Mechanism and Machine Theory最新文献_第9页

Kinetostatics and Particle-Swarm Optimization of vehicle-mounted underactuated metamorphic loading manipulators 车载欠驱动变形装载机的动静力学与粒子群优化

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-16 DOI: 10.1016/j.mechmachtheory.2025.106254

Nan Mao , Junpeng Chen , Guanglu Jia , Emmanouil Spyrakos-Papastavridis , Jian S. Dai

Fixed degree-of-freedom (DoF) loading mechanisms often suffer from excessive actuators, complex control, and limited adaptability to dynamic tasks. This study proposes an innovative mechanism of underactuated metamorphic loading manipulators (UMLM), integrating a metamorphic arm with a passively adaptive gripper. The metamorphic arm exploits geometric constraints, enabling the topology reconfiguration and flexible motion trajectories without additional actuators. The adaptive gripper, driven entirely by the arm, conforms to diverse objects through passive compliance. A structural model is developed, and a kinetostatics analysis is conducted to investigate isomorphic grasping configurations. To optimize performance, Particle-Swarm Optimization (PSO) is utilized to refine the gripper’s dimensional parameters, ensuring robust adaptability across various applications. Simulation results validate the UMLM’s easily implemented control strategy, operational versatility, and effectiveness in grasping diverse objects in dynamic environments. This work underscores the practical potential of underactuated metamorphic mechanisms in applications requiring efficient and adaptable loading solutions. Beyond the specific design, this generalized modeling and optimization framework extends to a broader class of manipulators, offering a scalable approach to the development of robotic systems that require efficiency, flexibility, and robust performance.

固定自由度（DoF）加载机构常常存在执行机构过多、控制复杂、对动态任务适应性有限等问题。本研究提出了一种欠驱动变形加载机械手（UMLM）的创新机制，将变形臂与被动自适应夹持器集成在一起。变形臂利用几何约束，实现拓扑重构和灵活的运动轨迹，而无需额外的致动器。自适应夹持器完全由手臂驱动，通过被动顺应来适应各种物体。建立了结构模型，并进行了动静力学分析，研究了同构抓取构型。为了优化性能，采用粒子群优化（PSO）方法对夹持器的尺寸参数进行优化，确保夹持器在各种应用中的鲁棒适应性。仿真结果验证了UMLM易于实现的控制策略、操作的通用性以及在动态环境中抓取不同目标的有效性。这项工作强调了欠驱动变质机制在需要高效和适应性负载解决方案的应用中的实际潜力。除了特定的设计之外，这种广义的建模和优化框架扩展到更广泛的机械手类别，为需要效率、灵活性和健壮性能的机器人系统的开发提供了可扩展的方法。

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引用次数: 0

Design of a passive spatial 2-DoF singularity-configurable gravity compensator for forearm and shank with roll-pitch motion 具有滚摇运动的臂、杆被动空间二自由度奇异可配置重力补偿器的设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-16 DOI: 10.1016/j.mechmachtheory.2025.106255

Yijia Peng, Jinrong Deng, Jian Song, Chaoqun Xiang

Passive gravity compensators (PGCs), distinguished by their compact and lightweight design, have been extensively applied in rehabilitation exoskeleton systems. However, existing spatial PGCs developed by pseudo-spatial gravity compensation mechanisms encounter singularities when the limb is oriented vertically, hence severely restricting their workspaces. This research presents a PGC specifically designed for the forearm and shank with roll-pitch motion, capable of positioning its singularity outside the limb's workspace by adjusting the twist angle while preserving perfect gravity compensation. A static balancing condition considering all masses is established, followed by an angle mapping mechanism utilizing a bevel differential and a timing-belt drive to achieve the required angular relationship. The perfect gravity balance is validated through simulations. Natural rubber bands (NRBs), characterized by their lightweight design, are utilized in the fabrication of zero-free-length springs (ZFLSs), with the maximum compensation error recorded at 8.42 % for the NRB measuring 30 mm in width and 3 mm in thickness. A wearable 2-DoF PGC prototype utilizing NRB-ZFLSs has been developed. The quantitative experiment revealed that the maximum compensation error is 10.43 % when the maximum gravity compensation torque is 5.04 Nm.

