Articles | Volume 3, issue 1
https://doi.org/10.5194/ms-3-1-2012
© Author(s) 2012. 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-3-1-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.
the Creative Commons Attribution 3.0 License.
Short communication
| 
13 Jan 2012
Short communication |
| 13 Jan 2012
Short Communication: Flexure delicacies
S. Henein
Centre Suisse d'Electronique et de Microtechnique (CSEM SA), Neuchâtel, Switzerland
Related subject area
Mechanisms and Robotics
Design of a magnetorheological (MR) suspension damper for an agricultural tractor seat based on an adaptive neuro-fuzzy inference system (ANFIS) and active disturbance rejection control (ADRC)
Interactive trajectory prediction for autonomous driving based on Transformer
Design and validation of a programmable dual-tunnel soft pneumatic origami actuator with a large maximum shrinkage rate for reciprocating motion
Pneumatic gripping system based on airflow proximity sensing and a self-feedback principle
An anti-parallelogram ring four-array rolling mechanism with multiple rolling gaits for mobile robots
Structural analysis of traditional Chinese puzzle boxes
Serial–parallel cooperative assembly approach for precision micro-assembly of axial holes
Gait planning of a 4–5R rolling mechanism based on the planar 6R single-loop chain
A path-planning algorithm for autonomous vehicles based on traffic stability criteria: the AS-IAPF algorithm
Anthropomorphic modular gripper finger actuated by antagonistic wire and shape-memory alloy (SMA) springs
Inverse dynamics and inertia coupling analysis of a parallel mechanism with parasitic motions and redundant actuations
Thermomechanical coupled topology optimization of parameterized lattice structures
A linkage-type self-adaptive deformable tracked mechanism based on the six-bar mechanism
Research on 3D information collection path planning for hyper-redundant space robots (HSRs)
Task-driven geometric synthesis method of a bistable compliant mechanism for the rigid guidance problem
Design principles and kinematic analysis of a novel spherical 2-degree-of-freedom (DOF) parallel mechanism
Stability analysis and control method of a variable structure detection robot for underground rescue
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
Wei Tao, Bin Chen, Luyang Zhou, Zhixiong Zheng, Jianjin Wu, and Minghao Duan
Mech. Sci., 16, 113–124, https://doi.org/10.5194/ms-16-113-2025, https://doi.org/10.5194/ms-16-113-2025, 2025
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We developed an advanced control system to enhance the comfort of vehicle seats by reducing vibrations. This innovative system combines an adaptive neuro-fuzzy inference system (ANFIS) and active disturbance rejection control (ADRC) to effectively manage the magnetorheological (MR) damper. Our research showed significant improvements in reducing seat vibrations. Moreover, the system's performance has been demonstrated to exceed that of conventional controls.
Rui Xu, Jun Li, Shiyi Zhang, Lei Li, Hulin Li, Guiying Ren, and Xinglong Tang
Mech. Sci., 16, 87–97, https://doi.org/10.5194/ms-16-87-2025, https://doi.org/10.5194/ms-16-87-2025, 2025
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A trajectory prediction model based on Transfomer has been proposed to address the issue of long-term prediction accuracy in complex traffic environments. Optimizing multi-head attention based on knowledge of the scene context and vehicle position generates interactions between maps and agents, as well as between agents themselves. Its effectiveness has been evaluated on the basis of the outdoor dataset, and higher precision was achieved.
Rongna Xu, Qiaoling Meng, Qiaolian Xie, Yuxin Zheng, Cuizhi Fei, Vincenzo Parenti Castelli, and Hongliu Yu
Mech. Sci., 16, 61–73, https://doi.org/10.5194/ms-16-61-2025, https://doi.org/10.5194/ms-16-61-2025, 2025
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This paper proposes a novel dual-tunnel soft pneumatic origami actuator to provide a large maximum shrinkage rate for reciprocating motion. A programmed design method is proposed based on the geometric parameter model and stiffness model of the actuator. In comparison to other actuators, this actuator weighs only 5 g, and the force-to-weight ratio is 600. The maximum shrinkage rate of the actuator is 61 %, increasing the potential for lightweight and compact devices.
