Mechanism and Machine Theory最新文献_第7页

MADDPG-based energy management strategy for multi-mode distributed drive electric bus 基于madpg的多模分布式驱动电动客车能量管理策略

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-11-07 DOI: 10.1016/j.mechmachtheory.2025.106284

Ying Li , Jiageng Ruan , Zexuan Han , Jingjing Hu , He Wan

The distributed electric drive powertrain is one of the most promising ways to electrify and decarbonize heavy-duty vehicles. To improve the energy efficiency and driving comfort of distributed drive electric buses, this study proposes an Energy Management Strategy based on the Hybrid-Action Multi-Agent Deep Deterministic Policy Gradient algorithm (HA-MADDPG). The MADDPG algorithm enhances the EMS's adaptability and rapid response in varying environments through centralized training and decentralized execution strategy. Considering that single-motor and dual-motor driving modes are available, a rule-learning combined strategy is applied to select discrete driving modes, which adopts a look-up table to determine the single-motor mode, while continuous actions simulate the selection of the dual-motor driving mode. Expert experience is introduced in the HA-MADDPG to guide exploration and correct the unreasonable exploration by Agents, which accelerates the training speed and improves training quality. Results show that the proposed HA-MADDPG EMS improves energy efficiency by up to 1.59 % compared with the Real-time Rule-based EMS, which is widely adopted in real vehicles. Compared with theoretically Optimal Rule-based EMS, HA-MADDPG-based EMS achieves similar energy performance with fewer mode switching actions.

分布式电力驱动动力系统是重型汽车电气化和脱碳最有前途的方法之一。为了提高分布式驱动电动客车的能源效率和驾驶舒适性，提出了一种基于混合行动多智能体深度确定性策略梯度算法（HA-MADDPG）的能源管理策略。该算法通过集中训练和分散执行策略，增强了EMS在不同环境下的适应性和快速响应能力。考虑到有单电机和双电机两种驱动模式，采用规则学习组合策略进行离散驱动模式选择，采用查表法确定单电机驱动模式，连续动作模拟双电机驱动模式的选择。在HA-MADDPG中引入专家经验，引导agent进行探索，纠正agent不合理的探索，加快了训练速度，提高了训练质量。结果表明，与实际车辆中广泛采用的基于实时规则的系统相比，所提出的HA-MADDPG系统的能效提高了1.59%。与理论上最优的基于规则的EMS相比，基于ha - maddpg的EMS以更少的模式切换动作实现了相似的能量性能。

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引用次数: 0

Dynamic modelling, parameter identification and multi-performance integrated trajectory planning methodology for a new high-speed parallel mechanism 新型高速并联机构动力学建模、参数辨识及多性能综合轨迹规划方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-11-06 DOI: 10.1016/j.mechmachtheory.2025.106285

Dong Liang , Yun Jian , Yimin Song , Zhen Wang , Jianjia Liu

For high-speed mechanical equipment, accurate dynamic parameters and efficient task planning are crucial for enhancing the system's dynamic performance. This paper focuses on a new high-speed parallel mechanism (HSPM), establishing its dynamics model, conducting dynamic parameter identification, and proposing a new multi-performance integrated trajectory planning (MPITP) framework for high-speed pick-and-place operations. First, a dynamics model of system is derived using Kane's method, and the dynamic identifiable parameters are extracted. Next, an optimal excitation trajectory is designed and validated experimentally on the HSPM prototype to identify all the dynamic parameters of system. On this basis, a MPITP framework is proposed, which employs two trajectory generation strategies i.e., piecewise polynomials and quintic B-spline curves, to achieve C⁴ continuity of trajectory. Two time-scaling factors are defined, which is optimized by considering end-effector acceleration, jerk, and energy consumption. Experimental results demonstrate that the optimized trajectory enhances system dynamic performance. Moreover, the B-spline trajectory generation strategy yields comprehensive dynamic performance including lower peak acceleration, jerk, and motor energy consumption, providing a theoretical and experimental foundation for improving the dynamic performance and stability of HSPMs.