被动重力补偿器（PGCs）以其结构紧凑、重量轻的特点，在康复外骨骼系统中得到了广泛的应用。然而，现有的基于伪空间重力补偿机制的空间PGCs在肢体垂直定向时存在奇异性，严重限制了其工作空间。本研究提出了一种专门为具有滚转运动的前臂和小腿设计的PGC，该PGC能够在保持完美重力补偿的同时，通过调节扭转角度将其奇异点定位在肢体工作空间之外。建立了考虑所有质量的静平衡条件，然后利用锥面差速器和正时带传动的角度映射机构来实现所需的角度关系。通过仿真验证了完美的重力平衡。以轻量化设计为特点的天然橡皮筋（NRBs）用于零自由长度弹簧（ZFLSs）的制造，对于宽度为30 mm，厚度为3 mm的NRB，最大补偿误差为8.42%。利用nrb - zfls开发了一种可穿戴的2自由度PGC样机。定量实验表明，当最大重力补偿转矩为5.04 Nm时，最大补偿误差为10.43%。

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引用次数: 0

Dynamic characteristics of rigid-flexible coupled planetary gear-bearing-rotor system considering the tooth surface lubrication friction and roughness 考虑齿面润滑摩擦和粗糙度的刚柔耦合行星齿轮-轴承-转子系统动态特性

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-15 DOI: 10.1016/j.mechmachtheory.2025.106259

Ning Liu , Hui Ma , Xiangfu Ding , Jiaqi Liu

A novel rigid-flexible coupled planetary gear-bearing-rotor (PBR) dynamic model with bearing-gear coupling effect, modulation of the planetary carrier, roughness, and friction under different lubrication states is established. The necessity of the bearing nonlinear force, the flexible ring and the modulation of the planet carrier in the model is verified through experiments. The improved friction coefficient and the meshing stiffness with lubrication friction are proposed based on elastohydrodynamic lubrication (EHL) and the three-dimensional loaded tooth contact analysis (3D-LTCA) method. The influence of friction under different lubrication conditions on the dynamic characteristics of the PBR system is analyzed. Some interesting phenomena are as follows: friction coefficient of the mixed EHL is greater than that of the EHL at the pitch point. Compared with friction introduced into the stiffness model, the friction introduced into kinematic equations has a greater impact on the PBR system. The low-frequency energy ratio is more sensitive to friction. Meanwhile, compared with the model without friction, friction leads to an increase in the contact force, contact stiffness and contact area of the ball-race, and the dynamic meshing force (DMF).

建立了考虑轴承-齿轮耦合效应、行星载子调制、粗糙度和不同润滑状态下摩擦的刚柔耦合行星齿轮-轴承-转子（PBR）动力学模型。通过实验验证了模型中轴承非线性力、柔性环和行星载体调制的必要性。基于弹流动力润滑（EHL）和三维加载齿接触分析（3D-LTCA）方法，提出了润滑摩擦下改进的摩擦系数和啮合刚度。分析了不同润滑条件下摩擦对PBR系统动态特性的影响。一些有趣的现象如下：在俯角处，混合EHL的摩擦系数大于EHL的摩擦系数。与刚度模型中引入的摩擦力相比，运动学方程中引入的摩擦力对PBR系统的影响更大。低频能量比对摩擦更敏感。同时，与无摩擦模型相比，摩擦导致球滚道的接触力、接触刚度和接触面积增大，动态啮合力（DMF）增大。

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引用次数: 0

Theory, mechanism design, and experimental verification of a high ratio gear reducer with involute-cycloid combined tooth profiles 渐开线-摆线组合齿形大传动比齿轮减速器的理论、机构设计与实验验证

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-15 DOI: 10.1016/j.mechmachtheory.2025.106256

