Articles | Volume 2, issue 1
https://doi.org/10.5194/ms-2-99-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.
the Creative Commons Attribution 3.0 License.
Special issue:
https://doi.org/10.5194/ms-2-99-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.
the Creative Commons Attribution 3.0 License.
Research article
| 
10 May 2011
Research article |
| 10 May 2011
Concept of modular flexure-based mechanisms for ultra-high precision robot design
M. Richard
Ecole Polytechnique Fédérale de Lausanne, Laboratoire de Systèmes Robotiques (LSRO), Station 9, 1015 Lausanne, Switzerland
R. Clavel
Ecole Polytechnique Fédérale de Lausanne, Laboratoire de Systèmes Robotiques (LSRO), Station 9, 1015 Lausanne, Switzerland
Related subject area
Mechanisms and Robotics
Fault identification of the vehicle suspension system based on binocular vision and kinematic decoupling
Design and motion analysis of a new wheeled rolling robot
Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism
Meshing stiffness characteristics of modified variable hyperbolic circular-arc-tooth-trace cylindrical gears
Gravity compensation and output data decoupling of a novel six-dimensional force sensor
A replaceable-component method to construct single-degree-of-freedom multi-mode planar mechanisms with up to eight links
Study on the contact performance of the variable hyperbolic circular arc tooth trace cylindrical gear with installation errors
Optimal design and experiments of a novel bobbin thread-hooking mechanism with RRSC (revolute–revolute–spherical–cylindrical) spatial four-bar linkage
Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism
Time-varying reliability models for parallel systems consisting of beam structures with crack flaws
Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning
Multi-robot consensus formation based on virtual spring obstacle avoidance
Modeling and control system experiment of a novel series three-axis stable platform
A miniaturized statically balanced compliant mechanism for on-chip ultralow wide-bandwidth vibrational energy harvesting
Design and obstacle-crossing analysis of a four-link rocker-suspension planetary exploration robot
Vibration coupling characteristics and grinding force control of an elastic component grinding system
Kinematic analysis and bearing capacity optimization of fully decoupled two-rotation mechanisms
A convolutional neural-network-based diagnostic framework for industrial bearing
Design and analysis of a dual-rope crawler rope-climbing robot
Visual simultaneous localization and mapping (vSLAM) algorithm based on improved Vision Transformer semantic segmentation in dynamic scenes
Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains
Assistance control strategy for upper-limb rehabilitation robot based on motion trend
Experimental study on fingertip friction perception characteristics on ridged surfaces
Modified control variates method based on second-order saddle-point approximation for practical reliability analysis
Wearable ankle assistance robot for a human walking with different loads
Motion planning and control strategy of a cable-driven body weight support gait training robot
Optimal resource allocation method and fault-tolerant control for redundant robots
Assembly of reconfigurable Bricard-like mechanisms to form a multimode deployable arch
Design and error compensation of a 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism
Multi-objective optimization design of parallel manipulators using a neural network and principal component analysis
A vision-based robotic system following the human upper-limb sewing action
Gait analysis algorithm for lower limb rehabilitation robot applications
Ellipsoid contact analysis and application in the surface conjugate theory of face gears
Influence of a walking mechanism on the hydrodynamic performance of a high-speed wheeled amphibious vehicle
An investigation into the micro-geometric tapered-shape surface design of the piston bore of a piston–cylinder interface in an axial piston motor
Topology optimization for thermal structures considering design-dependent convection boundaries based on the bidirectional evolutionary structural optimization method
Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme
Kinematic and dynamic characteristics' analysis of a scissor multi-rod ring deployable mechanism
Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck
Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators
Dimensional synthesis of a spherical linkage crank slider mechanism for motion generation using an optimization algorithm
A versatile end effector for grabbing and spreading of flaky deformable object manipulation
Design and kinematics of a lightweight cruciform continuum robot
Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot
Parameter optimization of a pure electric sweeper dust port by a backpropagation neural network combined with a whale algorithm
Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism
Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism
Dynamic modeling and vibration characteristics analysis of parallel antenna
Tooth profile design of a novel helical gear mechanism with improved geometry for a parallel shaft transmission
Instability load analysis of a telescopic boom for an all-terrain crane
Hong Wei, Fulong Liu, Guoxing Li, Xingchen Yun, Muhammad Yousaf Iqbal, and Fengshou Gu
Mech. Sci., 15, 445–460, https://doi.org/10.5194/ms-15-445-2024, https://doi.org/10.5194/ms-15-445-2024, 2024
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Vibration measurement technology based on binocular vision and kinematic decoupling is a new method which can effectively extract vertical vibration signal. The proposed method has the advantages of real-time measurement and low cost and overcomes the limitations of traditional measurement methods in error accumulation.
