Journal Description
Machines
Machines
is an international, peer-reviewed, open access journal on machinery and engineering published monthly online by MDPI. The IFToMM is affiliated with Machines and its members receive a discount on the article processing charges.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High Visibility: indexed within Scopus, SCIE (Web of Science), Inspec, and other databases.
- Journal Rank: JCR - Q2 (Engineering, Mechanical)
- Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 15.6 days after submission; acceptance to publication is undertaken in 2.8 days (median values for papers published in this journal in the second half of 2023).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
Impact Factor:
2.6 (2022);
5-Year Impact Factor:
2.8 (2022)
Latest Articles
Kinematic Parameter Identification and Error Compensation of Industrial Robots Based on Unscented Kalman Filter with Adaptive Process Noise Covariance
Machines 2024, 12(6), 406; https://doi.org/10.3390/machines12060406 (registering DOI) - 12 Jun 2024
Abstract
Kinematic calibration plays a pivotal role in enhancing the absolute positioning accuracy of industrial robots, with parameter identification and error compensation constituting its core components. While the conventional parameter identification method, based on linearization, has shown promise, it suffers from the loss of
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Kinematic calibration plays a pivotal role in enhancing the absolute positioning accuracy of industrial robots, with parameter identification and error compensation constituting its core components. While the conventional parameter identification method, based on linearization, has shown promise, it suffers from the loss of high-order system information. To address this issue, we propose an unscented Kalman filter (UKF) with adaptive process noise covariance for robot kinematic parameter identification. The kinematic model of a typical 6-degree-of-freedom industrial robot is established. The UKF is introduced to identify the unknown constant parameters within this model. To mitigate the reliance of the UKF on the process noise covariance, an adaptive process noise covariance strategy is proposed to adjust and correct this covariance. The effectiveness of the proposed algorithm is then demonstrated through identification and error compensation experiments for the industrial robot. Results indicate its superior stability and accuracy across various initial conditions. Compared to the conventional UKF algorithm, the proposed approach enhances the robot’s accuracy stability by 25% under differing initial conditions. Moreover, compared to alternative methods such as the extended Kalman algorithm, particle swarm optimization algorithm, and grey wolf algorithm, the proposed approach yields average improvements of 4.13%, 26.47%, and 41.59%, respectively.
Full article
(This article belongs to the Special Issue Error Measurement, Analysis, and Compensation Technology for CNC Machine Tools)
Open AccessArticle
Experimental Evaluation of Flexible Fixture Stiffness for Steering Knuckles When Loading a Milling Machine Tool
by
Vitalii Kolesnyk, Marcel Kuruc, Ivan Dehtiarov, Anna Neshta, Serhii Avramenko, Vitalii Kononovych, Oksana Dynnyk, Andrii Dovhopolov, Serhii Lemekh and Roman Titskyi
Machines 2024, 12(6), 405; https://doi.org/10.3390/machines12060405 (registering DOI) - 12 Jun 2024
Abstract
In the conditions of the increase in the range of products in the automobile and aircraft industry, there is a tendency to increase the scope of application of flexible fixtures. Thus, in the current article, it was proposed to consider a new concept
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In the conditions of the increase in the range of products in the automobile and aircraft industry, there is a tendency to increase the scope of application of flexible fixtures. Thus, in the current article, it was proposed to consider a new concept of a flexible fixture for location parts of a complex shape. The stress and deflection of the steering knuckle elements were calculated using finite element modeling. During the experiment on the static loading, the deflection of the steering knuckle elements was measured, and the results of finite element modeling were validated. It was determined that the stiffness of the proposed flexible fixture ensures compliance with the tolerances of the mutual location of the surfaces of the part, making it reasonable for feature research the novel flexible fixture design during milling.
Full article
(This article belongs to the Special Issue Innovations in the Design, Simulation, and Manufacturing of Production Systems)
Open AccessArticle
Experimental Evaluation of Mechanical Compression Properties of Aluminum Alloy Lattice Trusses for Anti-Ice System Applications
by
Carlo Giovanni Ferro, Sara Varetti and Paolo Maggiore
Machines 2024, 12(6), 404; https://doi.org/10.3390/machines12060404 (registering DOI) - 12 Jun 2024
Abstract
Lattice structures have emerged as promising materials for aerospace structure applications due to their high strength-to-weight ratios, customizable properties, and efficient use of materials. These properties make them attractive for use in anti-ice systems, where lightweight and heat exchange are essential. This paper
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Lattice structures have emerged as promising materials for aerospace structure applications due to their high strength-to-weight ratios, customizable properties, and efficient use of materials. These properties make them attractive for use in anti-ice systems, where lightweight and heat exchange are essential. This paper presents an extensive experimental investigation into mechanical compression properties of lattice trusses fabricated from AlSi10Mg powder alloy, a material commonly used in casted aerospace parts. The truss structures were manufactured using the additive manufacturing selective laser melting technique and were subjected to uniaxial compressive loading to assess their performance. The results demonstrate that AlSi10Mg lattice trusses exhibit remarkable compressive strength with strong correlations depending upon both topology and cells’ parameters setup. The findings described highlight the potential of AlSi10Mg alloy as a promising material for custom truss fabrication, offering customizable cost-effective and lightweight solutions for the aerospace market. This study also emphasizes the role of additive manufacturing in producing complex structures with pointwise-tailored mechanical properties.
