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Mechanism and Machine Theory
Pergamon Press
Mechanism and Machine Theory

Pergamon Press

0094-114X

Mechanism and Machine Theory/Journal Mechanism and Machine TheorySCIISTPEIAHCI
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    Corrigendum to ‘A critical review on FE-based methods for mesh stiffness estimation in spur gears’ [Mechanism and Machine Theory 161 (2021) 104319] (Mechanism and Machine Theory (2021) 161, (S0094114X2100077X), (10.1016/j.mechmachtheory.2021.104319))

    Natali C.Battarra M.Dalpiaz G.Mucchi E....
    2页
    查看更多>>摘要：International Federation for the Promotion of Mechanism and Machine ScienceThe authors regret that Eq. 22 in the above article was incorrectly published. According to the errata “Vivet, M., Cappellini, N., Tamarozzi, T., Blockmans, B., Fiszer, J., Cosco, F., & Desmet, W. (2021). Correction to: Semi-analytic contact technique in a non-linear parametric model order reduction method for gear simulations. Meccanica, 56(10), 2651-2652.” published in August 2021, Eq. 22 is now reproduced correctly. Original: [Formula presented] Corrected: [Formula presented] The reference [34] in the above article should read: [34] N. Cappellini, T. Tamarozzi, B. Blockmans, J. Fiszer, F. Cosco, and W. Desmet, Semi-analytic contact technique in a non-linear parametric model order reduction method for gear simulations. Meccanica, 53(1), (2018) 49-75. The reference [35] in the above article should read: [35] M. J. Puttock and E. G. Thwaite, Elastic Compression of Spheres and Cylinders at Point and Line Contact. Commonwealth Scientific and Industrial Research Organization, Melbourne, Australia, (1969). Therefore, the results obtained by means of Eq. 22 in the above article are modified. The corrected Figs. 11, 16.e and 17.e are reported below. The authors would like to apologise for any inconvenience caused.
      原文链接:
    • NSTL
    • Elsevier

    Involute-arc-leg for Multi-legged Robot: High Stability and Low Energy Consumption

    Sun Y.Dou G.Chen X.Bai L....
    19页
    查看更多>>摘要：A novel involute-arc-leg (IAL) which could be applied to multi-legged robots has been presented in this paper. The IAL is composed of the involute-segment and arc-segment. Compared with the common curved leg, the IAL has two advantages: Firstly, the centroid fluctuation and body capsizing can be reduced to improve motion stability; secondly, the torque can be decreased to reduce the energy consumption. With these characteristics, the robot can achieve more efficient and stable motion. Multi-legged robots which are useful for carrying curved legs have been developed, and the stability and energy consumption of the robot with different curved legs have been compared. As verified by experiments, the centroid fluctuation and attitude angle of Quadruped Robot can be reduced to zero with IAL, comparing to arc-legs, in which the energy consumption in standing and walking phase is decreased by 14.1% and 28.71%, respectively. The results prove that the motion stability and energy efficiency of robot can be improved with the curved leg design method based on splicing involute and arc, which provides a useful reference for the design of other robots.
      原文链接:
    • NSTL
    • Elsevier

    Compliance error compensation of a robot end-effector with joint stiffness uncertainties for milling: An analytical model

    Kuo C.-H.Lin P.T.Nguyen V.L.
    24页
    查看更多>>摘要：This paper presents an analytical model to compensate for the compliance errors of a Delta parallel robot as the mini robot, which is mounted at the end effector of an articulated robot to form a macro-mini manipulator for milling operations. This model is derived from a passive compliance design with mechanical springs for the robot considering uncertainties in the joint stiffness. The significance of this design is that it allows determining the compliance parameters of the model by analytical formulas. Quantitative criteria, probabilistic error models, and numerical examples with milling-like trajectories are given to evaluate the effectiveness of the proposed model. Simulation analysis was performed for the Delta robot that identified the sensitivity of its compliance errors over the workspace. The positioning accuracy reliability of the robot was improved with the model, particularly its deflection accuracy along a prescribed trajectory was theoretically increased by 82.6 percent under an estimated process force. Lastly, the amplification of the compliance errors was diminished when the standard deviation of the joint stiffness was varied.
      原文链接:
    • NSTL
    • Elsevier

    Influence of meshing stiffness on load distribution between planets of planetary gear drives

    Pedrero J.I.Pleguezuelos M.Sanchez M.B.
    13页
    查看更多>>摘要：Planetary gear sets are suitable for high power density and gear ratio, but this means high torques and stress levels. Though the torque is transmitted between multiple planets, it is not evenly distributed among them due to manufacturing and assembly errors. The torque is greater than the average value in some planets, and smaller in the others, which will have to be considered for strength calculations. In addition, this uneven load distribution among planets can also be affected by the meshing stiffness, if the planets are not at the same relative meshing position at any moment. In this paper, the condition for uneven distribution of the load between planets due to the meshing stiffness is established, and the calculation method of the corresponding influence factor is proposed.
      原文链接:
    • NSTL
    • Elsevier