Hui Bian, Zihan Li, and Chang-Qian Meng
Mech. Sci., 15, 431–444, https://doi.org/10.5194/ms-15-431-2024, https://doi.org/10.5194/ms-15-431-2024, 2024
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Because the wheeled rolling robot has the characteristics of fast movement, high work efficiency and strong bearing capacity, it can be applied to industrial production and detection. Aiming at the problems of low motion efficiency and a large number of drives of the rolling robot based on a parallel mechanism, a new type of wheeled rolling robot composed of a planar 3-RRR parallel mechanism and a spoke-type variable diameter wheel is proposed in this paper.
Kan Shi, Zongjia Wang, Changtao Yan, and Zhiwei Wang
Mech. Sci., 15, 417–430, https://doi.org/10.5194/ms-15-417-2024, https://doi.org/10.5194/ms-15-417-2024, 2024
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In order to lessen the impact on the team of rehabilitation practitioners and provide patients with a higher-quality rehabilitation process, an ankle rehabilitation robot based on a parallel mechanism is proposed. The feasibility of the ankle rehabilitation robot proposed in this paper is proven by analysis, which lays a foundation for future human–machine experiments. It can act as a reference for future research of the ankle rehabilitation mechanism.
Dengqiu Ma, Bing Jiang, Zhenhuan Ye, and Yongping Liu
Mech. Sci., 15, 395–405, https://doi.org/10.5194/ms-15-395-2024, https://doi.org/10.5194/ms-15-395-2024, 2024
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In the present paper, study on meshing stiffness characteristics of the modified variable hyperbolic circular-arc-tooth-trace cylindrical gears was proposed. The modified tooth surface equation was deduced, and a 3D model was developed. The load tooth contact analysis (LTCA) model was developed. The meshing stiffness calculation method was proposed and verified by the finite-element calculation. The influence of the load and modification parameters on the stiffness was investigated.
Yongli Wang, Ke Jin, Xiao Li, Feifan Cao, and Xuan Yu
Mech. Sci., 15, 367–383, https://doi.org/10.5194/ms-15-367-2024, https://doi.org/10.5194/ms-15-367-2024, 2024
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A new type of parallel six-dimensional force sensor was developed, and artificial neural network technology was used to achieve decoupling of the sensor output data. In addition, a gravity compensation method based on CAD variable geometry is proposed to optimize the performance of the six-dimensional force sensor.
Liangyi Nie, Huafeng Ding, Andrés Kecskeméthy, Kwun-Lon Ting, Shiming Li, Bowen Dong, Zhengpeng Wu, Wenyan Luo, and Xiaoyan Wu
Mech. Sci., 15, 331–351, https://doi.org/10.5194/ms-15-331-2024, https://doi.org/10.5194/ms-15-331-2024, 2024
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Using loop equations and branch graphs, we propose a method to construct single-degree-of-freedom (single-DOF) multi-mode-planar mechanisms (MMPMs), replacing links or components of the singular configuration of planar mechanisms with multi-mode modules. The method is straightforward, visible, and widely applicable to single-DOF MMPMs. We give new design direction and powerful design guidance for the design of MMPMs, along with the available configuration and more choice for the application.
