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Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterousfinger

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0691-5

摘要： This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

《机械工程前沿（英文）》 2016年第11卷第2期页码 184-194 doi: 10.1007/s11465-016-0385-y

摘要：

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

关键词： tendon-driven fingers mechanical finger design under-actuated mechanical systems

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Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

《机械工程前沿（英文）》 2011年第6卷第3期页码 332-343 doi: 10.1007/s11465-011-0229-8

摘要：

This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.

关键词： robotic finger underactuated mechanisms design considerations

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Soft curvature sensors for measuring the rotational angles of mechanical fingers

Haixiao LIU, Li LI, Zhikang OUYANG, Wei SUN

《机械工程前沿（英文）》 2020年第15卷第4期页码 610-621 doi: 10.1007/s11465-020-0596-0

摘要： The design, fabrication, and testing of soft sensors that measure elastomer curvature and mechanical finger bending are described in this study. The base of the soft sensors is polydimethylsiloxane (PDMS), which is a translucent elastomer. The main body of the soft sensors consists of three layers of silicone rubber plate, and the sensing element is a microchannel filled with gallium-indium-tin (Ga-In-Sn) alloy, which is embedded in the elastomer. First, the working principle of soft sensors is investigated, and their structure is designed. Second, the relationship between curvature and resistance is determined. Third, several sensors with different specifications are built in accordance with the structural design. Experiments show that the sensors exhibit high accuracy when the curvature changes within a certain range. Lastly, the soft sensors are applied to the measurement of mechanical finger bending. Experiments show that soft curvature sensors can effectively reflect mechanical finger bending and can be used to measure the bending of mechanical fingers with high sensitivity within a certain working range.

关键词： soft sensor Ga-In-Sn alloy strain sensing curvature sensing mechanical finger bending

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Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

《机械工程前沿（英文）》 2009年第4卷第2期页码 203-214 doi: 10.1007/s11465-009-0022-0

摘要： The robustness of mechanical systems is influenced by various factors. Their effects must be understood for designing robust systems. This paper proposes a model for describing the relationships among functional requirements, structural characteristics, design parameters and uncontrollable variables of nonlinear systems. With this model, the sensitivity of systems was analyzed to formulate a system sensitivity index and robust sensitivity matrix to determine the importance of the factors in relation to the robustness of systems. Based on the robust design principle, an optimization model was developed. Combining this optimization model and the Taguchi method for robust design, an analysis was carried out to reveal the characteristics of the systems. For a nonlinear mechanical system, relationships among structural characteristics of the system, design parameters, and uncontrollable variables can be formulated as a mathematical function. The characteristics of the system determine how design parameters affect the functional requirements of the system. Consequently, they affect the distribution of system performance functions. Nonlinearity of the system can facilitate the selection of design parameters to achieve the required functional requirements.

关键词： robust design nonlinear

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Analysis of the dynamic hysteresis characteristic of finger seal

LEI Yanni, CHEN Guoding

《机械工程前沿（英文）》 2007年第2卷第1期页码 32-36 doi: 10.1007/s11465-007-0005-y

摘要： The research about hysteresis characteristic of finger seal (FS), which was carried out based on the model with static loads, could not reflect the dynamics behavior of FS system when the rotor runs at high speed. To solve this problem, the relations between the dynamics parameters, structure parameters as well as working parameters in the system were given out through the analysis of finite element analysis result. A mass spring damper dynamics model of FS system was proposed and the hysteresis characteristic of the FS system was analyzed. This work shows that the dynamics characteristic analysis of the FS is necessary and the dynamics model proposed in this paper is valid. This dynamics model is the basis for the optimization design of FS system.