对于高速机械设备，准确的动态参数和高效的任务规划是提高系统动态性能的关键。本文以一种新型高速并联机构（HSPM）为研究对象，建立其动力学模型，进行动力学参数辨识，提出了一种新的多性能综合轨迹规划（MPITP）框架。首先，利用凯恩法建立了系统的动力学模型，提取了系统的动态可识别参数；其次，设计了最优激励轨迹，并在HSPM样机上进行了实验验证，以识别系统的所有动态参数。在此基础上，提出了MPITP框架，采用分段多项式和五次b样条曲线两种轨迹生成策略，实现了轨迹的C4连续。定义了两个时间尺度因子，并考虑了末端执行器的加速度、抖动和能量消耗进行了优化。实验结果表明，优化后的轨迹提高了系统的动态性能。此外，b样条轨迹生成策略具有较低的峰值加速度、瞬时加速度和电机能量消耗等综合动态性能，为提高高速电机的动态性能和稳定性提供了理论和实验基础。

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引用次数: 0

Contact load distribution modeling of double-nut ball screws: Integrating kinematic errors analysis with machine learning approaches 双螺母滚珠丝杠接触载荷分布建模：运动误差分析与机器学习方法的集成

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-11-06 DOI: 10.1016/j.mechmachtheory.2025.106272

Weiliang Zuo , Baobao Qi , Zhifeng Liu , Chuanhai Chen , Yongsheng Zhao , Qiang Cheng , Jinyan Guo , Nana Niu

In the linear axis drive system (LADS) of machine tools, contact load model of double-nut ball screw (DNBS) is essential for analyzing contact load distribution (CLD) and fatigue life. Most existing studies neglect the coupled influence of kinematic errors. Therefore, a CLD model integrating kinematic errors perturbations is developed. First, kinematic errors are mapped to screw radial bending deformation through coordinate transformation. Next, geometric constraints are incorporated to build the CLD and fatigue life models. In addition, guide rail geometric errors (X-straightness,

k_{1}

; Y-straightness,

k_{2}

; and parallelism,

k_{3}

) are adopted to represent kinematic errors. Experimental validation shows that the proposed model achieves a maximum relative error below 10.97%. Global sensitivity analysis and feature ablation identifies nut position as the dominant factor, with weights of 54.9%–65.3%. Among error parameters,

k_{2}

is most influential (19.9%–30.6%). Accordingly, a hierarchical adjustment strategy is proposed: prioritize nut position and

k_{2}

across the entire travel range, and prioritize the adjustment of

k_{1}

within the mid-section interval. This strategy offers a practical means to optimize LADS performance under complex error conditions.

在机床直线轴传动系统（LADS）中，双螺母滚珠丝杠（DNBS）接触载荷模型是分析其接触载荷分布（CLD）和疲劳寿命的基础。现有的研究大多忽略了运动误差的耦合影响。因此，建立了运动误差摄动积分的CLD模型。首先，通过坐标变换将运动误差映射到螺杆径向弯曲变形；其次，结合几何约束建立CLD和疲劳寿命模型。另外，采用导轨几何误差（x直线度k1， y直线度k2，平行度k3）表示运动误差。实验验证表明，该模型的最大相对误差在10.97%以下。全局敏感性分析和特征消融发现螺母位置是主要因素，权重为54.9%-65.3%。在误差参数中，k2的影响最大（19.9%-30.6%）。据此，提出了一种分级调整策略：在整个行程范围内优先调整螺母位置和k2，在中段区间内优先调整k1。该策略为优化复杂误差条件下的LADS性能提供了一种实用的方法。

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引用次数: 0

The Library of Approaches: A systematic mapping of approaches for the mechanical design of tendon-driven, rigid-sequential anthropomorphic robot hands 方法库：为肌腱驱动的机械设计方法的系统映射，刚性顺序拟人化机器人手

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-11-05 DOI: 10.1016/j.mechmachtheory.2025.106257

Daniel Gossen , Tianyi Jin , Sebastian Polzin , Mark Witte , Eugen Schustermann , Ana Laura Urzua , Clément Gosselin , Mathias Hüsing , Burkhard Corves

The mechanical design of anthropomorphic robot hands is complex and comprehensive and accessing relevant information remains challenging. Existing reviews provide valuable insights but lack a structured overview of the mechanical design approaches for robot hands. This work addresses this gap by introducing the Library of Approaches (LoA), a collection of mechanical design approaches for tendon-driven, rigid-sequential anthropomorphic robot hands, organized in morphological boxes. In a systematic mapping following the PRISMA guideline, joint-related design approaches are collected and used to synthesize initially undocumented principal solutions (PSs) for fields of interest (FoIs). Literature references are then categorized into the established PSs and assigned to different morphological boxes. To comprehensively capture the state of the art, five separate search strategies are conducted, resulting in the analysis of 147 publications, including 87 robot hands and 110 authors. In total, 92 FoIs and 177 PSs are identified. The main objective is to provide a convenient initial source of references for the early mechanical design of anthropomorphic robot hands, without claim of completeness. The study concludes with a discussion of current limitations and potential future work.