Dengqiu Ma, Bing Jiang, Lingli Bao, Zhenhuan Ye, and Yongping Liu
Mech. Sci., 15, 353–366, https://doi.org/10.5194/ms-15-353-2024, https://doi.org/10.5194/ms-15-353-2024, 2024
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The relationship between installation error and contact performance was studied. The tooth surface equation and contact ellipse were deduced, and the imprinting experiment was realized. The tooth contact analysis (TCA) model was developed to investigate the influence of the installation error on the contact area. The formulas of the gap and flexibility matrix were given to develop the loaded TCA (LTCA) model. The influence of the installation error on load distribution was investigated.
Bingliang Ye, Xu Wang, Mingfeng Zheng, Pengbo Ye, and Weiwei Hong
Mech. Sci., 15, 269–279, https://doi.org/10.5194/ms-15-269-2024, https://doi.org/10.5194/ms-15-269-2024, 2024
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In order to solve the problem that an embroidery machine generally uses a straight needle and rotary shuttle to form a lock stitch, which results in the low supply of bobbin thread and frequent bobbin changes, a bobbin thread-hooking mechanism with spatial four-bar linkage is proposed which can achieve a continuous supply of bobbin thread. We provide a reference for solving this embroidery machine practical problem with a spatial four-bar mechanism optimal design method.
Tianze Sun, Wei Ye, Chao Yang, and Fengli Huang
Mech. Sci., 15, 249–256, https://doi.org/10.5194/ms-15-249-2024, https://doi.org/10.5194/ms-15-249-2024, 2024
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The main contribution of this paper is to establish the dynamic model of the reconfigurable parallel mechanism, a versatile robotic system capable of adapting its configuration to different tasks. The dynamic model facilitates the analysis of the dynamic performance of the mechanism. This comprehensive dynamic model serves as a valuable tool for control algorithm development and the performance optimization of reconfigurable parallel mechanisms in diverse applications.
Peng Gao and Liyang Xie
Mech. Sci., 15, 237–248, https://doi.org/10.5194/ms-15-237-2024, https://doi.org/10.5194/ms-15-237-2024, 2024
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A time-varying reliability model of parallel systems consisting of beams with crack flaws is developed, considering the dynamic interaction between stress correlation, crack extension correlation, strength degradation correlation, and the random load redistribution. The model can quantitatively analyze the effects of crack extension, strength degradation, load sharing, random load redistribution, and other factors on the time-varying system reliability.
Sen Qian, Jianxi Zhang, Zongkun Pei, Xiantao Sun, and Zhe Wu
Mech. Sci., 15, 223–236, https://doi.org/10.5194/ms-15-223-2024, https://doi.org/10.5194/ms-15-223-2024, 2024
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A flexible endoscopic robot is designed to solve the problem that it is difficult to maintain a stable visual field in traditional endoscopic surgery. The main contribution of this research is to realize the motion planning and primary–secondary teleoperation control of the flexible endoscope robot under remote center motion constraints on the basis of its structure and select the appropriate deep learning algorithm to complete the autonomous tracking function.
Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, and Xiaohua Wang
Mech. Sci., 15, 195–207, https://doi.org/10.5194/ms-15-195-2024, https://doi.org/10.5194/ms-15-195-2024, 2024
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In this study, we systematically improved the multi-robot formation control algorithm. We employed a virtual spring approach to stabilize formations, enhanced the Velocity Obstacle algorithm to address collisions in dynamic mobility, and introduced a leader for consistency. Simulations with up to 20 robots confirmed our method's suitability for large-scale formation obstacle avoidance. Position error and path length remained stable as robot numbers increased.
Da Song, Xinlei Xiao, Ji Ma, and Lixun Zhang
Mech. Sci., 15, 209–221, https://doi.org/10.5194/ms-15-209-2024, https://doi.org/10.5194/ms-15-209-2024, 2024
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In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, system control scheme, and control strategy are designed. The main function of this stable platform is to isolate the influence of installation carrier movement or external interference and to provide a stable working environment for equipment installed on the stable platform by establishing a stable reference plane.
Haitong Liang, Hailing Fu, and Guangbo Hao
Mech. Sci., 15, 159–168, https://doi.org/10.5194/ms-15-159-2024, https://doi.org/10.5194/ms-15-159-2024, 2024
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A miniaturized statically balanced compliant mechanism is proposed as a structural solution to effectively lower the working frequencies of vibrational energy harvesters to ultralow levels across a wide bandwidth for practical applications. This mechanism exhibits zero stiffness and zero force within a specific displacement range and stiffness nonlinearity in the overall range. It overcomes the working frequency limit imposed by the size effect, showing great potential application value.
