specified acceleration profiles, the maximum actuator driving force is <span><math><mrow><mn>3</mn><mo>.</mo><mn>82</mn><mspace></mspace><mtext>kN</mtext></mrow></math></span>. The results confirm that the spindle head satisfies the acceleration requirements while maintaining actuator forces within practical limits, thereby supporting the development of next-generation high-performance hybrid machine tools.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106294"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145569274","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

Accurate and robust state estimation for Stewart platform via error state Kalman filter with IMU and leg length fusion 基于误差状态卡尔曼滤波与IMU和腿长融合的Stewart平台精确鲁棒状态估计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-25 DOI: 10.1016/j.mechmachtheory.2025.106297

Changyu Yue, Jinzheng Liu, Liwen Guan

Accurate, fast, and robust kinematic state estimation is essential for industrial applications of the Stewart platform. Conventional methods using leg lengths and forward kinematics are computationally intensive and sensitive to sensor noise. This paper proposes a novel error state Kalman filter (ESKF) framework that tightly fuses onboard inertial measurement unit (IMU) data with leg length measurements. By linearizing the system in the error state, the ESKF handles system nonlinearities more effectively and improves robustness to measurement noise. Additionally, the proposed scheme explicitly incorporates the closed-chain geometric constraints of the Stewart platform, thereby eliminating the need for iterative forward kinematics computations and enhancing computational efficiency. Extensive numerical simulations are conducted under both standard and extreme scenarios, including rapid motion, high sensor noise, reduced measurement availability, and sensor faults. The results indicate that the ESKF-based framework consistently outperforms conventional methods based on extended Kalman filter and forward kinematics with respect to accuracy, robustness, and real-time performance, highlighting its effectiveness for Stewart platform state estimation.

准确、快速、鲁棒的运动状态估计对Stewart平台的工业应用至关重要。使用腿长和正运动学的传统方法计算量大，对传感器噪声敏感。本文提出了一种新的误差状态卡尔曼滤波（ESKF）框架，该框架将机载惯性测量单元（IMU）数据与腿长测量数据紧密融合。通过在误差状态下对系统进行线性化处理，ESKF能更有效地处理系统非线性，提高对测量噪声的鲁棒性。此外，该方案明确地结合了Stewart平台的闭链几何约束，从而消除了迭代正运动学计算的需要，提高了计算效率。在标准和极端情况下进行了大量的数值模拟，包括快速运动、高传感器噪声、测量可用性降低和传感器故障。结果表明，基于eskf的框架在精度、鲁棒性和实时性方面始终优于基于扩展卡尔曼滤波和正运动学的传统方法，突出了其对Stewart平台状态估计的有效性。

{"title":"Accurate and robust state estimation for Stewart platform via error state Kalman filter with IMU and leg length fusion","authors":"Changyu Yue, Jinzheng Liu, Liwen Guan","doi":"10.1016/j.mechmachtheory.2025.106297","DOIUrl":"10.1016/j.mechmachtheory.2025.106297","url":null,"abstract":"<div><div>Accurate, fast, and robust kinematic state estimation is essential for industrial applications of the Stewart platform. Conventional methods using leg lengths and forward kinematics are computationally intensive and sensitive to sensor noise. This paper proposes a novel error state Kalman filter (ESKF) framework that tightly fuses onboard inertial measurement unit (IMU) data with leg length measurements. By linearizing the system in the error state, the ESKF handles system nonlinearities more effectively and improves robustness to measurement noise. Additionally, the proposed scheme explicitly incorporates the closed-chain geometric constraints of the Stewart platform, thereby eliminating the need for iterative forward kinematics computations and enhancing computational efficiency. Extensive numerical simulations are conducted under both standard and extreme scenarios, including rapid motion, high sensor noise, reduced measurement availability, and sensor faults. The results indicate that the ESKF-based framework consistently outperforms conventional methods based on extended Kalman filter and forward kinematics with respect to accuracy, robustness, and real-time performance, highlighting its effectiveness for Stewart platform state estimation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106297"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617869","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

Parameter investigation of bearing based on rolling–sliding contact fatigue crack growth considering load history 考虑载荷历史的滚动-滑动接触疲劳裂纹扩展轴承参数研究

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-10-30 DOI: 10.1016/j.mechmachtheory.2025.106268

Feng Li , Xueyuan Li , He Liu , Sier Deng

Parameter investigation is critical in the field of rolling bearing design. This study investigates the influence of geometric and operational parameters on fatigue crack growth under rolling–sliding contact using stress intensity factor. A variable–amplitude load history of ring is incorporated through a linear superposition approach. Our findings reveal that Mode II crack growth dominates under light load conditions, whereas both Mode I and Mode II mechanisms become significant under heavy loads. The geometric configuration of the bearing significantly influences crack growth behavior. Specifically, the optimal radial clearance is identified as approximately 0.05 mm. To balance the load–carrying capacity with crack growth, the recommended number of balls ranges from 10 to 13. The ball diameter should be maximized without compromising structural rigidity. Additionally, a smaller groove curvature radius coefficient for inner ring is beneficial in mitigating crack growth. These findings offer a theoretical basis for parameter selection in rolling bearing design, enhancing the accuracy of fatigue life prediction.

在滚动轴承设计中，参数研究是至关重要的。利用应力强度因子研究了几何参数和操作参数对滚动滑动接触下疲劳裂纹扩展的影响。通过线性叠加的方法，将环的变幅载荷历史结合起来。我们的研究结果表明，在轻载荷条件下，II型裂纹扩展机制占主导地位，而在重载条件下，I型和II型裂纹扩展机制都变得重要。轴承的几何形态对裂纹扩展行为有显著影响。具体而言，最佳径向间隙确定为约0.05 mm。为了平衡承载能力和裂纹扩展，推荐的球数为10 ~ 13。在不影响结构刚度的情况下，球径应最大化。此外，较小的内环槽曲率半径系数有利于减缓裂纹扩展。研究结果为滚动轴承设计参数选择提供了理论依据，提高了疲劳寿命预测的精度。

{"title":"Parameter investigation of bearing based on rolling–sliding contact fatigue crack growth considering load history","authors":"Feng Li , Xueyuan Li , He Liu , Sier Deng","doi":"10.1016/j.mechmachtheory.2025.106268","DOIUrl":"10.1016/j.mechmachtheory.2025.106268","url":null,"abstract":"<div><div>Parameter investigation is critical in the field of rolling bearing design. This study investigates the influence of geometric and operational parameters on fatigue crack growth under rolling–sliding contact using stress intensity factor. A variable–amplitude load history of ring is incorporated through a linear superposition approach. Our findings reveal that Mode II crack growth dominates under light load conditions, whereas both Mode I and Mode II mechanisms become significant under heavy loads. The geometric configuration of the bearing significantly influences crack growth behavior. Specifically, the optimal radial clearance is identified as approximately 0.05 mm. To balance the load–carrying capacity with crack growth, the recommended number of balls ranges from 10 to 13. The ball diameter should be maximized without compromising structural rigidity. Additionally, a smaller groove curvature radius coefficient for inner ring is beneficial in mitigating crack growth. These findings offer a theoretical basis for parameter selection in rolling bearing design, enhancing the accuracy of fatigue life prediction.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"218 ","pages":"Article 106268"},"PeriodicalIF":4.5,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145420502","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