Mechanism and Machine Theory最新文献

Design and analysis of modular array deployable antenna mechanism based on one Waterbomb-Ori and four Miura-Ori basic unit mechanism 基于1个水弹- ori和4个Miura-Ori基本单元机构的模块化阵列展开天线机构设计与分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-05-01 Epub Date: 2026-02-05 DOI: 10.1016/j.mechmachtheory.2026.106372

Yan Wang, Yuantu Duan, Hui Yang

The advancement of the aerospace industry necessitates the implementation of deployable space mechanisms. Spaceborne planar antennas must exhibit high stiffness, exceptional precision, and robust stability to withstand the harsh conditions of the space environment. This research introduces the design of the modular array deployable antenna (MADA) mechanism. A multi-vertex hybrid crease basic unit with three degrees of freedom (DoFs) is developed, consisting of one Waterbomb-Origami (Waterbomb-Ori) basic unit and four Miura-Origami (Miura-Ori) basic units (1W4M). Employing thick-panel origami theory, a zero-thickness model of the 1W4M crease basic unit is systematically constructed. Based on this model, the MADA mechanism is proposed. A kinematic model of the MADA mechanism is derived using the closed vector method. The theoretical results are validated through simulation studies. A dynamic model of the MADA mechanism is established, and the deployment process is optimized according to mechanism equilibrium theory to improve operational stability. Finally, a prototype of the MADA mechanism is fabricated, and agreement between real models and numerical simulations demonstrates the ability of the proposed methodology to confirm its practical feasibility.

航空航天工业的发展需要实施可展开的空间机制。星载平面天线必须具有高刚度、超高精度和强大的稳定性，以承受恶劣的空间环境条件。介绍了模块化阵列可展开天线（MADA）机构的设计。提出了一种三自由度的多顶点混合折痕基本单元，由1个Waterbomb-Origami （Waterbomb-Ori）基本单元和4个Miura-Origami （Miura-Ori）基本单元（1W4M）组成。运用厚板折纸理论，系统构建了1W4M折痕基本单元的零厚度模型。基于该模型，提出了MADA机制。采用闭向量法建立了MADA机构的运动模型。通过仿真研究验证了理论结果。建立了MADA机制的动态模型，并根据机制均衡理论对部署过程进行了优化，提高了运行稳定性。最后，制作了MADA机构的原型，实际模型与数值模拟结果吻合，验证了所提方法的实际可行性。

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引用次数: 0

Integrating the elastic surroundings into multibody simulation of rolling bearings 将弹性环境融入滚动轴承多体仿真

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-22 DOI: 10.1016/j.mechmachtheory.2026.106365

Tobias Baumann , Bodo Hahn , Stephan Tremmel

Rolling bearings provide secure guidance and load transmission only with sufficient support from the surrounding components (housing, gear body, shaft). In some cases, such as planetary gear bearings or large-size bearings, the stiffness of the bearing surroundings can affect the internal bearing dynamics. Therefore, this article presents a new, computationally efficient method for integrating elastic surroundings, including the rings, into multibody simulation of rolling bearings. Elastic modeling is based on a component mode synthesis method and the floating frame of reference formulation. For the contact calculation between rolling element and ring, a slice model is extended to deformed ring surfaces. The method is applied to spherical roller bearings. Minor mean errors of <4% in the load distribution verify the implemented contact search and force calculation. Additional evaluations of the rolling element speed confirm the correct kinematics of the rolling elements. A plummer block housing demonstrates that the method can account for inhomogeneous stiffness distributions and is not restricted to simple, symmetrical surroundings. Furthermore, it was found that outer ring deformations can lead to increased bearing vibrations.

滚动轴承只有在周围部件（壳体、齿轮体、轴）提供足够支撑的情况下才能提供安全的导向和负载传输。在某些情况下，如行星齿轮轴承或大尺寸轴承，轴承周围的刚度会影响轴承内部动力学。因此，本文提出了一种新的、计算效率高的方法，将包括环在内的弹性环境整合到滚动轴承的多体仿真中。弹性建模是基于构件模态综合方法和浮动框架的参考公式。对于滚动体与环的接触计算，将切片模型推广到变形环的表面。该方法应用于球面滚子轴承。在载荷分布中有4%的微小平均误差，验证了所实现的接触搜索和力计算。对滚动体速度的附加评估确认了滚动体的正确运动学。一个plummer block外壳表明，该方法可以解释不均匀的刚度分布，而不限于简单的，对称的环境。此外，还发现外圈变形会导致轴承振动增加。