Zhen Song, Zirong Luo, and Huixiang Xie
Mech. Sci., 15, 137–157, https://doi.org/10.5194/ms-15-137-2024, https://doi.org/10.5194/ms-15-137-2024, 2024
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There are still many meteorite craters and boulders on the surface of Mars and the Moon that cannot be accessed by existing planetary exploration robots. To solve this issue, this paper proposes a four-link rocker-suspension planetary exploration robot that has both the reliability and low complexity of wheeled rovers and competent terrain adaptability and obstacle-crossing performance.
Yufei Liu, Lang Wu, En Lu, and Jinyong Ju
Mech. Sci., 15, 123–136, https://doi.org/10.5194/ms-15-123-2024, https://doi.org/10.5194/ms-15-123-2024, 2024
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This paper investigates the vibration coupling effect and grinding force control of an elastic component grinding system, which is a multi-dimensional coupling system conveying a dynamic interaction between the elastic component and the grinding device during the grinding process. The research results have guiding significance for the vibration control and constant force control of robotic grinding systems for elastic components.
Sen Wang, Xueyan Han, Haoran Li, Hongyu Xu, and Shihua Li
Mech. Sci., 15, 111–121, https://doi.org/10.5194/ms-15-111-2024, https://doi.org/10.5194/ms-15-111-2024, 2024
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In order to meet the need for high accuracy in road spectrum reproduction of vehicle durability tests, this paper is based on analysis of factors affecting the accuracy of a test platform. The large load capacity and fully decoupled mechanism proposed in the research work of this paper can improve the road spectrum reproduction accuracy of the vehicle durability test platform and has good application prospects in the field of vehicle durability tests.
Bowen Yu and Chunli Xie
Mech. Sci., 15, 87–98, https://doi.org/10.5194/ms-15-87-2024, https://doi.org/10.5194/ms-15-87-2024, 2024
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In this study, we introduce an innovative diagnostic framework tailored to industrial bearings that facilitates automated feature extraction and enables end-to-end fault detection. Our validation across multiple bearing vibration datasets confirms the framework's superiority in handling complex and non-stationary signals in industrial environments.
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang
Mech. Sci., 15, 31–45, https://doi.org/10.5194/ms-15-31-2024, https://doi.org/10.5194/ms-15-31-2024, 2024
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A rope-climbing robot (RCR) can reciprocate on a rope. To address poor load capacity and adaptability, this study designs a dual-rope crawler type RCR for use as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. With overhead rope parabolic theory to kinematically analyze the RCR system, the robot motion trajectory model and tilt angle equation are established.
Mengyuan Chen, Hangrong Guo, Runbang Qian, Guangqiang Gong, and Hao Cheng
Mech. Sci., 15, 1–16, https://doi.org/10.5194/ms-15-1-2024, https://doi.org/10.5194/ms-15-1-2024, 2024
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The proposed VTD-SLAM algorithm has the following advantages. (1) A multiclass feature enhancement and multiclass feature guidance semantic segmentation network (MSNET) is proposed to improve the semantic segmentation ability of dynamic objects. (2) Optimal neighbor pixel matching is used to complete the image of the deleted region. Our method can effectively solve the influence of dynamic objects, so that the SLAM system can operate effectively.
Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang
Mech. Sci., 14, 567–577, https://doi.org/10.5194/ms-14-567-2023, https://doi.org/10.5194/ms-14-567-2023, 2023
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This paper presents a new method to design a new mechanism with fewer moving joints and greater bearing capacity. These machinery-manufacturing, parts-processing, and other fields have a wide range of application prospects.