Yixiao Ni, Jiabin Yang, Qing Ouyang, and Jiahui Peng
Mech. Sci., 16, 41–50, https://doi.org/10.5194/ms-16-41-2025, https://doi.org/10.5194/ms-16-41-2025, 2025
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The current closed-loop control of pneumatic systems relies on electronic sensors and controllers. In this work, we have developed an airflow-sensing device and applied it to a pneumatic gripping system. The gripper can automatically sense the distance to objects and achieve active grasping. Our research results provide new solutions for intelligent control of pneumatic systems, freeing them from dependence on electronic devices.
Zhiyuan Xun, Guanglong Du, Wenbo Zhu, Wei Yu, Changjiang Liu, Jun Wang, and Quanlong Guan
Mech. Sci., 16, 25–40, https://doi.org/10.5194/ms-16-25-2025, https://doi.org/10.5194/ms-16-25-2025, 2025
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This paper presents a ring four-array rolling mechanism consisting of four anti-parallelogram mechanisms with revolute joints. The mechanism is connected by four anti-parallelograms in a looped configuration and has a not-totally-closed ring shape. The mechanism has planar and spherical patterns of locomotion: the planar pattern locomotion includes the parallelogram rolling gait and the anti-parallelogram tumbling gait and the spherical pattern locomotion includes the spherical rolling gait.
Jian-Liang Lin, Hsin-Te Wang, Ting-Fang Cheng, and Kuo-Hung Hsiao
Mech. Sci., 15, 645–651, https://doi.org/10.5194/ms-15-645-2024, https://doi.org/10.5194/ms-15-645-2024, 2024
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We presented a graphical method for systematically analyzing traditional Chinese puzzle boxes. It discusses the structural characteristics of puzzle boxes and uses four different types of puzzle boxes as examples of applying the proposed method and representing the opening processes of the puzzle boxes. Traditional Chinese puzzle boxes are diverse and creative, displaying the skilled craftsmanship of ancient artisans.
Lisong Dong, Jie Ma, Jiesheng Cao, and Daoming Wang
Mech. Sci., 15, 653–665, https://doi.org/10.5194/ms-15-653-2024, https://doi.org/10.5194/ms-15-653-2024, 2024
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Axial-hole assembly is a key step in the assembly of high-integration components of electronic equipment. In order to achieve the precision assembly of high-density axial holes, we propose a high-precision and smooth assembly strategy that combines the manual control of the tandem machine and the positioning accuracy of the parallel robot. This provides strong technical support for the precision assembly of highly integrated components of electronic equipment.
Qing Liu, Qianqian Zhang, Shouzhen Kang, Ziyi Pei, Jialei Li, Yezhuo Li, Yue Yan, Yuhao Liang, and Xinyu Wang
Mech. Sci., 15, 633–643, https://doi.org/10.5194/ms-15-633-2024, https://doi.org/10.5194/ms-15-633-2024, 2024
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In this paper, based on the spatial extension design of a planar 6R single-loop chain, a 4–5R rolling mechanism is proposed, and a set of gait analysis and locomotion strategies are planned for the mechanism. The correctness and feasibility of the theoretical analysis are verified through structural dynamics simulation and prototype design. The theoretical and engineering design basis is laid for the research of the new planar single-loop chain robot.
Minqing Zhao, Xuan Li, Yuming Lu, Hongxi Wang, and Shanping Ning
Mech. Sci., 15, 613–631, https://doi.org/10.5194/ms-15-613-2024, https://doi.org/10.5194/ms-15-613-2024, 2024
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Urban traffic congestion, obstacle avoidance, and driving efficiency are significant challenges for driverless-vehicle path planning in urban environments. The traditional artificial potential field (APF) algorithm is inadequate for meeting efficiency and safety requirements in path planning. This paper proposes a new AS-IAPF path-planning algorithm by introducing stability criteria to enhance target accessibility for autonomous vehicles under dynamic and complex traffic conditions.
Longfei Sun, Yiwen Lan, and Binghao Wang
Mech. Sci., 15, 601–611, https://doi.org/10.5194/ms-15-601-2024, https://doi.org/10.5194/ms-15-601-2024, 2024
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In order to better imitate the enveloping–grasping function of human fingers and control the grasping morphology of the fingers, a modular gripper is proposed to be controlled using a combined differential control of wires and shape-memory alloy (SMA) springs, and the gripper can actively adjust the grasping morphology of the fingers according to the characteristics of the shape and contour of the objects to be grasped so as to achieve stable and reliable grasping.