拟人机械手的机械设计复杂而全面，获取相关信息仍然具有挑战性。现有的评论提供了有价值的见解，但缺乏对机器人手的机械设计方法的结构化概述。这项工作通过引入方法库（LoA）来解决这一差距，方法库是肌腱驱动的、刚性顺序的拟人化机器人手的机械设计方法的集合，组织在形态盒中。在遵循PRISMA指南的系统映射中，收集了与关节相关的设计方法，并用于合成感兴趣领域（FoIs）的最初未记录的主解（ps）。然后将文献参考文献分类到已建立的ps中，并分配到不同的形态学盒中。为了全面掌握最新技术，我们采用了五种不同的搜索策略，对147份出版物进行了分析，其中包括87个机器人手和110位作者。总共查明了92个信息系统和177个信息系统。主要目的是为拟人机械手的早期机械设计提供一个方便的初始参考来源，而不要求完整性。该研究最后讨论了当前的局限性和潜在的未来工作。

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引用次数: 0

An analytical mesh stiffness model of high-contact-ratio spur gears covering multiple structure coupling effects 一种涵盖多种结构耦合效应的高接触比直齿轮啮合刚度解析模型

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-11-04 DOI: 10.1016/j.mechmachtheory.2025.106286

Xingyuan Zheng , Yumei Hu , Gang Li , Jun Luo , Robert G. Parker

High contact ratio (HCR) spur gears are promising transmission elements in high-power density devices. During gear mesh, a phenomenon known as the structure coupling effect significantly alters mesh behavior and has gained increasing attention recently. However, mainstream formulas lack generality for structure coupling effects stemming from multiple tooth contact of HCR spur gears (multiple structure coupling effects), leaving challenges to capture mesh stiffness accurately. This paper proposes an analytical mesh stiffness model of HCR spur gears. Complex deformation responses are layered and characterized by a simple integer, and a unified fillet foundation stiffness is derived to cover multiple structure coupling effects. A formatted load sharing model further incorporated multiple structure coupling effects and extended tooth contact. Comparisons with benchmark FE models demonstrated the accuracy of the present model. Subsequently, kinematic and dynamic analysis uncovered unique influences of multiple structure coupling effects on mesh behaviors.

高接触比正齿轮是高功率密度器件中有发展前途的传动元件。在齿轮啮合过程中，一种被称为结构耦合效应的现象显著地改变了啮合行为，近年来得到了越来越多的关注。然而，主流公式对HCR直齿齿轮多齿接触引起的结构耦合效应（多重结构耦合效应）缺乏通用性，给准确捕获啮合刚度带来了挑战。本文提出了HCR直齿齿轮啮合刚度解析模型。将复杂变形响应分层并以简单整数表示，并推导出统一的圆角基础刚度以涵盖多种结构耦合效应。一个格式化的载荷分担模型进一步纳入了多个结构耦合效应和扩展的齿接触。与基准有限元模型的比较证明了该模型的准确性。随后，运动学和动力学分析揭示了多结构耦合效应对网格行为的独特影响。

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引用次数: 0

An integrated mechanical-control design methodology for the active suspension of lunar crewed vehicles 月球载人飞行器主动悬架的综合机械控制设计方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-31 DOI: 10.1016/j.mechmachtheory.2025.106279

Haibo Gao , Yu Wang , Zhen Liu , Runze Yuan , Renchao Lu , Zihang Zhao

The main goal of this study is to formulate a methodology for the concurrent design of mechanical parameters and the control law. In this paper, a method is proposed to calculate the parameters of a parallel active suspension for lunar crewed vehicles. An approach to quantify the coupling between mechanical parameters and the control law is facilitated by a simultaneous design strategy. The efficiency of the concurrent method is demonstrated through multibody dynamics simulations of suspension designs for lunar crewed vehicles. From the main results obtained, it can be drawn that the enhancement of dynamic performance, as evidenced through the stability improvement under high-speed travel, the suppression of vibration in the sprung mass and the limitation of active compensation thresholds, is achieved in comparison to both passive suspension and sequentially designed active suspension.