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引用次数: 0

Automated kinetostatic modeling approach for flexure-based mechanisms 基于柔性机构的自动动静力建模方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-14 DOI: 10.1016/j.mechmachtheory.2026.106360

Houqi Wu, Guimin Chen

Modeling the kinetostatics of a flexure-based mechanism is crucial for characterizing its performances and optimizing its parameters. However, the kinetostatic modeling is always a very complicated and error-prone process because it involves formulating not only the loop-closure equations, but also a large number of load equilibrium equations. In this work, we present a general approach that can automatically generate kinetostatic models for planar flexure-based mechanisms. The proposed approach represents the topological structure of a flexure-based mechanism using an incidence matrix and a path matrix, based on which the loop-closure equations and load equilibrium equations are uniformly formulated. These equations are simultaneously solved for the kinetostatic behaviors of the mechanism. All the load equilibrium equations are formulated at vertices instead of links, which eliminates the need of introducing virtual hinges. The automated approach is implemented in an integrated software package with graphical user interface to facilitate the kinetostatic modeling of various flexure-based mechanisms. The effectiveness of the proposed approach is demonstrated by three examples, including a flexure-based displacement amplifier, a microscopic rotation converter, a planar parallel 3-DOF nanopositioner, and a double-output mechanism showing its accuracy and broad applicability.

柔性机构的动静力学建模是表征其性能和优化其参数的关键。然而，动静力学建模是一个非常复杂且容易出错的过程，因为它不仅需要建立闭环方程，还需要建立大量的负载平衡方程。在这项工作中，我们提出了一种通用的方法，可以自动生成平面柔性机构的动静力模型。该方法利用关联矩阵和路径矩阵表示柔度机构的拓扑结构，并在此基础上统一建立了闭环方程和载荷平衡方程。同时求解了机构的动静力行为。所有的载荷平衡方程都是在顶点而不是在连杆上建立的，从而消除了引入虚拟铰链的需要。自动化方法在集成软件包中实现，具有图形用户界面，以方便各种基于柔性的机构的动静态建模。通过柔性位移放大器、微观旋转变换器、平面并联三自由度纳米位移器和双输出机构等实例，验证了该方法的有效性和适用性。

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引用次数: 0

A bi-level geometrical optimization framework for tailoring kinetostatic behavior of compliant bistable mechanisms 柔性双稳机构动静态行为裁剪的双层几何优化框架

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-03 DOI: 10.1016/j.mechmachtheory.2025.106338

Tinghao Liu , Ming Zhou , Guangbo Hao

Compliant bistable mechanisms possess two distinct stable equilibrium configurations and can remain in either state without continuous external energy input, making them attractive for compact and energy-efficient applications. However, many existing designs are constrained by limited design flexibility due to simple geometries or are highly sensitive to manufacturing errors. Lumped-compliance mechanisms provide a balanced solution, combining ease of fabrication, moderate complexity and tunability. Leveraging these advantages, this work proposes a bi-level optimization framework to tailor the kinetostatic behavior of bistable mechanisms. For upper level, heuristic algorithms are applied to explore distinct configurations of bistable mechanisms, while the lower level employs the CoSCME method to evaluate large-deformation kinetostatic responses for each candidate configuration. The framework is demonstrated in two case studies that target bistable mechanisms with symmetric switching forces and approximately linear negative stiffness. The optimized designs are further validated through nonlinear FEA simulations and experimental tests, confirming the accuracy and practical feasibility of the approach. This study thus establishes a performance-driven and extensible methodology for compliant mechanism design, with promising applications in multistable structures, mechanical metamaterials, and programmable systems.

柔性双稳态机构具有两种不同的稳定平衡结构，并且可以在没有连续外部能量输入的情况下保持任一状态，这使得它们具有紧凑和节能应用的吸引力。然而，许多现有的设计由于简单的几何形状或对制造误差高度敏感而受到设计灵活性有限的限制。集总遵从性机制提供了一个平衡的解决方案，结合了易于制造、中等复杂性和可调性。利用这些优势，本工作提出了一个双级优化框架来定制双稳态机构的动静力行为。在上一级，启发式算法用于探索双稳机构的不同构型，而在下一级，采用CoSCME方法来评估每个候选构型的大变形动静力响应。该框架在两个具有对称开关力和近似线性负刚度的目标双稳态机构的案例研究中得到了证明。通过非线性有限元仿真和实验测试，进一步验证了优化设计的正确性和实际可行性。因此，本研究建立了一种性能驱动和可扩展的柔性机构设计方法，在多稳定结构、机械超材料和可编程系统中具有良好的应用前景。

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引用次数: 0

Spectral distribution decomposition and its application in gearbox fault diagnosis 谱分布分解及其在齿轮箱故障诊断中的应用