Jingyu Mo, Shanming Luo

This work presents a compact innovative high ratio reducer mechanism design that is optimized for transmission performance. Current high ratio reducer designs frequently face challenges such as large dimensions, weight and limited mounting spaces. To overcome these limitations and over-positioning structure and high manufacturing and assembly requirements of rotary vector (RV) reducers, we propose a novel high ratio reducer mechanism with 2K-H internal meshing planetary gear sets that maintains miniaturization while improving high ratio. Furthermore, an involute-cycloid composite tooth profile is designed to improve the structural performance of the reducer, which is called abnormal cycloidal gear (ACG) reducer. A comprehensive modification method is introduced, with the new method efficiently mitigating contact stress concentration and meshing impact difficulties while minimizing the sensitivity of transmission accuracy to angle installation errors. Dynamics analysis is utilized to assess the impact of component errors on transmission accuracy. Finally, experiments are carried out to assess the performance of the fabricated reducer prototype, demonstrating that the proposed reducer achieves a wide range of reduction ratios, high precision, and good performance using a simplified mechanism, confirming the reliability of the proposed structure. These findings underscore the potential of the compact high ratio gear reducer for advanced applications in lightweight robotic joint drives.

这项工作提出了一种紧凑的创新的高传动比减速器机构设计，优化了传动性能。目前的高传动比减速器设计经常面临诸如大尺寸、重量和有限的安装空间等挑战。针对旋转矢量（RV）减速器存在的结构过定位、制造装配要求高等问题，提出了一种采用2K-H内啮合行星齿轮组的新型高传动比减速器机构，在保持小型化的同时提高了高传动比。在此基础上，设计了渐开线-摆线复合齿形，提高了该减速器的结构性能，称为异常摆线齿轮（ACG）减速器。介绍了一种综合修正方法，该方法有效地减轻了接触应力集中和啮合冲击困难，同时最大限度地降低了传动精度对角度安装误差的敏感性。采用动力学分析方法评估了元件误差对传动精度的影响。最后，通过实验对所制造的减速器样机进行了性能评估，结果表明，采用简化的机构结构，所提出的减速器实现了大范围的减速比、高精度和良好的性能，验证了所提出结构的可靠性。这些发现强调了紧凑型高传动比齿轮减速器在轻型机器人关节驱动中的先进应用的潜力。

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引用次数: 0

A physics-based and data-driven framework providing a guideline for state estimation in active magnetic bearing-supported rotors 基于物理和数据驱动的框架为主动磁轴承转子状态估计提供了指导

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106250

Ali Moharrami , Tuhin Choudhury , Gyan Ranjan , Behnam Ghalamchi , Henrik Ebel , Jussi Sopanen

This study proposes a low-cost methodology for response estimation in rotor systems supported by active magnetic bearings (AMBs). The methodology forms a framework that integrates multidisciplinary physics-based and data-driven modules, enabling reliable and computationally efficient estimations in various operating conditions (OCs). The developments involve a time-domain simulation based on full rotordynamic finite element (FE) modeling, and rigid body-, Kalman filter (KF)-, and machine learning (ML)-based estimations, to make use of their capabilities in suitable OCs and to highlight their weaknesses. Model and data reductions and inclusion of physical information are incorporated into the framework. As a case study, the methodology is implemented for the estimation of unmeasured translational displacements at the actuator locations. Time- and frequency-domain validations with noisy signals prove that the rigid body and KF estimations are unable to track the system dynamics and diverge from the reference simulation in the vicinity of the critical speeds, where ML provides considerably more precise estimates. The effectiveness of multiple approaches in the framework is concluded with an estimation guideline. Modular developments in the framework are proposed for future studies.