本研究的主要目的是建立一种机械参数与控制律并行设计的方法。提出了一种计算月球载人飞行器并联主动悬架参数的方法。同时设计策略有助于量化机械参数与控制律之间的耦合。通过月球载人飞行器悬架设计的多体动力学仿真，验证了该方法的有效性。从得到的主要结果可以看出，与被动悬架和顺序设计的主动悬架相比，该悬架的动态性能得到了提高，主要表现在高速行驶稳定性的提高、簧载质量振动的抑制和主动补偿阈值的限制等方面。

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 : 2025-10-30 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。

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引用次数: 0

Generalized kinematic solution of hyper redundant multi Gough–Stewart Platform connected serially using deep reinforcement learning with time optimization 基于时间优化深度强化学习的超冗余多Gough-Stewart串联平台广义运动学解

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-27 DOI: 10.1016/j.mechmachtheory.2025.106260

Amirhossein Nourian , Mohammad Reza Ghazavi , Mehdi Tale Masouleh

This paper presents a comprehensive kinematic modeling framework for hyper-redundant, serially-connected Gough–Stewart platforms mechanisms using a deep reinforcement learning approach. The study investigates kinematic chains composed of two, four, and six Gough–Stewart platforms, forming redundant parallel mechanisms with degrees of freedom exceeding six. Addressing the inherent challenge of non-unique inverse kinematic solutions, an effective redundancy resolution strategy is proposed, leveraging time optimization to manage the hybrid platform’s redundancy. The research further tackles the challenge of generalizing solutions across diverse goals within a continuous robotic workspace. Two distinct methods are explored for initial positioning: starting from a distant point to reach a goal or following trajectories for nearby targets. Additionally, a novel recursive implementation of the Proximal Policy Optimization algorithm is employed, enabling the system to achieve sub-0.015 m error in goal-reaching tasks across all configurations. This approach ensures robust and reliable performance, independently of target accuracy requirements. Consistent goal achievement is thereby guaranteed, independently of target accuracy requirements. Furthermore, a new evaluation method is introduced, which can serve as a baseline for future, more complex tasks within this research field.

本文采用深度强化学习方法，提出了超冗余、串联Gough-Stewart平台机制的综合运动学建模框架。研究了由2个、4个和6个Gough-Stewart平台组成的运动链，形成了超过6个自由度的冗余并联机构。针对非唯一逆解的固有挑战，提出了一种有效的冗余解决策略，利用时间优化来管理混合平台的冗余。该研究进一步解决了在连续机器人工作空间中跨越不同目标的一般化解决方案的挑战。探索了两种不同的初始定位方法：从远处的点出发到达目标或沿着轨道到达附近的目标。此外，采用了一种新颖的递归实现的近端策略优化算法，使系统在所有配置下的目标实现任务中达到0.015 m以下的误差。这种方法确保了强大和可靠的性能，独立于目标精度要求。从而保证了一致的目标实现，而不受目标精度要求的影响。此外，还介绍了一种新的评估方法，可以作为该研究领域未来更复杂任务的基准。

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引用次数: 0

A matrix-based configuration synthesis and design of power-split hybrid transmissions for multi-vehicle application scenarios 基于矩阵的多车动力分流混合动力变速器构型综合与设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-25 DOI: 10.1016/j.mechmachtheory.2025.106269

Bihai Deng , Huafeng Ding , Tao Ke , Bin Zi , Andrés Kecskeméthy

This paper presents a matrix-based synthesis and design framework for power-split hybrid transmissions targeting light-duty (L-HEV), medium-duty (M-HEV), and heavy-duty (HHEV) hybrid electric vehicles. A unified structural and position matrix is developed to model planetary gear mechanisms and auxiliary components. This matrix enables automated calculation of rotational speeds and torques, as well as identification of power-split operating modes. Based on this representation, an efficient enumeration algorithm is proposed to generate all feasible configurations, followed by initial screening using kinematic and control feasibility criteria. To evaluate configuration complexity, a composite index is formulated by combining planetary gear structure and shift element layout complexity. Configurations with the lowest complexity are selected and assessed using dynamic programming to analyze acceleration performance and fuel economy across standard driving cycles. The study ultimately identifies eight high-performance configurations for both l-HEV and M-HEV, and 47 preferred configurations for HHEV, each achieving a balance between mechanical simplicity, dynamic performance, and fuel efficiency. The proposed end-to-end framework offers a systematic and practical approach for hybrid transmission design suited to various application scenarios.