    Parametric joint compliance analysis of a 3-UPU parallel robot

    Tsai C.-Y.Yu C.-P.Yeh P.-C.Lan C.-C....
    18页
    查看更多>>摘要：Sufficiently low compliance is required for robot end-effectors to perform various tasks with high static and dynamic accuracy. The joint compliance and link compliance of robots are the two major factors for the determination of overall end-effector compliance. Unlike serial robots that can allow larger joint sizes to improve the joint compliance, the joints of parallel robots are usually closely located and hence the joint size cannot be easily increased. Compared with the link compliance, the joint compliance of a parallel robot contributes more to the end-effector compliance, but its importance is often overlooked. To reduce the computational intensity of robot compliance design, analytical joint compliance models are proposed for the class of 3-UPU parallel robots. These joint compliance models can be used to quickly evaluate the compliance contribution of each revolute joint at various parallel robot configurations. Numerical and experimental verifications are provided to demonstrate these models. We expect that the parametric analysis of 3-UPU parallel robot compliance can be facilitated by using the proposed joint compliance models.
      原文链接:
    • NSTL
    • Elsevier

    A novel singular-free solution based on principle of transfer theory for the hand-eye calibration problem

    Wang W.Liu Y.Du Z.Song H....
    14页
    查看更多>>摘要：For the Endoscope-assisted Surgical Robot system, the success of the surgery can be heavily determined by the accuracy of the unknown hand-eye matrix between the manipulator and the laparoscopic camera. Although many analytical solutions algorithms have been proposed, it is found that the hand-eye matrix estimated by some existing analytical solutions algorithms will deviate from its true value in some cases. Therefore, the singularity analysis for the solution of the hand-eye calibration based on orthogonal dual tensor is firstly pointed out in this paper. To avoid the above singular phenomenon, a novel singular-free solution based on Principle of Transfer theory is proposed in this paper, which can be verified by the corresponding simulation and experimental results.
      原文链接:
    • NSTL
    • Elsevier

    Analytical design of disk-type milling cutter with multiple inserts and CNC milling simulation of screw rotors considering grinding stock

    Achmad A.Wu Y.-R.
    17页
    查看更多>>摘要：A practical method to ensure precisely inserts arrangement onto the cutter body is required since it has a decisive impact on the rotor profile accuracy. Correctness evaluation of applying the cutter concerning the deviation of the generated profile is also essential. This study proposes a novel approach to accurately determine insert position on disk-type milling cutters and its application for screw rotor machining using a CNC rotor milling machine. The proposed method considered a revolved-enlarged rotor, standard round inserts with a slight identical inclination angle and correctional offset. An analytical cutting was performed to acquire the simulated rotor profiles considering the inserts cutting trajectory then predict normal deviation and surface topography. The result shows that the inserts were precisely installed, the deviation position on the simulated profile for the male and female rotor can be controlled for eliminating surface undercut, and the surface topography was satisfactory. Therefore, grinding performance can be enhanced. It indicates that the proposed approach of insert arrangement and its cutting simulation is verified conclusively, and the designed disk-type milling cutter is entirely practicable.
      原文链接:
    • NSTL
    • Elsevier

    Review of the performance optimization of parallel manipulators

    Yang C.Ye W.Li Q.
    21页
    查看更多>>摘要：Performance optimization of parallel manipulators (PMs) have attracted adequate attention in recent years. It mainly concerns performance indices, optimization algorithms and optimization methods. This paper presents an in-depth, comprehensive, reasoned overview for the three basic issues. The research status and existing problems of these issues along with the distinctive approaches that have been explored are reported. Advantages, disadvantages, application scenarios and recommendations of various performance indices, optimization algorithms and methods are discussed. Focus is also placed on future research trends. The results are useful for researchers and engineers to properly select performance indices, optimization algorithms, and optimization methods when designing a PM.
      原文链接:
    • NSTL
    • Elsevier

    Crack nucleation and propagation modeling for lubricated spur gear contacts of rough surfaces

    Li S.Kolivand A.
    15页
    查看更多>>摘要：In this study, a rolling contact fatigue model for lubricated gear contacts of rough surfaces is proposed, considering both crack nucleation and propagation stages. A boundary element approach is implemented to describe surface roughness topography effect on near surface stress concentration, with surface tractions yielded from mixed EHL analysis. A fatigue criterion is employed to find crack nucleation position and life. Assuming mode II crack opening mechanism, stress intensity factor range is determined and used to arrive crack propagation life. Through comparisons to experiments, model capability is demonstrated. Simulation results show important roughness effect on crack propagation as well as crack nucleation.
      原文链接:
    • NSTL
    • Elsevier

    Unloaded transmission error and instantaneous gear ratio for non-circular gears with misalignments

    Mundo D.Dooner D.B.
    24页
    查看更多>>摘要：Unloaded transmission error (UTE) determination is well established for gears with uniform motion. This established methodology is modified and applied to the case of non-circular gears. Reciprocity between two screws is introduced as part of this modification. One screw is a wrench defined by the tooth contact force and the other screw is a twist that defines the relative motion between the two gear elements. Associated with each meshing tooth set within a non-circular gear pair is a UTE curve. A maximum UTE value is introduced as the intersection between adjacent UTE curves. Cubic splines are used to interpolate these intersections and obtain a maximum UTE curve. Subsequently, generalized misalignments are presented to investigate the maximum UTE for misalignments. Absent from classical UTE analysis with misalignments is the instantaneous gear ratio. Developed is a procedure to obtain the instantaneous gear ratio for gears with misalignments. This procedure is valid for skew axis and non-circular gears. A parallel axis gear set is included to demonstrate the process. A special non-circular gear motion is constructed with part-uniform and part-varying motion. This hybrid motion facilitates a comparison between existing helical gears with uniform motion and spiral non-circular gears with varying motion.
      原文链接:
    • NSTL
    • Elsevier