本研究提出了一种低成本的主动磁轴承转子系统响应估计方法。该方法形成了一个框架，集成了基于多学科物理和数据驱动的模块，可以在各种操作条件（OCs）下进行可靠且计算效率高的估计。这些发展涉及基于全旋转动力学有限元（FE）建模的时域仿真，以及基于刚体、卡尔曼滤波（KF）和机器学习（ML）的估计，以利用它们在合适的OCs中的能力并突出它们的弱点。模型和数据的简化以及物理信息的包含被纳入该框架。作为一个案例研究，该方法用于估计执行器位置的未测量平移位移。带噪声信号的时域和频域验证证明，刚体和KF估计无法跟踪系统动力学，并且在临界速度附近偏离参考模拟，其中ML提供了相当精确的估计。通过一个估计准则总结了该框架中多种方法的有效性。提出了框架的模块化发展，以供将来的研究。

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引用次数: 0

One-DOF hexagonal thick-panel origami with uniform thickness, flat deployable surface and compact folding 一自由度六边形厚板折纸，厚度均匀，可展开表面平整，折叠紧凑

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-10 DOI: 10.1016/j.mechmachtheory.2025.106252

Yuanqing Gu , Li Wen , Jiayao Ma , Xiao Zhang , Zhong You , Yan Chen

Thick-panel origami considers the panel thickness for engineering requirements such as solar arrays and reflectarray antennas. However, it is still a challenge to generate the flat surface for two-dimensional deployable structures based on thick-panel origami. In this paper, a construction method for a family of one-degree-of-freedom (one-DOF) folding assemblies with uniform thickness, flat deployable surface and compact folding is proposed based on hexagonal thick panels. Taking the spatial 8R linkage as the kinematic model of thick-panel unit, the one-DOF mechanism networks of 8R linkages are investigated to create hexagon-based folding assemblies with kinematic compatibility and folding capability. Through flipping transformations and various connection forms, a total of sixteen cases of folding assemblies and their one-DOF mechanism topologies are developed to present flat deployable surfaces and compactly folded advantages. Furthermore, the surface integrality of folding assemblies is presented without physical interference, and the prototype is fabricated to verify kinematic properties. The newly found design strategy and construction method can be readily extended to other polygon-based assemblies with potential applications such as deployable structures for aerospace exploration and architecture.

厚板折纸考虑了太阳能阵列和反射天线等工程要求的面板厚度。然而，基于厚板折纸的二维可展开结构的平面生成仍然是一个挑战。本文提出了一种基于六边形厚板的厚度均匀、可展开面平坦、折叠紧凑的一自由度折叠组合体的构造方法。以空间8R连杆机构为厚板单元的运动学模型，研究了8R连杆机构的单自由度机构网络，构建了具有运动兼容性和折叠能力的六边形折叠组件。通过翻转变换和各种连接形式，开发了16种折叠组件及其单自由度机构拓扑结构，使其具有平坦可展开表面和紧凑折叠的优点。此外，在没有物理干扰的情况下，展示了折叠组件的表面完整性，并制作了原型以验证其运动学特性。新发现的设计策略和施工方法可以很容易地扩展到其他具有潜在应用的基于多边形的组件，例如航空航天探索和建筑的可展开结构。

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引用次数: 0

Multi-fidelity harmonic balance method: A non-intrusive approach 多保真谐波平衡法：一种非干扰的方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106251

Hady Mohamed , Nils Brödling , Fabian Duddeck

This paper presents a novel non-intrusive hierarchical multi-fidelity harmonic balance method (HBM) framework for efficient uncertainty quantification (UQ) of nonlinear frequency response functions (FRFs) with application to gear transmission dynamics. The framework uniquely combines proper orthogonal decomposition (POD) to reduce the dimensionality of HBM-derived Fourier coefficients, enable efficient surrogate modeling in latent space, and retain access to both time- and frequency-domain responses. A key innovation is aligning low- and high-fidelity Fourier coefficient latent spaces via Procrustes analysis to improve the construction of a multi-fidelity surrogate using hierarchical Kriging with polynomial chaos Kriging (PCK) as the trend function. Further, computational efficiency in low-fidelity evaluations is achieved by integrating POD with linear regression for rapid compliance matrix estimation in loaded tooth contact analysis (LTCA). Numerical results demonstrate significant computational savings for uncertain FRF predictions of 5000 Monte Carlo (MC) samples. The proposed novelties represent the first application of hierarchical Kriging across aligned Fourier latent spaces and accelerated LTCA within a scalable framework for moderate-dimensional, vector-valued FRF uncertainty analysis, supporting broad applicability to nonlinear dynamical systems modeled with Frequency domain solvers.