Haojun Zhang, Tao Song, and Leigang Zhang
Mech. Sci., 14, 503–518, https://doi.org/10.5194/ms-14-503-2023, https://doi.org/10.5194/ms-14-503-2023, 2023
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To enable the control system to provide minimal assistance and apply different rehabilitation stages according to the subject's performance, this paper proposes a motion-trend-based assistance control strategy. The preliminary experimental results demonstrate that the proposed control strategy works well to quickly adjust the assistance to the subject's motor performance and quickly reduce the assistance when the subject tends to actively participate in the exercise.
Liyong Wang, Li Yang, Le Li, Jianpeng Wu, and Qian Zou
Mech. Sci., 14, 463–477, https://doi.org/10.5194/ms-14-463-2023, https://doi.org/10.5194/ms-14-463-2023, 2023
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The development of bionic skin has always been a challenging scientific research problem. A novel experimental method is proposed for investigating fingertip friction perception characteristics. The results show that the tactile perception accuracy can be improved by changing the surface texture and lubrication conditions. The method can provide peer experience for revealing tactile perception mechanisms and can also provide theoretical guidance for the research of bionic skin.
Xinong En, Yimin Zhang, and Xianzhen Huang
Mech. Sci., 14, 439–450, https://doi.org/10.5194/ms-14-439-2023, https://doi.org/10.5194/ms-14-439-2023, 2023
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A novel method is presented for efficiently analyzing the reliability of engineering components and systems with highly nonlinear complex limit state functions. To demonstrate the effectiveness of the proposed method, four examples involving mathematical functions and mechanical problems are solved. The findings demonstrate that while maintaining high-precision reliability results, the proposed method significantly reduces the number of evaluations of the limit state function.
Junqiang Li, Kuan Yang, and Dong Yang
Mech. Sci., 14, 429–438, https://doi.org/10.5194/ms-14-429-2023, https://doi.org/10.5194/ms-14-429-2023, 2023
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A wearable ankle assisted robot is developed to meet the demand for ankle assistance during human walking. The active energy storage mechanism in the robot can realize the storage and release of energy and realize the application of a low-power motor to provide large assisted force. The experimental results show that the net metabolic cost of the participants is reduced by averages of 5.30 %, 5.67 %, and 4.84 % with 0, 4, and 8 kg loads respectively.
Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang
Mech. Sci., 14, 413–427, https://doi.org/10.5194/ms-14-413-2023, https://doi.org/10.5194/ms-14-413-2023, 2023
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A cable-driven body weight support gait training robot (C-BWSGTR) was designed to help provide patients with partial body weight support and a stable walking driving force to assist gait rehabilitation training. Overall configuration, kinematic modeling, and motion planning were carried out, and a position servo composite control strategy was designed. Simulation analysis and the prototype experiment verified that the designed control strategy met the requirements of the system.
Yu Rong, Tianci Dou, and Xingchao Zhang
Mech. Sci., 14, 399–412, https://doi.org/10.5194/ms-14-399-2023, https://doi.org/10.5194/ms-14-399-2023, 2023
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Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Taking the planar 4R redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.
Ruiming Li, Xianhong Zhang, Shuo Zhang, Ran Liu, and Yan-an Yao
Mech. Sci., 14, 387–398, https://doi.org/10.5194/ms-14-387-2023, https://doi.org/10.5194/ms-14-387-2023, 2023
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This paper deals with the construction of a novel family of multimode deployable mechanisms. By connecting many identical threefold-symmetric Bricard-like mechanisms, a multimode deployable arch is proposed for the first time, which can switch between the scissor-like deployable mode and the arch deformable mode through the transition configuration. Then, new multimode center-driven deployable mechanisms can be obtained by connecting three and six multimode deployable arches.
Sen Qian, Xiao Jiang, Yong Liu, Shuaikang Wang, Xiantao Sun, and Huihui Sun
Mech. Sci., 14, 371–386, https://doi.org/10.5194/ms-14-371-2023, https://doi.org/10.5194/ms-14-371-2023, 2023
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A 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism is developed to overcome the high inertia of rigid printing mechanisms and the difficulties of mechanism analysis, a vector analysis method is proposed, and a prescribed-performance controller is designed to improve the stability and motion accuracy of the end-effector. A physical simulation environment and a prototype of the mechanisms are developed. Finally, the clay-printing experiment results show the mechanism to be feasible.
