Mechanism and Machine Theory最新文献_第7页

Revisiting third‑order tooth‑contact analysis of hypoid and bevel gears via the Darboux moving‑frame 通过Darboux动架重新进行准双曲面齿轮和锥齿轮的三阶齿接触分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-07 DOI: 10.1016/j.mechmachtheory.2025.106270

Zhang-Hua Fong (chair professor), Wei-Jen Chen (Ph.D. candidate)

Local synthesis enables hypoid and bevel gear designers to control the tooth-contact pattern and transmission error (TE) by prescribing curvature-level targets and computing the surfaces that achieve them. While second-order contact analysis is well established, robust performance under load and misalignment often requires third-order geometric compatibility—a step many practitioners avoid due to its algebraic complexity. This paper presents a systematic third-order tooth-contact framework based on the Darboux moving-frame formalism. The first- and second-order meshing relations are cast as two coupled systems of five equations in five unknowns, enabling direct numerical or symbolic solution for the principal curvatures, their derivatives, and the in-plane connection-form derivatives of the generated surface. The formulation naturally yields the angular-velocity ratio and angular accelerations without ad hoc assumptions. A symbolic implementation reproduces a published numerical example from Advanced Theories of Hypoid Gears, confirming consistency. The method provides a rigorous analytical basis for curvature-based local synthesis and supports designs with improved contact stability, reduced TE, and lower sensitivity to misalignment.

局部合成使准双曲面和锥齿轮设计人员能够通过规定曲率级目标和计算实现这些目标的表面来控制齿接触模式和传动误差（TE）。虽然二阶接触分析已经很好地建立，但在载荷和不对准下的鲁棒性能通常需要三阶几何兼容性——由于其代数复杂性，许多从业者避免了这一步。基于达布运动框架形式，提出了一种系统的三阶齿-接触框架。将一阶和二阶网格关系转换为五个未知数的五个方程的两个耦合系统，从而可以直接数值或符号求解主曲率及其导数以及生成曲面的平面内连接形式导数。该公式自然地得出角速度比和角加速度，而不需要特别的假设。一个符号实现再现了《准双曲面齿轮高级理论》中发表的一个数值例子，证实了一致性。该方法为基于曲率的局部合成提供了严格的分析基础，并支持具有改善接触稳定性，降低TE和降低对不对准灵敏度的设计。

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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 : 2025-12-15 Epub 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

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 : 2025-12-15 Epub 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

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 : 2025-12-15 Epub 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

Advances in generalized parallel mechanisms: Coupling, configurable, and articulated designs 广义并联机构的进展：耦合、可配置和铰接设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-08 DOI: 10.1016/j.mechmachtheory.2025.106287

Zhihao Xia , Yongheng Xing , Chunxu Tian , Dan Zhang

This paper reviews recent advancements in Generalized Parallel Mechanisms (GPMs), which extend the capabilities of Conventional Parallel Mechanisms (CPMs) through innovative designs featuring coupling sub-chains, configurable platforms, and articulated platforms. Firstly, the in-depth classification of GPMs is emphasized and the design principles, kinematic analysis, and performance evaluation are detailed to enhance their application capabilities. Then, this paper develops into the analysis of characteristics and performance, covering aspects such as reconfiguration characteristics, workspace performance, and singularity analysis, which are crucial for understanding and optimizing the behavior and efficiency of mechanisms. Furthermore, the key challenges in GPMs are emphasized, including the need for systematic type synthesis methods, clearer motion description frameworks, and comprehensive performance analysis tools that incorporate workspace, singularity, motion/force transmissibility, and various performance indicators. It also highlights future research directions to enhance potential of GPMs in automation and robotics. Finally, this paper presents a comprehensive overview of the practical applications across different fields, including grasping, locomotion, and origami mechanisms. It highlights how GPMs leverage their unique design features to enhance performance, adaptability, and efficiency in various engineering and robotic tasks.

本文综述了广义并联机构（gpm）的最新进展，通过耦合子链、可配置平台和铰接平台的创新设计，扩展了传统并联机构（CPMs）的能力。首先，对gpm进行了深入分类，详细介绍了gpm的设计原则、运动学分析和性能评价，以提高gpm的应用能力。在此基础上，对机构的特性和性能进行分析，包括重构特性、工作空间性能和奇异性分析等，这些对理解和优化机构的行为和效率至关重要。此外，强调了gpm的关键挑战，包括需要系统的类型综合方法，更清晰的运动描述框架，以及综合工作空间，奇点，运动/力传递率和各种性能指标的综合性能分析工具。强调了未来的研究方向，以增强gpm在自动化和机器人领域的潜力。最后，本文全面概述了在不同领域的实际应用，包括抓握、运动和折纸机制。它强调了gpm如何利用其独特的设计特性来提高各种工程和机器人任务的性能、适应性和效率。

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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 : 2025-12-15 Epub 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

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 : 2025-12-15 Epub 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

Control parameter design method for multi-axis machine tools based on graphical implementation 基于图形化实现的多轴机床控制参数设计方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-12 DOI: 10.1016/j.mechmachtheory.2025.106293

Jinyin Zhou , Haoyu Liu , Jun Wu , Xiaoqin Hao

Due to the complexity of multi-axis machine tools, control parameters are generally tuned by engineers and the control performance is not optimal in terms of servo matching. In this paper, a new control-parameter design method for multi-axis machine tools to reduce contour error is proposed. The prescribed amplitude/phase responses at the trajectory’s dominant frequency are set as functions of a constraint parameter. The constraint parameter aligns all axes’ phase at the dominant frequency, which can be used to balance the trajectory amplitude error at the dominant frequency and the phase discrepancy among the axes at the non-dominant frequencies of the trajectory. By designing an appropriate constraint parameter, the multi-axis servo matching of the machine tool can be realized. Amplitude, phase and overshoot are mapped to circles and lines in the control parameter plane. The intersection of the prescribed amplitude and phase curves yields the desired control parameters. Experiments on a five-axis machine tool show that the method achieves better results than manual adjustment on various periodic trajectories.