提出了一种新的非侵入式分层多保真谐波平衡法框架，用于非线性频响函数的不确定性量化，并将其应用于齿轮传动动力学。该框架独特地结合了适当的正交分解（POD），以降低hbm衍生的傅立叶系数的维数，在潜在空间中实现有效的代理建模，并保留对时域和频域响应的访问。一个关键的创新是通过Procrustes分析将低保真和高保真傅里叶系数潜在空间对齐，以多项式混沌克里格（PCK）作为趋势函数，使用分层克里格来改进多保真代理的构建。此外，通过将POD与线性回归相结合，在加载齿接触分析（LTCA）中快速估计柔度矩阵，提高了低保真度评估的计算效率。数值结果表明，对于5000个蒙特卡罗（MC）样本的不确定频响预测，可以显著节省计算量。提出的新方法代表了分层克里格在排列傅立叶潜在空间中的首次应用，并在中等维度、向量值FRF不确定性分析的可扩展框架内加速LTCA，支持广泛适用于用频域求解器建模的非线性动力系统。

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引用次数: 0

Design and analysis of a portable wrist rehabilitation instrument based on Bricard linkage 基于Bricard连杆的便携式腕部康复仪的设计与分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106253

Shun Yao , Jinyi Lv , Zhuoni Liu , Yuqiao Jiang , Jiangming Kan

In this paper, a portable wrist rehabilitation instrument based on the Bricard linkage is presented. The instrument functions through the spatial tumbling of the Bricard linkage. The movement has similarities with wrist kinematics and is designed to guide wrist rehabilitation. First, the mechanical scheme of the instrument is presented. The wrist kinematics is analyzed, which are flexion & extension, ulnar & radial deviation. Second, for the reason that the movements of the Bricard linkage are similar to that of the Schatz linkage, the kinematic of the instrument is analyzed through the Schatz linkage. Third, the energy consumption of the instrument is calculated and a corresponding wrist rehabilitation exercise is choreographed. Finally, a prototype is manufactured, and a series of experiments are carried out. The results validate that the wrists could be guided by the instrument. The wrists could be fully exercised, and the efficiency of the rehabilitation would be evaluated by the energy consumption in the wrist exercise.

本文提出了一种基于Bricard连杆的便携式腕部康复仪。该仪器通过布里卡连杆的空间翻滚发挥作用。该运动与手腕运动有相似之处，旨在指导手腕康复。首先，给出了仪器的机械结构方案。分析了腕部屈伸、尺桡偏移的运动学特征。其次，由于布里卡德连杆机构的运动与沙茨连杆机构相似，因此通过沙茨连杆机构对仪器的运动学进行了分析。第三，计算仪器的能量消耗，并编排相应的手腕康复运动。最后，制作了样机，并进行了一系列实验。结果表明，该仪器可以实现腕关节的引导。可以充分锻炼腕关节，通过腕关节运动的能量消耗来评价康复效果。

引用次数: 0

A Multi-Facet-Effector Soft Robot in Polyhedral Configuration for Multidirectional Function Reuse 面向多面体结构的多面效应软机器人多方位功能复用

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-08 DOI: 10.1016/j.mechmachtheory.2025.106240

Yige Wu , Nan Huang , Shaowu Tang , Xiaohuang Liu , Xianxu Li , Sicong Liu , Juan Yi , Zheng Wang , Jian S Dai