Chao Yang, Peijiao Li, Yang Wang, Wei Ye, Tianze Sun, Fengli Huang, and Hui Zhang
Mech. Sci., 14, 361–370, https://doi.org/10.5194/ms-14-361-2023, https://doi.org/10.5194/ms-14-361-2023, 2023
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The main contribution of this work is to propose a multi-objective optimization design method in terms of factor analysis, a back-propagation (BP) neural network, principal component analysis (PCA), and a particle swarm optimization (PSO) algorithm to achieve optimal comprehensive performance of a mechanism. The computational cost of the proposed approach was reduced by 96.95 % compared with the PSO algorithm, and the comprehensive performance increased by 118.92 %.
Liming Zhang, Xiaohua Wang, Haoyi Wang, and Pengfei Li
Mech. Sci., 14, 347–359, https://doi.org/10.5194/ms-14-347-2023, https://doi.org/10.5194/ms-14-347-2023, 2023
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This paper proposes a robot following method to follow the sewing action of human upper limbs. The purpose of this paper is to demonstrate that robots can assist workers in the future. Compared with the visual servo method, the accuracy is much improved.
Li Zheng and Tao Song
Mech. Sci., 14, 315–331, https://doi.org/10.5194/ms-14-315-2023, https://doi.org/10.5194/ms-14-315-2023, 2023
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In this paper, a gait analysis algorithm for a lower limb rehabilitation robot is proposed. The algorithm realizes the division of gait temporal information and the design of a gait spatiotemporal parameter algorithm based on lidar. A spatial parameter-splicing algorithm based on a time series is proposed, which effectively reduces the influence of errors on gait parameters. Based on the gait algorithm, aiming at real-time algorithm performance, a dynamic window method is proposed.
Xiaomeng Chu, Yali Liu, and Hong Zeng
Mech. Sci., 14, 305–314, https://doi.org/10.5194/ms-14-305-2023, https://doi.org/10.5194/ms-14-305-2023, 2023
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In the design and processing of face gears, it is not necessary to accurately express the tooth surface with an equation, since it will be difficult to analyze some of the most important and practical features, such as the induced curvature relationship. In this regard, this paper uses the discrete curvature relationship of a spatial gradient curvature ellipsoid to describe the space meshing surface, and it establishes a set of discrete digital conjugate surface meshing principles.
Haijun Xu, Liyang Xu, Yikun Feng, Xiaojun Xu, Yue Jiang, and Xue Gao
Mech. Sci., 14, 277–292, https://doi.org/10.5194/ms-14-277-2023, https://doi.org/10.5194/ms-14-277-2023, 2023
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A high-speed wheeled amphibious vehicle was designed and researched based on computational fluid dynamic (CFD) technology. The results were compared with the corresponding test results for verification. CFD is applied to analyze the influence of the wheel flip angle on the resistance performance, and resistance reduction is explained by the change in wake flow-field of the amphibious vehicle. The wheel well was optimized based on our requirement for the vehicle performance on land and water.
Rui Liu, Yishan Zeng, Min Hu, Huabing Zhu, Changhai Liu, and Lei Wang
Mech. Sci., 14, 259–275, https://doi.org/10.5194/ms-14-259-2023, https://doi.org/10.5194/ms-14-259-2023, 2023
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In order to reduce the energy loss and improve the wear resistance of a piston–cylinder pair in an axial piston motor，an optimized tapered piston bore is designed and applied. A fluid–structure interaction numerical model and a new test rig of the friction force of the piston–cylinder pair are developed. Numerical analysis and experimental results show that the optimized tapered-shape piston bore in an axial piston motor can achieve a significant reduction in leakage flow and friction force.
Yanding Guo, Dong Wei, Tieqiang Gang, Xining Lai, Xiaofeng Yang, Guangming Xiao, and Lijie Chen
Mech. Sci., 14, 223–235, https://doi.org/10.5194/ms-14-223-2023, https://doi.org/10.5194/ms-14-223-2023, 2023
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This research provides a topology optimization method for thermal structures considering design-dependent convection boundaries. The effectiveness of the proposed method is illustrated using cases with reasonable configurations under complex thermal boundary conditions.