关键词： FS necessary hysteresis characteristic optimization spring

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Shear-flexural strength mechanical model for the design and assessment of reinforced concrete beams subjected

Antonio MARÍ,Antoni CLADERA,Jesús BAIRÁN,Eva OLLER,Carlos RIBAS

《结构与土木工程前沿（英文）》 2014年第8卷第4期页码 337-353 doi: 10.1007/s11709-014-0081-0

摘要： A mechanical model recently developed for the shear strength of slender reinforced concrete beams with and without shear reinforcement is presented and extended to elements with uniformly distributed loads, specially focusing on practical design and assessment in this paper. The shear strength is considered to be the sum of the shear transferred by the concrete compression chord, along the crack, due to residual tensile and frictional stresses, by the stirrups and, if they exist, by the longitudinal reinforcement. Based on the principles of structural mechanics simple expressions have been derived separately for each shear transfer action and for their interaction at ultimate limit state. The predictions of the model have been compared to those obtained by using the EC2, MC2010 and ACI 318-08 provisions and they fit very well the available experimental results from the recently published ACI-DAfStb databases of shear tests on slender reinforced concrete beams with and without stirrups. Finally, a detailed application example has been presented, obtaining each contributing component to the shear strength and the assumed shape and position of the critical crack.

关键词： shear strength mechanical model reinforced concrete design assessment shear tests

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Structural design and mechanical responses of closely spaced super-span double tunnels in strongly weathered

Jiaxin HE; Shaohui HE; Xiabing LIU; Jinlei ZHENG

《结构与土木工程前沿（英文）》 2022年第16卷第6期页码 685-703 doi: 10.1007/s11709-022-0824-2

摘要： This paper presents a study of closely spaced double tunnels in Taizhou, China. One is Xiabei Mountain No. 2 four-line super-span high-speed railway tunnel (HRT), and the other is Xiabei Mountain double-line large-span subway tunnel (ST). The excavation spans of HRT and ST are 26.3 and 14 m, respectively. The two tunnels are located at different levels, and their separating distance is 17.2 m. Due to the short construction period, the HRT excavation was completed earlier than ST. The structural design of the HRT, taking account of the disturbance by the ST construction, was analyzed by a numerical simulation. It was found that the “yielding principle” design was more feasible than the “resistance principle” design when considering the safety and durability of the HRT secondary lining. The mechanical responses of the HRT during ST construction were comprehensively monitored and analyzed, including the vault settlement, horizontal convergence, surrounding rock pressure, and the internal stress in shotcrete and steel arch. Results show that the longitudinal influence range of the ST construction on the HRT was approximately 0.6–1.1 times the ST outer diameter; the disturbance was mainly generated in the ST upper bench excavation; and the final axial force of the HRT shotcrete was approximately 9–16 times that of the steel arch, which indicated that the shotcrete was the main bearing structure. The safety status of the HRT was assessed based on the monitoring data, and the minimum safety factors of the HRT shotcrete and steel arch were 1.61 and 1.89, respectively. Parametric studies were performed to show how the lining stress of HRT was affected by the relative angle, pillar width, ST excavation method and excavation footage. Finally, the design and construction optimization were proposed according to the monitoring data and parameter analysis results. This study might provide practical reference for similar projects.

关键词： double tunnels super-span structural design mechanical response numerical simulation field monitoring

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Research on integrating customization design for mechanical product

TAI Ligang, LI Dianqi, ZHONG Tingxiu, LI Zhi

《机械工程前沿（英文）》 2007年第2卷第1期页码 89-93 doi: 10.1007/s11465-007-0015-9

摘要： This paper proposes an integrating rapid customization design system which combines various technologies such as Web, knowledge based engineering (KBE), engineering database and Computer Aided Design (CAD) and has been used in elevator design. The whole system is set up on the base of engineering database technology, integrating Product Data Management (PDM), Enterprise Resource Planning (ERP) etc. It adopts Web technology to enable customers to individually customize products remo tely through the internet. The system also adopts KBE to manage and reuse product design knowledge, while combining the technology of product family modeling and technologies of feature modeling and parametric design, based on the assembly of the CAD system of Unigraphics Solutions Inc., to create a product family case library that achieves intelligent, rapid design customization.