针对轻型（L-HEV）、中型（M-HEV）和重型（HHEV）混合动力汽车，提出了一种基于矩阵的动力分流混合动力变速器综合设计框架。建立了行星齿轮机构及其辅助部件的统一结构和位置矩阵。该矩阵能够自动计算转速和扭矩，以及识别功率分割操作模式。在此基础上，提出了一种高效的枚举算法，生成所有可行构型，然后根据运动学和控制可行性准则进行初始筛选。为评价构型复杂度，将行星齿轮结构和换挡元件布局复杂度结合起来，建立了构型复杂度综合指标。选择复杂性最低的配置，并使用动态规划对其进行评估，以分析标准驾驶周期内的加速性能和燃油经济性。该研究最终确定了l-HEV和M-HEV的8种高性能配置，以及HHEV的47种优选配置，每种配置都能在机械简单性、动态性能和燃油效率之间取得平衡。提出的端到端框架为适合各种应用场景的混合动力变速器设计提供了一种系统实用的方法。

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引用次数: 0

Compound Cable-Driven Parallel Robots for improved wrench-feasible workspace and stiffness modulation 改进扳手可行工作空间和刚度调制的复合索驱动并联机器人

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-23 DOI: 10.1016/j.mechmachtheory.2025.106262

Mikael Arslan, Christine Chevallereau, Philippe Wenger, Stéphane Caro

This article introduces three novel planar Compound Cable-Driven Parallel Robot (CCDPR) architectures. Each architecture integrates an antagonistically cable-actuated anti-parallelogram joint (X-joint) onto the moving-platform (MP) of a fully constrained planar Cable-Driven Parallel Robot (CDPR). The core objectives are to enhance the robot static workspace and enable stiffness modulation, crucial for safe human interaction. These architectures explore three X-joint actuation methods: (i) using MP-embedded winches (

R_{2}

), (ii) remote actuation via two dedicated cables (

R_{3}

), and (iii) remote actuation through two cable loops

R_{4}

). The performance of the optimized CCDPRs is analyzed and compared against a standard CDPR (

R_{1}

), focusing on static workspace and stiffness. In applications such as wall and ceiling inspections, CCDPRs, significantly outperform CDPRs. They achieve superior workspace coverage and robustness.

R_{4}

exhibits the largest workspace. Furthermore, stiffness analysis confirms that incorporating the passive stiffness term effectively eliminates unstable regions, with

R_{4}

consistently demonstrating superior stiffness across the workspace by maintaining the highest minimum eigenvalues of the operational stiffness matrix. CCDPRs also show substantial stiffness modulation; in contrast to the negligible stiffness variation of standard CDPRs,

R_{4}

provides significant tunability.

本文介绍了三种新型的平面复合缆驱动并联机器人（CCDPR）结构。每种结构都将拮抗索驱动的反平行四边形关节（x关节）集成到全约束平面索驱动并联机器人（CDPR）的移动平台（MP）上。核心目标是增强机器人的静态工作空间并实现刚度调制，这对安全的人机交互至关重要。这些架构探索了三种x关节驱动方法：(i)使用mp嵌入式绞车（R2），（ii）通过两根专用电缆（R3）远程驱动，以及（iii）通过两根电缆环路（R4）远程驱动。分析了优化后的CCDPRs的性能，并与标准CDPR （R1）进行了比较，重点关注静态工作空间和刚度。在墙壁和天花板检测等应用中，CCDPRs的性能明显优于CDPRs。它们实现了优越的工作空间覆盖和健壮性。R4展示了最大的工作空间。此外，刚度分析证实，纳入被动刚度项有效地消除了不稳定区域，通过保持工作刚度矩阵的最小特征值，R4在整个工作空间中始终表现出优越的刚度。CCDPRs也表现出明显的刚度调制；与标准cdpr的可忽略不计的刚度变化相比，R4提供了显著的可调性。

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引用次数: 0