Said Ghani Khan
Mech. Sci., 14, 209–222, https://doi.org/10.5194/ms-14-209-2023, https://doi.org/10.5194/ms-14-209-2023, 2023
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Humanoid robots are stepping into the social environment. However, smooth and safe operation is still a challenge. Faults in robotics, whether mechanical or electrical, are still inevitable. In this work, we present a fault-tolerant scheme for a humanoid robotic arm, to minimize the damage if a joint fails during normal operation or during human–robot interaction or cooperation.
Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, and Yongsheng Zhao
Mech. Sci., 14, 193–207, https://doi.org/10.5194/ms-14-193-2023, https://doi.org/10.5194/ms-14-193-2023, 2023
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A double-layer ring truss deployable antenna mechanism is proposed, which is connected by a scissor-like structure. The degrees of freedom, six-dimensional velocity, and acceleration are calculated using spiral theory, and the dynamic model is established. Simulation software is used to verify the simulation, and the prototype is made at a reduced scale. Because the satellite antenna is very important, we decided to study the supporting frame.
Jian Qi, Yuan Gao, and Fufu Yang
Mech. Sci., 14, 171–178, https://doi.org/10.5194/ms-14-171-2023, https://doi.org/10.5194/ms-14-171-2023, 2023
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Overconstrained linkages always need fewer links to realize complex motion in a 3D space and are supposed to be great for constructing large deployable structures. However, the strict geometric conditions are hard to use in a complicated 3D environment. In this study, joint clearance is actively introduced to improve the adaptivity of the linkages (with an example given). This work is significant for improving the application of overconstrained linkages in a complicated environment.
Qiaolian Xie, Qiaoling Meng, Wenwei Yu, Rongna Xu, Zhiyu Wu, Xiaoming Wang, and Hongliu Yu
Mech. Sci., 14, 159–170, https://doi.org/10.5194/ms-14-159-2023, https://doi.org/10.5194/ms-14-159-2023, 2023
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This paper presents a novel soft bionic elbow exoskeleton based on shape metal alloy (SMA) actuators (Sobee-SMA). The exoskeleton adopts a bionic design, combining active deformation material SMA and high elastic material rubber band to simulate the contraction and relaxation of the elbow skeletal muscle. According to the static analysis of the human–exoskeleton coupling model and experiments, the exoskeleton provides elbow-assisted motion and ensures the safety of the thermal heating process.
Wei Zhang, Zhen Liu, Wenrui Liu, Jianwei Sun, and He Lu
Mech. Sci., 14, 125–142, https://doi.org/10.5194/ms-14-125-2023, https://doi.org/10.5194/ms-14-125-2023, 2023
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A new method to solve the motion generation problem of a spherical four-bar crank slider rigid-body guidance mechanism is introduced. According to the amplitude and phase of the position output and direction output of the mechanism, the method of establishing the mechanism output characteristic database is given. Then the solution method of size parameters is given. According to the database and solution method, the motion generation is realized.
Yuan Huan, Gongchang Ren, Xiangyu Su, and Weizhi Tian
Mech. Sci., 14, 111–123, https://doi.org/10.5194/ms-14-111-2023, https://doi.org/10.5194/ms-14-111-2023, 2023
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A reconfigurable multi-link mechanism is proposed, and based on the multi-link mechanism and the roller fingertip structure, an end effector is designed to manipulate geometric soft fabrics. The working principle of the reconfigurable multi-link mechanism, the structure and grasping mode of the end effector are introduced in detail, and the kinematics analysis and simulation of the end effector are carried out.
Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu
Mech. Sci., 14, 99–109, https://doi.org/10.5194/ms-14-99-2023, https://doi.org/10.5194/ms-14-99-2023, 2023
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Lightweight and stable continuum robot design is a challenge. We propose a 65 g continuum robot formed using cruciform-arranged elastic sheets. It has low coupling, better bending characteristics in the deformation direction, and a large load capacity in the non-deformation direction, providing a new configuration for lightweight and dexterous continuum robots. Its kinematics model accuracy is experimentally verified. Nucleic acid detection demonstration proves its dexterity and adaptability.
