MS - recent articles
https://ms.copernicus.org/articles/
Recent articles of the journal Mechanical SciencesModeling and control system experiment of a novel series three-axis stable platform
https://doi.org/10.5194/ms-15-209-2024
<b>Modeling and control system experiment of a novel series three-axis stable platform</b><br>
Da Song, Xinlei Xiao, Ji Ma, and Lixun Zhang<br>
Mech. Sci., 15, 209–221, https://doi.org/10.5194/ms-15-209-2024, 2024<br>
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.
2024-03-22T08:35:48+01:00Multi-robot consensus formation based on virtual spring obstacle avoidance
https://doi.org/10.5194/ms-15-195-2024
<b>Multi-robot consensus formation based on virtual spring obstacle avoidance</b><br>
Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, and Xiaohua Wang<br>
Mech. Sci., 15, 195–207, https://doi.org/10.5194/ms-15-195-2024, 2024<br>
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.
2024-03-22T08:35:48+01:00Improved strategies of the Equality Set Projection (ESP) algorithm for computing polytope projection
https://doi.org/10.5194/ms-15-183-2024
<b>Improved strategies of the Equality Set Projection (ESP) algorithm for computing polytope projection</b><br>
Binbin Pei, Wenfeng Xu, and Yinghui Li<br>
Mech. Sci., 15, 183–193, https://doi.org/10.5194/ms-15-183-2024, 2024<br>
Projection is one of the most fundamental operations of polytopes, and it is widely used in the field of control and optimization. The Equality Set Projection algorithm is a promising method for projection calculation, but it has some shortcomings under the condition of dual degeneracy In this paper. Two improvements are presented to make the Equality Set Projection algorithm become simpler, faster, and easier to implement in the case of dual degeneracy.
2024-03-19T08:35:48+01:00A Lie group variational integrator in a closed-loop vector space without a multiplier
https://doi.org/10.5194/ms-15-169-2024
<b>A Lie group variational integrator in a closed-loop vector space without a multiplier</b><br>
Long Bai, Lili Xia, and Xinsheng Ge<br>
Mech. Sci., 15, 169–181, https://doi.org/10.5194/ms-15-169-2024, 2024<br>
The paper shows that the attitude vector expression for the rod can decrease the difficulty of derivation and expression of the dynamics model. Variation theory can package the closed-loop pose–attitude constraint in the dynamics model, so the constraint does not need to be considered explicitly. Using the geometry modelling method to build the dynamics model of a four-bar mechanism can avoid the repetitive operation of the closed-loop constraint.
2024-03-12T08:35:48+01:00A miniaturized statically balanced compliant mechanism for on-chip ultralow wide-bandwidth vibrational energy harvesting
https://doi.org/10.5194/ms-15-159-2024
<b>A miniaturized statically balanced compliant mechanism for on-chip ultralow wide-bandwidth vibrational energy harvesting</b><br>
Haitong Liang, Hailing Fu, and Guangbo Hao<br>
Mech. Sci., 15, 159–168, https://doi.org/10.5194/ms-15-159-2024, 2024<br>
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.
2024-03-07T08:35:48+01:00Design and obstacle-crossing analysis of a four-link rocker-suspension planetary exploration robot
https://doi.org/10.5194/ms-15-137-2024
<b>Design and obstacle-crossing analysis of a four-link rocker-suspension planetary exploration robot</b><br>
Zhen Song, Zirong Luo, and Huixiang Xie<br>
Mech. Sci., 15, 137–157, https://doi.org/10.5194/ms-15-137-2024, 2024<br>
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.
2024-03-05T08:35:48+01:00Vibration coupling characteristics and grinding force control of an elastic component grinding system
https://doi.org/10.5194/ms-15-123-2024
<b>Vibration coupling characteristics and grinding force control of an elastic component grinding system</b><br>
Yufei Liu, Lang Wu, En Lu, and Jinyong Ju<br>
Mech. Sci., 15, 123–136, https://doi.org/10.5194/ms-15-123-2024, 2024<br>
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.