Chen Cheng, Xiaojing Yuan, Yenan Li, and Fanqi Zeng
Mech. Sci., 15, 587–600, https://doi.org/10.5194/ms-15-587-2024, https://doi.org/10.5194/ms-15-587-2024, 2024
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Our research team designed a robotic mechanism inspired by the masticatory system of human beings. It is to be deployed in the food industry, reproducing the chewing behaviors of human beings. Thus, the properties of the newly developed foods can be evaluated in a human-like manner. To facilitate the model-based motion control in real time, a newly developed methodology from the literature is used. Then, the inertia coupling in the joint space control is analyzed.
Hongyi Zhang, Yang Wang, Shuyou Zhang, Xiaojian Liu, and Xuewei Zhang
Mech. Sci., 15, 555–566, https://doi.org/10.5194/ms-15-555-2024, https://doi.org/10.5194/ms-15-555-2024, 2024
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This paper presents an optimization approach to improving the performance of lattice structures subjected to thermal and mechanical loads. The proposed method is demonstrated through examples of battery packs, L-brackets, and machine tool headstocks. The results of numerical verification show that the proposed method enhances the performance of designed structures greatly compared with traditional solid-design and temperature constraints.
Kaisheng Zhang, Xuemin Sun, Ruiming Li, Zhiguo Yu, and Biao Yu
Mech. Sci., 15, 541–553, https://doi.org/10.5194/ms-15-541-2024, https://doi.org/10.5194/ms-15-541-2024, 2024
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This paper designs a linkage-type self-adaptive deformable tracked mechanism module in accordance with the multi-loop mechanism. The mechanism has two modes of forward movement and reverse movement, including deformable tracked-type and rocker arm-type, respectively. This kind of mechanism has very good terrain adaptability and can deform through passive self-adaptive obstacles, which has certain application prospects in special terrains.
Guodong Qin, Haoran Zhang, Lei Zheng, Shijie Liu, Quan Chen, Haimin Hu, Deyang Zhang, Yong Cheng, Congju Zuo, and Aihong Ji
Mech. Sci., 15, 531–539, https://doi.org/10.5194/ms-15-531-2024, https://doi.org/10.5194/ms-15-531-2024, 2024
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This paper proposes a path-planning method for 3D information collection on the space station surface via a hyper-redundant space robot (HSR). Based on the active information collection method, the collision-free viewpoint trajectory of the space station surface can be planned. The path planning of the space station surface information collection can then be realized by importing the space station model data and performing weight initialization, stochastic search, and continuous optimization.
Jingyu Jiang, Song Lin, and Hanchao Wang
Mech. Sci., 15, 515–529, https://doi.org/10.5194/ms-15-515-2024, https://doi.org/10.5194/ms-15-515-2024, 2024
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This paper proposes a synthesis method for compliant bistable mechanism based on pole similarity transformation. The rigid components in the synthesis results can self-maintain at two specified positions assigned by the motion task, which are the two stable states of the mechanism. Even if the mechanism deviates from these positions under external forces, it can rely on its own internal forces to return to the stable-state positions.
Xuechan Chen, Chao Xin, Zhen Zhang, Yu Guo, An Yin, and Ziming Chen
Mech. Sci., 15, 473–486, https://doi.org/10.5194/ms-15-473-2024, https://doi.org/10.5194/ms-15-473-2024, 2024
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In this paper, the design principle of the symmetrical spherical parallel mechanism (SPM) is obtained by analyzing the conditions for symmetrical motion of the mechanism. A series of symmetrical SPMs is designed based on the constraint force provided by the branches. The SPM can realize continuous rotation around any line on the mid-plane that passes through the rotation center of the spherical mechanism. This feature has great potential for application in fields such as rehabilitation robotics.
Hai-bo Tian, Ao Wang, Maolin Lu, Meiting Zhang, Zenan Zhang, Wencai Zhang, and Xin Su
Mech. Sci., 15, 487–500, https://doi.org/10.5194/ms-15-487-2024, https://doi.org/10.5194/ms-15-487-2024, 2024
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In this paper, a variable structure detection robot for underground rescue is designed for the rescue environment of a 225 mm diameter borehole, combined with the leading arm and the deformable tracks. A stability criterion based on the contact force between the robot and the road surface (contact force stability criterion, CFSC) is proposed, and an adaptive stability control system of the robot is established in combination with a neural network.
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.
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