由于多轴机床的复杂性，控制参数一般由工程师自行调整，在伺服匹配方面控制性能并非最优。提出了一种减少多轴机床轮廓误差的控制参数设计方法。在轨迹主频率处的规定幅度/相位响应被设置为约束参数的函数。该约束参数将各轴在主导频率处的相位对齐，可用于平衡主导频率处的弹道幅值误差和非主导频率处各轴之间的相位差。通过设计合适的约束参数，可以实现机床的多轴伺服匹配。幅度、相位和超调量在控制参数平面上被映射成圆和线。规定幅度和相位曲线的交点产生所需的控制参数。在五轴机床上的实验表明，该方法在各种周期轨迹上的调整效果优于手动调整。

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引用次数: 0

A two degrees of freedom robotic hand for grasping and intra-palmar fine manipulation 一个二自由度机械手，用于抓握和掌内精细操作

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-12-15 Epub Date: 2025-11-13 DOI: 10.1016/j.mechmachtheory.2025.106291

Zhen Yuan , Erke Qin , Zhihao Xu , Penghua Zhang , Ruoxiang Huang , Rongjie Kang , Jian S. Dai , Zhibin Song

Grasp generalisation ability and intra-palmar manipulation ability are important functions of robotic hands. Currently, most robotic hands with these two abilities have a human-like structure with an excessive number of degrees of freedom, results in a complex and costly design that can hinder their practical application in scenarios prioritizing cost-effectiveness and simplicity. In response to this issue, this paper presents a new design for a robotic hand with three fingers and two degrees of freedom, capable of grasping and intra-palmar manipulation. This streamlined motion style, which combines a grasping degree of freedom and a twisting degree of freedom, can perform most hand grasping actions as well as intra-palmar manipulation without the need for wrist compensation. A theoretical model of the mechanism's motion and a force coupling model have been established, as well as a prototype. The robotic hand performance evaluation experiments and the force coupling compensation experiments are implemented. Experimental results verify that the robotic hand has strong grasping ability, fine intra-palmar manipulation ability and large load capacity. The proposed robotic hand provides a new solution for manipulation tools.

抓握泛化能力和掌内操作能力是机器人手的重要功能。目前，大多数具有这两种能力的机器人手都具有类似人的结构，自由度过多，导致设计复杂且成本高昂，这可能阻碍它们在优先考虑成本效益和简单性的场景中的实际应用。针对这一问题，本文提出了一种新的三指二自由度机械人手的设计，具有抓握和掌内操作的能力。这种流线型的运动风格，结合了抓握自由度和扭转自由度，可以执行大多数手抓握动作以及掌内操作，而不需要手腕补偿。建立了机构运动的理论模型和力耦合模型，并制作了样机。进行了机械手性能评价实验和力耦合补偿实验。实验结果表明，该机械手具有较强的抓取能力、良好的掌内操作能力和较大的承载能力。提出的机械手为操作工具提供了一种新的解决方案。

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引用次数: 0

Simulation strategy for the wear process of spur gears considering operational time series 考虑运行时间序列的直齿齿轮磨损过程仿真策略

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.2025.106295

M. García-Pérez , M. Escalero , D. Cubillas , M. Olave , A. Fernández del Rincón

Gear transmissions are critical components in mechanical and transportation systems, where wear progressively alters tooth geometry, diminishes efficiency, and compromises reliability. Conventional wear prediction methods typically rely on simplified cyclic load spectra, which inadequately represent the highly variable operating conditions encountered in real-world applications. This discrepancy limits the accuracy of existing approaches, particularly under oscillatory regimes with non-stationary loads.

To overcome this limitation, this study introduces an efficient analytical framework for predicting wear in spur gears directly from operational time series of load and position. The proposed method builds upon physical wear models and accounts for the transient evolution of contact conditions, while maintaining low computational overhead. Validation against finite element simulations confirms that the approach accurately reproduces tooth wear profiles, yielding low relative errors across diverse loading scenarios.

The results underscore the importance of explicitly incorporating full time series data for reliable wear estimation under non-cyclic conditions. Beyond enhancing predictive accuracy, the proposed strategy offers practical advantages for integration into digital twin frameworks and predictive maintenance systems, where real-time or near-real-time assessments are essential.

齿轮传动是机械和运输系统的关键部件，磨损逐渐改变齿的几何形状，降低效率，并危及可靠性。传统的磨损预测方法通常依赖于简化的循环载荷谱，这不能充分代表在实际应用中遇到的高度可变的操作条件。这种差异限制了现有方法的准确性，特别是在非平稳载荷的振荡状态下。为了克服这一限制，本研究引入了一个有效的分析框架，用于直接从负载和位置的运行时间序列预测正齿轮的磨损。该方法建立在物理磨损模型的基础上，考虑了接触条件的瞬态演变，同时保持了较低的计算开销。对有限元模拟的验证证实，该方法准确地再现了牙齿磨损轮廓，在不同的加载场景中产生了较低的相对误差。结果强调了在非循环条件下明确合并全时间序列数据以进行可靠磨损估计的重要性。除了提高预测准确性外，所提出的策略还为集成到数字孪生框架和预测性维护系统提供了实际优势，在这些系统中，实时或近实时评估是必不可少的。

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引用次数: 0