2024-02-27T08:35:48+01:00Kinematic analysis and bearing capacity optimization of fully decoupled two-rotation mechanisms
https://doi.org/10.5194/ms-15-111-2024
<b>Kinematic analysis and bearing capacity optimization of fully decoupled two-rotation mechanisms</b><br>
Sen Wang, Xueyan Han, Haoran Li, Hongyu Xu, and Shihua Li<br>
Mech. Sci., 15, 111–121, https://doi.org/10.5194/ms-15-111-2024, 2024<br>
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.
2024-02-20T08:35:48+01:00Improved flux linkage observer for position estimation of permanent magnet synchronous linear motor
https://doi.org/10.5194/ms-15-99-2024
<b>Improved flux linkage observer for position estimation of permanent magnet synchronous linear motor</b><br>
Wenbin Yu, Guolai Yang, Liqun Wang, Darui Lin, and Ahmed Al-Zahrani<br>
Mech. Sci., 15, 99–109, https://doi.org/10.5194/ms-15-99-2024, 2024<br>
In this paper, a sliding-mode observer is combined with the voltage model of the motor to construct a closed-loop estimation of the flux linkage so that the influence of external disturbances on the system can be compensated for by the algorithm itself. On the one hand, this improves the anti-interference ability of the system. On the other hand, it also makes the calculation of flux linkage more accurate under an inaccurate initial position.
2024-02-19T08:35:48+01:00A convolutional neural-network-based diagnostic framework for industrial bearing
https://doi.org/10.5194/ms-15-87-2024
<b>A convolutional neural-network-based diagnostic framework for industrial bearing</b><br>
Bowen Yu and Chunli Xie<br>
Mech. Sci., 15, 87–98, https://doi.org/10.5194/ms-15-87-2024, 2024<br>
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.
2024-02-19T08:35:48+01:00Sliding mode control of electro-hydraulic servo system based on double observers
https://doi.org/10.5194/ms-15-77-2024
<b>Sliding mode control of electro-hydraulic servo system based on double observers</b><br>
Xiaoyu Su and Xinyu Zheng<br>
Mech. Sci., 15, 77–85, https://doi.org/10.5194/ms-15-77-2024, 2024<br>
An electro-hydraulic servo system has the characteristics of high control accuracy and fast response so it is widely used in industrial control fields. To address the external load and disturbance problems faced in actual engineering, a dual observer is used to acquire the state and disturbance values and to provide the sliding mode controller to control the system in real time. Comparative simulations are conducted to verify the impact of the control method on the control accuracy.
2024-02-13T08:35:48+01:00Dynamic analysis of a box-structured satellite deployment mechanism with self-actuated torsion joints
https://doi.org/10.5194/ms-15-63-2024
<b>Dynamic analysis of a box-structured satellite deployment mechanism with self-actuated torsion joints</b><br>
Dongping Sheng, Renzhe Ma, and Chun Su<br>
Mech. Sci., 15, 63–76, https://doi.org/10.5194/ms-15-63-2024, 2024<br>
This paper designed a kind of satellite deployment mechanism with a boxed structure and passive torsion joints, and dynamic reactions, including modal, impact, and harmonic responses, are researched systematically.
2024-02-06T08:35:48+01:00A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints
https://doi.org/10.5194/ms-15-55-2024
<b>A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints</b><br>
Zhaodong Wang, Lixue Mei, and Xiaoqun Ma<br>
Mech. Sci., 15, 55–62, https://doi.org/10.5194/ms-15-55-2024, 2024<br>
To improve the trajectory tracking control performance for robot manipulators subject to uncertainty, a generalized sliding mode controller (SMC) is designed. In the first step, it is assumed that the dynamic model of robot manipulators is precisely known, and an ideal control is designed. In the second step, a smooth-function-based SMC is designed to prevent the chattering phenomenon caused by the discontinuous function and further enhance the robustness performance.
2024-02-05T08:35:48+01:00Swing-up control of double-inverted pendulum systems
https://doi.org/10.5194/ms-15-47-2024
<b>Swing-up control of double-inverted pendulum systems</b><br>
Ameen M. Al Juboori, Mustafa Turki Hussein, and Ali Sadiq Gafer Qanber<br>
Mech. Sci., 15, 47–54, https://doi.org/10.5194/ms-15-47-2024, 2024<br>
This article deals with presenting a new swing-up control approach of a double-inverted pendulum on a trolley. The dynamic model of the double-inverted pendulum is derived and linearized. Two different linearization approaches are used: first, the traditional Taylor's series approach and, second, using partial linearization. A state feedback control algorithm has been implemented based on the linearized model from Taylor's series. Furthermore, a method for swinging up the pendulum to the inversion position from rest (swing-up) has been presented. The design and implementation of the swing-up function of the pendulum are implemented using the partial linearized model. The swing-up control procedure depends on using the feedforward–feedback controllers' combination to transfer the pendulums from the downward to the upward position. The time-variant controller gain is used for the sake of the swing-up control procedure. The performances of these algorithms are shown in this paper through simulations.