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-15 DOI: 10.1016/j.mechmachtheory.2026.106359

Decai Li , Guofeng Wang , Mian Zhang , Wei Dai

Existing signal decomposition algorithms suffer from mode mixing, decomposition instability, and poor noise resistance, hindering subsequent feature extraction and fault diagnosis. To address these issues, this paper proposes a spectral distribution decomposition (SDD) algorithm based on the spectral probability density function (SPDF) for gearbox fault diagnosis. The proposed SDD employs a spectral distribution strategy utilizing maximum broadcasting and Gaussian kernel convolution to transform raw spectra into the SPDF, which characterizes signal distribution properties. Integrating the SPDF with the expectation-maximization (EM) algorithm, SDD decomposes signals into multiple distribution mode functions (DMFs) with well-defined frequency boundaries and a residual signal. For gearbox fault diagnosis, an adaptive filtering strategy incorporating SDD is developed to extract fault-related frequency bands and diagnosis indicators. Comparative simulations with well-known decomposition techniques, together with experimental tests on the fault diagnosis of laboratory gearboxes and actual wind turbine gearboxes, demonstrate the effectiveness and superiority of the proposed approach.

现有的信号分解算法存在模式混叠、分解不稳定、抗噪声能力差等问题，影响了后续的特征提取和故障诊断。针对这些问题，本文提出了一种基于谱概率密度函数（SPDF）的齿轮箱故障诊断谱分布分解算法。提出的SDD采用最大广播和高斯核卷积的频谱分布策略，将原始频谱转换为SPDF，表征信号的分布特性。SDD将SPDF与期望最大化（EM）算法相结合，将信号分解为具有明确频率边界和残差信号的多个分布模式函数（dmf）。针对齿轮箱故障诊断，提出了一种结合SDD的自适应滤波策略，提取故障相关频带和诊断指标。将该方法与常用的分解方法进行了仿真对比，并对实验室齿轮箱和实际风电齿轮箱进行了故障诊断实验，验证了该方法的有效性和优越性。

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引用次数: 0

An efficient data-driven framework of hybrid dynamics for real-time modeling and control of continuum robots 连续体机器人实时建模与控制的高效数据驱动混合动力学框架

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-16 DOI: 10.1016/j.mechmachtheory.2026.106361

Yuhang Liu , Kai Luo , Qiang Tian , Haiyan Hu

Continuum robots exhibit exceptional compliance and adaptability. However, their intrinsic nonlinear dynamics poses significant challenges for real-time control under dynamic conditions. This paper presents a new data-driven framework of hybrid dynamics (HD) for modeling and control of continuum robots. This framework decomposes the nonlinear dynamics of a continuum robot into the nonlinear statics of global deformation and the linear dynamics of relative vibration, and leads to two sub-models of global deformation statics (GDS) and relative motion dynamics (RMD) via different data-driven approaches. The first sub-model uses a deep neural network to predict nonlinear static deformations, while the second sub-model utilizes dynamics mode decomposition for relative vibration compensation. The nonlinear integration of the two sub-models establishes the physics-embedded data-driven model with reduced complexity. Combining quasi-static positioning and model-predictive vibration suppression leads to design of a hierarchical dynamic controller. The experiments of a cable-driven continuum robot demonstrate precise trajectory tracking and effective vibration suppression under payload and high-speed conditions. This data-driven modeling and control framework balances computational efficiency and control performance, enabling practical advances of continuum robots under complex working scenarios.

Continuum机器人表现出卓越的顺应性和适应性。然而，它们固有的非线性动力学特性给动态条件下的实时控制带来了巨大的挑战。提出了一种新的数据驱动混合动力学框架，用于连续体机器人的建模和控制。该框架将连续体机器人的非线性动力学分解为全局变形的非线性静力学和相对振动的线性动力学，并通过不同的数据驱动方法得到全局变形静力学（GDS）和相对运动动力学（RMD）两个子模型。第一个子模型使用深度神经网络预测非线性静态变形，第二个子模型使用动态模态分解进行相对振动补偿。两个子模型的非线性集成建立了物理嵌入的数据驱动模型，降低了模型的复杂度。将准静态定位与模型预测振动抑制相结合，设计了层次动态控制器。索驱动连续体机器人在载荷和高速条件下进行了精确的轨迹跟踪和有效的振动抑制实验。这种数据驱动的建模和控制框架平衡了计算效率和控制性能，使连续体机器人在复杂工作场景下的实际进展成为可能。

