•Journal• ISSN: 2191-9151
Mechanical Sciences
Copernicus Publications
About: Mechanical Sciences is an academic journal published by Copernicus Publications. The journal publishes majorly in the area(s): Computer science & Kinematics. It has an ISSN identifier of 2191-9151. It is also open access. Over the lifetime, 466 publications have been published receiving 4081 citations. The journal is also known as: MS (Göttingen. Internet) & MS (Göttingen. Print).
Papers published on a yearly basis
Papers
TL;DR: In this article, the authors analyse the state-of-the-art locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements.
Abstract: . The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.
242 citations
TL;DR: In this article, a survey of the basic friction models for micro stick-slip motion systems is presented, including Coulomb friction model, Stribeck model, Dahl model, LuGre model, and elastoplastic model.
Abstract: . The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same test-bed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.
194 citations
TL;DR: In this article, four flat folding paper mechanisms are presented with their corresponding kinematic and graph models, and principles from graph theory are used to abstract the mechanisms to show them as coupled, or inter-connected, mechanisms.
Abstract: . Origami is the art of folding paper. In the context of engineering, orimimetics is the application of folding to solve problems. Kinetic origami behavior can be modeled with the pseudo-rigid-body model since the origami are compliant mechanisms. These compliant mechanisms, when having a flat initial state and motion emerging out of the fabrication plane, are classified as lamina emergent mechanisms (LEMs). To demonstrate the feasibility of identifying links between origami and compliant mechanism analysis and design methods, four flat folding paper mechanisms are presented with their corresponding kinematic and graph models. Principles from graph theory are used to abstract the mechanisms to show them as coupled, or inter-connected, mechanisms. It is anticipated that this work lays a foundation for exploring methods for LEM synthesis based on the analogy between flat-folding origami models and linkage assembly.
117 citations
TL;DR: In this paper, a simple viscous damping model of the Kelvin-Voigt type for geometrically exact Cosserat rods from three-dimensional continuum theory is presented.
Abstract: . We present the derivation of a simple viscous damping model of Kelvin–Voigt type for geometrically exact Cosserat rods from three-dimensional continuum theory. Assuming moderate curvature of the rod in its reference configuration, strains remaining small in its deformed configurations, strain rates that vary slowly compared to internal relaxation processes, and a homogeneous and isotropic material, we obtain explicit formulas for the damping parameters of the model in terms of the well known stiffness parameters of the rod and the retardation time constants defined as the ratios of bulk and shear viscosities to the respective elastic moduli. We briefly discuss the range of validity of the Kelvin–Voigt model and illustrate its behaviour for large bending deformations with a numerical example.
80 citations
TL;DR: This work analyzes the differences between different formulations of Hill-type muscle model composed of contractile, series elastic and parallel elastic element and tendon and shows that the force predicted by the different models is similar and the main differences in muscle force prediction were observed at full-flexion.
Abstract: . Muscle is a type of tissue able to contract and, thus, shorten, producing a pulling force able to generate movement. The analysis of its activity is essential to understand how the force is generated to perform a movement and how that force can be estimated from direct or indirect measurements. Hill-type muscle model is one of the most used models to describe the mechanism of force production. It is composed by different elements that describe the behaviour of the muscle (contractile, series elastic and parallel elastic element) and tendon. In this work we analyze the differences between different formulations found in the literature for these elements. To evaluate the differences, a flexo-extension movement of the arm was performed, using as input to the different models the surface electromyography signal recorded and the muscle-tendon lengths and contraction velocities obtained by means of inverse dynamic analysis. The results show that the force predicted by the different models is similar and the main differences in muscle force prediction were observed at full-flexion. The results are expected to contribute in the selection of the different formulations of Hill-type muscle model to solve a specific problem.
76 citations
Performance Metrics
| Year | Papers |
|---|---|
| 2026 | 2 |
| 2025 | 53 |
| 2024 | 50 |
| 2023 | 44 |
| 2022 | 81 |
| 2021 | 86 |