2024-01-29T08:35:48+01:00Design and analysis of a dual-rope crawler rope-climbing robot
https://doi.org/10.5194/ms-15-31-2024
<b>Design and analysis of a dual-rope crawler rope-climbing robot</b><br>
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang<br>
Mech. Sci., 15, 31–45, https://doi.org/10.5194/ms-15-31-2024, 2024<br>
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.
2024-01-23T08:35:48+01:00Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models
https://doi.org/10.5194/ms-15-17-2024
<b>Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models</b><br>
Bin Tang, Zhengyi Yang, Haobin Jiang, and Zitian Hu<br>
Mech. Sci., 15, 17–30, https://doi.org/10.5194/ms-15-17-2024, 2024<br>
A pedestrian motion fusion model is constructed to predict pedestrian trajectory by the fusion of a Markov model and an improved social force model with a multiple linear regression algorithm. The parameters in the model are calibrated by the maximum likelihood estimation method. Based on pedestrian trajectory prediction, a longitudinal and lateral collision avoidance control strategy is developed. The results show that the proposed strategy can effectively ensure the safety of pedestrians.
2024-01-18T08:35:48+01:00Visual simultaneous localization and mapping (vSLAM) algorithm based on improved Vision Transformer semantic segmentation in dynamic scenes
https://doi.org/10.5194/ms-15-1-2024
<b>Visual simultaneous localization and mapping (vSLAM) algorithm based on improved Vision Transformer semantic segmentation in dynamic scenes</b><br>
Mengyuan Chen, Hangrong Guo, Runbang Qian, Guangqiang Gong, and Hao Cheng<br>
Mech. Sci., 15, 1–16, https://doi.org/10.5194/ms-15-1-2024, 2024<br>
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.
2024-01-03T08:35:48+01:00Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains
https://doi.org/10.5194/ms-14-567-2023
<b>Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains</b><br>
Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang<br>
Mech. Sci., 14, 567–577, https://doi.org/10.5194/ms-14-567-2023, 2023<br>
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.
2023-12-20T08:35:48+01:00Machining distortion control of long beam parts based on optimal design of transition structure
https://doi.org/10.5194/ms-14-557-2023
<b>Machining distortion control of long beam parts based on optimal design of transition structure</b><br>
Long-Xin Fan, Ning Han, and Yi Zhang<br>
Mech. Sci., 14, 557–565, https://doi.org/10.5194/ms-14-557-2023, 2023<br>
The presence of initial residual stress is a major contributor to machining distortion. To control machining distortion, the transition structure before the finishing stage is optimized in this paper. The first step is to create a machining distortion analysis model for long beam parts based on initial residual stress. The transition structure's topology optimization model is then established. Finally, a verification case is used. The proposed model is verified by simulation and experiments.
2023-12-15T08:35:48+01:00Stochastic stability and the moment Lyapunov exponent for a gyro-pendulum system driven by a bounded noise
https://doi.org/10.5194/ms-14-545-2023
<b>Stochastic stability and the moment Lyapunov exponent for a gyro-pendulum system driven by a bounded noise</b><br>
Shenghong Li and Junting Lv<br>
Mech. Sci., 14, 545–555, https://doi.org/10.5194/ms-14-545-2023, 2023<br>
Gyro-pendulums are usually used to stabilize the firing of guns on warships or tanks or to navigate cars and aircraft. The stability of the gyro-pendulum is a classical problem in dynamics and control. Moreover, the bounded noise is real in nature, which affects the operation of the dynamical system and even its stability. Our research results on the stochastic stability of gyro-pendulum systems have a good guiding effect for the actual operation of the system and engineering application value.
2023-12-13T08:35:48+01:00