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引用次数: 0

An offline path planning framework for reconfigurable cable-driven parallel mechanisms via Lie algebra interpolation 基于李代数插值的可重构缆索驱动并联机构离线路径规划框架

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-14 DOI: 10.1016/j.mechmachtheory.2025.106349

Zhenkun Liang , Zhengtao Chen , Shujie Tang , Lingyu Kong , Hao Wang , Genliang Chen

The workspace of cable-driven parallel mechanisms (CDPMs) is generally non-convex. To overcome workspace limitations and cable interference, reconfigurable cable-driven parallel mechanisms (RCDPMs) utilize inherent motion redundancy, which, however, introduces additional complexity into the path planning due to more intricate constraints and increased degrees of freedom. This paper proposes an offline path planner capable of identifying feasible paths within a 6-D non-convex workspace, applicable to both CDPMs and RCDPMs. The kinematic, statics and physical constraints relevant to offline path planning are thoroughly described. Special attention is given to an enhanced method developed for detecting inter-cable interference. Bézier interpolations are employed within Lie algebra space to establish the initial path point sequence. An approach for selecting auxiliary control points is introduced, ensuring that the generated paths maintain C² continuity. To ensure path feasibility, a transit point search method operating within the orthogonal subspace of the initial path is proposed, effectively relocating points from outside the workspace into feasible regions. The attachment points reconfiguration is treated as a dimensional synthesis problem, integrated into both discrete feasibility checks and global path optimization. The effectiveness of the proposed path planner is validated through extensive cases, including rotational, translational, and 6-D motions. Furthermore, a simple prototype is constructed to verify the correctness.

缆索驱动并联机构的工作空间通常是非凸的。为了克服工作空间限制和电缆干扰，可重构电缆驱动并联机构（rcdpm）利用固有的运动冗余，然而，由于更复杂的约束和自由度的增加，这给路径规划带来了额外的复杂性。本文提出了一种离线路径规划器，能够在6维非凸工作空间内识别可行路径，适用于cdpm和rcdpm。详细描述了与离线路径规划相关的运动学、静力学和物理约束。特别注意了一种用于检测电缆间干扰的改进方法。在李代数空间内采用bsamizier插值法建立初始路径点序列。介绍了一种选择辅助控制点的方法，以确保生成的路径保持C2连续性。为了保证路径的可行性，提出了在初始路径的正交子空间内进行中转点搜索的方法，有效地将工作空间外的点重新定位到可行区域内。将附着点重构作为一个维度综合问题，集成到离散可行性检验和全局路径优化中。通过广泛的案例验证了所提出的路径规划器的有效性，包括旋转、平移和6-D运动。此外，还构造了一个简单的原型来验证该方法的正确性。

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引用次数: 0

A novel model of lubricated contact for spur gears 一种新的正齿轮润滑接触模型

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-07 DOI: 10.1016/j.mechmachtheory.2025.106334

Laís Carrer , Laís Bittencourt Visnadi , Natalia Akemi Hoshikawa Tsuha , Katia Lucchesi Cavalca , Helio Fiori De Castro

Research on gear dynamics is vital for power transmission. While elastohydrodynamic lubrication (EHL) significantly affects gear behavior, its computational cost is high. This study presents a reduced EHL model for gear teeth line contact, derived from numerical results for various Moes parameters. Parameters like stiffness, damping, and oil film thickness are adimensionalized, forming a grid map linking load, displacement, and film thickness under specific conditions. By solving the EHL model for each parameter combination, the approach is computationally efficient. The lubricated contact model is integrated into a lumped parameter gear pair model, with frequency domain displacement validated against experiments. Results reveal torque increases amplify displacement peaks, while speed changes have minimal effect when torque remains constant.

齿轮动力学研究对动力传动具有重要意义。弹流润滑对齿轮性能影响较大，但计算成本较高。根据不同Moes参数的数值结果，提出了齿轮齿线接触的简化EHL模型。将刚度、阻尼、油膜厚度等参数量纲化，在特定条件下形成连接载荷、位移和油膜厚度的网格图。通过求解各参数组合的EHL模型，提高了算法的计算效率。将润滑接触模型集成到集总参数齿轮副模型中，并通过频域位移与实验验证。结果表明，扭矩增大会放大位移峰值，而当扭矩保持不变时，速度变化对位移峰值的影响最小。

引用次数: 0

Non-inertial multi-DOF dynamic modeling and experimental analysis of marine gear systems subjected to wave-induced motions 船舶齿轮系统受波浪运动影响的非惯性多自由度动力学建模与实验分析

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-06 DOI: 10.1016/j.mechmachtheory.2025.106343