Soft robots offer flexibility in unstructured environments, though many designs remain tailored to specific tasks. In this paper, we propose an innovative approach employing Multi-Facet-Effectors (MFEs) in polyhedral configuration for the design of a soft robot. In particular, three Soft-Bellowed Actuators (SBAs) constitute the identical triangle effector in each facet of an octahedral-shaped configuration. Utilizing the effector’s two distinct motion forms—Uniform Scaling Motion (USM) and Coordinated Deformation Motion (CDM), the MFE robot functions both as gulp grippers (MFG) and parallel arms (MFA), exhibiting versatile capabilities without intricate designs. A topological analysis using the POC equation validates MFE design’s 6 degrees-of-freedom (DOFs) movements. The robot exhibits 5 symmetric DOFs and an asymmetric translational DOF along the Z-axis. The rotation around the Z-axis achieving 35.7°. The robot is able to grasp objects within a diameter range of 36.3-109.1 mm, with the maximum holding force up to 7 N. Forward and inverse kinematics models for the MFA movements are established and validated. An RMS error of 1.6 mm in translation and 0.9° in rotation is achieved, with a maximum in-plane error of 3.97 mm. Demonstrations of multi-facet manipulation, climbing, and object retrieval validate the benefits of multidirectional function reuse.

软机器人在非结构化环境中提供了灵活性，尽管许多设计仍然是针对特定任务量身定制的。在本文中，我们提出了一种采用多面体结构的多面效应器（MFEs）来设计软体机器人的创新方法。特别是，三个软腔致动器（SBAs）在八面体结构的每个面构成相同的三角形效应器。利用执行器的两种不同的运动形式-均匀缩放运动（USM）和协调变形运动（CDM）， MFE机器人既可以作为吞咽夹持器（MFG）又可以作为平行手臂（MFA），无需复杂的设计即可展示多功能。使用POC方程的拓扑分析验证了MFE设计的6个自由度（DOFs）运动。机器人沿z轴有5个对称自由度和1个不对称平移自由度。绕z轴旋转35.7°。机器人能够抓取直径36.3-109.1 mm范围内的物体，最大持力可达7n。建立并验证了MFA运动的正、逆运动学模型。平移时的均方根误差为1.6 mm，旋转时的均方根误差为0.9°，最大面内误差为3.97 mm。多面操作、爬升和对象检索的演示验证了多向函数重用的好处。

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引用次数: 0

Design method of a T-shaped passive compliant mechanism using assembly force prediction 基于装配力预测的t型被动柔性机构设计方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2025-10-07 DOI: 10.1016/j.mechmachtheory.2025.106222

Beichao Shi , Zhichen Huo , Fujun Wang , Cunman Liang , Xiubing Jing , Yanling Tian

Passive compliant mechanisms (PCMs) serve as critical components in micro assembly systems by providing autonomous force regulation during component interactions. This study presents an innovative T-shaped PCM (T-SPCM) design methodology that significantly enhances force modulation capabilities. Through analytical modeling of assembly forces across various operational states, the correlation between structural stiffness and resultant assembly forces is systematically investigated. The proposed framework enables precise parameter determination of T-SPCM to simultaneously satisfy compliance requirements and operational stability constraints. Experimental validation using a functional prototype demonstrates remarkable performance improvement, with maximum assembly force for 0.1° misaligned microobjects decreasing by 79.3 % (from 0.58 N to 0.12 N). These findings provides both theoretical insights and practical guidelines for developing advanced PCM architectures, particularly beneficial for handling delicate microobjects with low structural rigidity.

被动顺应机构（PCMs）是微装配系统中的关键部件，在部件相互作用过程中提供自主力调节。本研究提出了一种创新的t形PCM （T-SPCM）设计方法，显著提高了力调制能力。通过对不同工作状态下的装配力进行分析建模，系统地研究了结构刚度与装配力之间的关系。所提出的框架使T-SPCM参数的精确确定能够同时满足合规要求和运行稳定性约束。使用功能原型进行的实验验证表明，性能得到了显著改善，0.1°错位微物体的最大装配力降低了79.3%（从0.58 N降至0.12 N）。这些发现为开发先进的PCM体系结构提供了理论见解和实践指导，尤其有利于处理具有低结构刚度的精细微物体。

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引用次数: 0