关键词： engineering database product Management database technology knowledge

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机械结构虚拟优化设计技术与应用研究

胡如夫,吴南星,孙庆鸿

《中国工程科学》 2004年第6卷第10期页码 45-47

摘要：

虚拟优化设计是多学科先进知识形成的综合技术，是现代机械产品设计的发展方向。作为一种新的设计模式，应用该技术减少了产品开发中设计-试制-试验等过程的重复，设计人员可在虚拟可视化环境中对结构进行分析和优化，有利于缩短产品的设计周期，降低开发成本；分析了产品虚拟设计的特点，提出了机械结构虚拟优化设计的流程，并以数控车床主轴箱体动态优化为例进行了应用研究。

关键词：机械结构虚拟设计优化设计

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机械产品可拓概念设计研究

赵燕伟

《中国工程科学》 2001年第3卷第5期页码 67-71

摘要：

文章在总结现有智能化概念设计思维规律的基础上，提出基于可拓方法的机械产品智能化概念设计的研究内容、特点、流程与方法。围绕智能化概念设计的功能表达、功能分解与综合、功能推理与决策，重点研究功能-原理-布局-结构的可拓化概念设计方法和计算机模拟人类解决问题的辩证思维过程。文中给出可拓方法在加工中心刀库概念设计中的应用实例。该方法对于解决目前智能化概念设计理论研究与工程实现中的瓶颈问题，具有重要意义。

关键词：概念设计机械产品智能CAD 可拓学

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Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

《机械工程前沿（英文）》 2006年第1卷第3期页码 350-355 doi: 10.1007/s11465-006-0031-1

摘要： Function and principle innovation is the ultimate innovation of a product. To achieve Function and principle innovation design of mechanical products, a new process model of function and principle solving is proposed, based on TRI

关键词： TRI principle solving product principle innovation ultimate innovation

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

null

《机械工程前沿（英文）》 2016年第11卷第2期页码 144-158 doi: 10.1007/s11465-016-0391-0

摘要：

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three-dimensional model is elaborated in SolidWorks^® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS^® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor biped walking mechanical design dynamic simulation tripod leg mechanism 3-UPU parallel manipulator

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Fault evolution-test dependency modeling for mechanical systems

Xiao-dong TAN,Jian-lu LUO,Qing LI,Bing LU,Jing QIU

《信息与电子工程前沿（英文）》 2015年第16卷第10期页码 848-857 doi: 10.1631/FITEE.1500011

摘要： Tracking the process of fault growth in mechanical systems using a range of tests is important to avoid catastrophic failures. So, it is necessary to study the design for testability (DFT). In this paper, to improve the testability performance of mechanical systems for tracking fault growth, a fault evolution-test dependency model (FETDM) is proposed to implement DFT. A testability analysis method that considers fault trackability and predictability is developed to quantify the testability performance of mechanical systems. Results from experiments on a centrifugal pump show that the proposed FETDM and testability analysis method can provide guidance to engineers to improve the testability level of mechanical systems.

关键词： Mechanical systems Design for testability (DFT) Fault evolution-test dependency model (FETDM)

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Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device

《机械工程前沿（英文）》 2021年第16卷第4期页码 747-764 doi: 10.1007/s11465-021-0644-4

摘要： Transfemoral amputees (TAs) have difficulty in mobility during walking, such as restricted movement of lower extremity and body instability, yet few transfemoral prostheses have explored human-like multiple motion characteristics by simple structures to fit the kinesiology, biomechanics, and stability of human lower extremity. In this work, the configurations of transfemoral prosthetic mechanism are synthesized in terms of human lower-extremity kinesiology. A hybrid transfemoral prosthetic (HTP) mechanism with multigait functions is proposed to recover the gait functions of TAs. The kinematic and mechanical performances of the designed parallel mechanism are analyzed to verify their feasibility in transfemoral prosthetic mechanism. Inspired by motion–energy coupling relationship of the knee, a wearable energy-damper clutched device that can provide energy in knee stance flexion to facilitate the leg off from the ground and can impede the leg’s swing velocity for the next stance phase is proposed. Its co-operation with the springs in the prismatic pairs enables the prosthetic mechanism to have the energy recycling ability under the gait rhythm of the knee joint. Results demonstrate that the designed HTP mechanism can replace the motion functions of the knee and ankle to realize its multimode gait and effectively decrease the peak power of actuators from 94.74 to 137.05 W while maintaining a good mechanical adaptive stability.

关键词： hybrid transfemoral prosthetic mechanism energy recycling wearable mechanical clutched device mechanical adaptive stability