Yiwei Hu , Zheming Tong , Xianmiao Yang , Shuiguang Tong , Huadong Ying , Peicheng Zhang

Marine gear transmission systems are subjected to complex dynamic excitations from wave-induced motions. These non-inertial effects lead to nonlinear system behavior and an increased risk of resonance. This study presents a non-inertial multiple degree-of-freedom (DOF) dynamic model for marine gear systems, which incorporates inertial and gyroscopic effects through reference frame transformations and kinematic decomposition. To validate the model, a 6-DOF vibration test platform is developed to simulate periodic platform motions. Experiments under fixed, heaving, and rolling conditions confirm the accuracy of the dynamic model. The results reveal that platform heaving motion primarily excites the lateral bending mode through meshing stiffness modulation, increasing lateral bending vibration by up to 6.06 %, and intensifying meshing impacts. In contrast, rolling motion injects energy into the torsional mode via inertia‑induced phase modulation, producing a 48.23 % amplification of torsional response and a 32.5 % stronger modulation effect than heaving. Time‑frequency results indicate that rolling leads to intensified nonlinear modulation coupling with higher spectral energy and frequency drift. The quantified analysis provides design guidance for optimizing structural stiffness and damping of marine gear systems operating under non‑inertial platform motions.

船舶齿轮传动系统受到波浪运动的复杂动力激励。这些非惯性效应导致系统的非线性行为和共振的风险增加。通过参照系变换和运动学分解，建立了船舶齿轮系统的非惯性多自由度动力学模型，该模型综合了惯性效应和陀螺效应。为了验证该模型，开发了一个六自由度振动测试平台来模拟平台的周期性运动。在固定、起伏和滚动条件下的实验证实了动态模型的准确性。结果表明，平台升沉运动主要通过啮合刚度调制激发横向弯曲模式，使横向弯曲振动增加6.06%，并加剧了啮合冲击。相比之下，滚动运动通过惯性诱导的相位调制向扭转模式注入能量，使扭转响应放大48.23%，调制效果比起伏强32.5%。时频结果表明，滚动导致非线性调制耦合加剧，频谱能量和频率漂移增大。量化分析为在非惯性平台运动下运行的船用齿轮系统的结构刚度和阻尼优化提供了设计指导。

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引用次数: 0

Obtaining selectable optimal configurations in compliant mechanisms through mapping of load characteristics with higher-order Bézier curves 通过负载特性与高阶bsamzier曲线的映射，获得柔性机构可选择的最优构型

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory

Pub Date : 2026-04-01 Epub Date: 2026-01-19 DOI: 10.1016/j.mechmachtheory.2026.106363

Zhenfeng Wu , Jierong Li , Rixin Wang , Yang Shen , Xianmin Zhang , Hai Li , Andrés Kecskeméthy , Benliang Zhu

This paper aims to address the challenge of configuration selection for quantitative load output in compliant mechanisms. It generalizes the chained beam constraint model (CBCM) based on high-order Bézier curves and establishes a beam shape optimization model for load characteristics, further obtaining configuration atlases suitable for active selection that correspond to Bézier curves of different orders. Additionally, the study proposes an adaptive node division strategy to ensure model accuracy, derives the gradient information of the CBCM to improve computational efficiency, and clarifies the dimensionality reduction conditions for applying the proposed model to optimization problems. On this basis, it conducts optimization analyses for global and local intervals respectively, targeting linear output and constant output objectives. Rotational hinges and translational hinges are used as case studies, and the accuracy and effectiveness of the proposed method are fully verified through simulations and experiments. Finally, the method is applied to humanoid dexterous finger joint configurations with narrow design spaces, completing application verification for variable-stiffness joint design. This demonstrates the method’s engineering practicality and value, supporting compliant mechanism compatibility design.

本文旨在解决柔性机构中定量负荷输出配置选择的挑战。推广了基于高阶bsamzier曲线的链梁约束模型（CBCM），建立了梁形荷载特性优化模型，得到了不同阶bsamzier曲线对应的适合主动选择的构型图集。此外，提出了自适应节点划分策略以保证模型的准确性，导出了CBCM的梯度信息以提高计算效率，并明确了将所提模型应用于优化问题的降维条件。在此基础上，分别针对线性输出目标和恒定输出目标，对全局区间和局部区间进行优化分析。以旋转铰链和平动铰链为例，通过仿真和实验充分验证了所提方法的准确性和有效性。最后，将该方法应用于设计空间较窄的仿人灵巧手指关节构型，完成变刚度关节设计的应用验证。验证了该方法的工程实用性和价值，为柔性机构的兼容性设计提供了支持。

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引用次数: 0