Quansheng Jiang, Kai Cai, and Fengyu Xu
Mech. Sci., 14, 87–97, https://doi.org/10.5194/ms-14-87-2023, https://doi.org/10.5194/ms-14-87-2023, 2023
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Traditional path-planning algorithms for bending robots are often a sequence of multiple line segments and an unsmoothed curve, which causes a discontinuous robot motion. A smooth path can ensure continuous motion. We propose an improved artificial potential field-based path-planning method based on the idea of a rapidly exploring random tree (RRT) algorithm, reducing the length of and smoothing the path, thus solving the path-planning problem of a multi-degrees-of-freedom (DOF) bending robot.
Jiabao Pan, Jin Ye, Hejin Ai, Jiamei Wang, and You Wan
Mech. Sci., 14, 47–60, https://doi.org/10.5194/ms-14-47-2023, https://doi.org/10.5194/ms-14-47-2023, 2023
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Optimizing the structure of the dust extraction port is the key to effectively improving the operational performance of the sweeper. CFD methods are used to analyze the influence of parameters on the sweeping effect in combination with a gas–solid two-phase flow model. The data set is established with the help of orthogonal test methods, and a BP neural network is used to fit the structural parameters and evaluation indexes.
Da Song, Xinlei Xiao, Gang Li, Lixun Zhang, Feng Xue, and Lailu Li
Mech. Sci., 14, 19–32, https://doi.org/10.5194/ms-14-19-2023, https://doi.org/10.5194/ms-14-19-2023, 2023
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The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is mainly used for interactive training between an astronaut and a virtual environment. This haptic interactive robot can accurately simulate the motion and mechanical characteristics of objects in a microgravity environment and can safely interact with astronauts.
Minghui Zhang and Yiming Su
Mech. Sci., 14, 1–13, https://doi.org/10.5194/ms-14-1-2023, https://doi.org/10.5194/ms-14-1-2023, 2023
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A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed for moving on complex terrain. The walking model is established to study the kinematics characteristics and obstacle-surmounting performance of the mechanism. The stability cone method is used to evaluate the rollover stability and anti-interference ability in order to ensure the normal operation of the mechanism.
Guoxing Zhang, Jianliang He, Jinwei Guo, and Xinlu Xia
Mech. Sci., 13, 1019–1029, https://doi.org/10.5194/ms-13-1019-2022, https://doi.org/10.5194/ms-13-1019-2022, 2022
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The closed-form dynamics equation of the 1.8 m aperture parallel antenna is established. The relationship between the mechanism's natural frequency, displacement response, and resonance frequency is obtained. Based on the dynamic model, the closed-loop motion control strategy of the parallel antenna mechanism is established. The tracking error of the pitch and azimuth motion of the parallel antenna in the workspace is within ±0.05°.
Enyi He and Shihao Yin
Mech. Sci., 13, 1011–1018, https://doi.org/10.5194/ms-13-1011-2022, https://doi.org/10.5194/ms-13-1011-2022, 2022
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A novel helical gear mechanism with improved geometry is proposed to reduce transmission errors. For the novel spiral gear mechanism with improved geometry, the maximal contact stresses change more smoothly and have a stronger bearing capacity. The results show that, under the same conditions, the gear in this paper improves the transmission accuracy, and the bearing capacity is also stronger.
Jinshuai Xu, Yingpeng Zhuo, Zhaohui Qi, Gang Wang, Tianjiao Zhao, and Tianyu Wang
Mech. Sci., 13, 991–1009, https://doi.org/10.5194/ms-13-991-2022, https://doi.org/10.5194/ms-13-991-2022, 2022
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A super element of the telescopic boom for an all-terrain crane is proposed, and its geometric nonlinear calculation is realized by the co-rotational (CR) formulation. Considering the cable force, the nonlinear equilibrium equations of the system are established, which are transformed into differential equations, and the load displacement curves of the nodes are obtained. Through the slope ratio of the load displacement curve, the judgment criterion of the instability load is established.
Cited articles
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