Full article
(This article belongs to the Special Issue Recent Advances in 3D Printing in Industry 4.0)
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Open AccessArticle
Advancing Predictive Maintenance with PHM-ML Modeling: Optimal Covariate Weight Estimation and State Band Definition under Multi-Condition Scenarios
by
David R. Godoy, Constantino Mavrakis, Rodrigo Mena, Fredy Kristjanpoller and Pablo Viveros
Machines 2024, 12(6), 403; https://doi.org/10.3390/machines12060403 (registering DOI) - 12 Jun 2024
Abstract
The proportional hazards model (PHM) is a vital statistical procedure for condition-based maintenance that integrates age and covariates monitoring to estimate asset health and predict failure risks. However, when dealing with multi-covariate scenarios, the PHM faces interpretability challenges when it lacks coherent criteria
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The proportional hazards model (PHM) is a vital statistical procedure for condition-based maintenance that integrates age and covariates monitoring to estimate asset health and predict failure risks. However, when dealing with multi-covariate scenarios, the PHM faces interpretability challenges when it lacks coherent criteria for defining each covariate’s influence degree on the hazard rate. Hence, we proposed a comprehensive machine learning (ML) formulation with Interior Point Optimizer and gradient boosting to maximize and converge the logarithmic likelihood for estimating covariate weights, and a K-means and Gussian mixture model (GMM) for condition state bands. Using real industrial data, this paper evaluates both clustering techniques to determine their suitability regarding reliability, remaining useful life, and asset intervention decision rules. By developing models differing in the selected covariates, the results show that although K-means and GMM produce comparable policies, GMM stands out for its robustness in cluster definition and intuitive interpretation in generating the state bands. Ultimately, as the evaluated models suggest similar policies, the novel PHM-ML demonstrates the robustness of its covariate weight estimation process, thereby strengthening the guidance for predictive maintenance decisions.
Full article
(This article belongs to the Section Machines Testing and Maintenance)
Open AccessReview
A Review on the Applications of Dual Quaternions
by
João Gutemberg Farias, Edson De Pieri and Daniel Martins
Machines 2024, 12(6), 402; https://doi.org/10.3390/machines12060402 (registering DOI) - 12 Jun 2024
Abstract
This work explores dual quaternions and their applications. First, a theoretical construction begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The physical foundations behind the developed theory lie in two important fundamentals: Chasles’ Theorem and the Transference Principle.
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This work explores dual quaternions and their applications. First, a theoretical construction begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The physical foundations behind the developed theory lie in two important fundamentals: Chasles’ Theorem and the Transference Principle. The former addresses how to represent rigid-body motion whereas the latter provides a method for operating on it. This combination presents dual quaternions as a framework for modeling rigid mechanical systems, both kinematically and kinetically, in a compact, elegant and performant way. Next, a review on the applications of dual quaternions is carried out, providing a general overview of all applications. Important subjects are further detailed, these being the kinematics and dynamics of rigid bodies and mechanisms (both serial and parallel), control and motion interpolation. Discussions regarding dual quaternions and their applications are undertaken, highlighting open questions and research gaps. The advantages and disadvantages of using dual quaternions are summarized. Lastly, conclusions and future directions of research are presented.
Full article
(This article belongs to the Special Issue Control and Mechanical System Engineering)
Open AccessArticle
Comparative Study of Short Circuits and Demagnetization in Delta, Star, and Hybrid Winding Connections for Surface-Mounted Permanent Magnet Machines
by
Junyi Chen, Yidong Du, Haolan Zhan, Kai Zhou and Yuan Sun
Machines 2024, 12(6), 401; https://doi.org/10.3390/machines12060401 (registering DOI) - 12 Jun 2024
Abstract
This article comprehensively compares the short circuits and irreversible demagnetization in star, delta, and hybrid winding connections for surface-mounted permanent magnet (SPM) machines, including the three-phase short circuit (3PSC) and two-phase short circuit (2PSC). The analytical and finite element (FE) methods are adopted.
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This article comprehensively compares the short circuits and irreversible demagnetization in star, delta, and hybrid winding connections for surface-mounted permanent magnet (SPM) machines, including the three-phase short circuit (3PSC) and two-phase short circuit (2PSC). The analytical and finite element (FE) methods are adopted. It is found that when 3PSC or 2PSC happens, the peak current is the largest in the hybrid connection, which further results in the severest demagnetization. In addition, the delta connection always results in a larger 2PSC peak current than the star connection. Under relatively low permanent magnet (PM) temperature, the delta connection leads to more severe demagnetization than the star connection. However, when PM temperature increases, the opposite condition can occur. As for 3PSC, whether the peak current of the delta connection exceeds that of the star connection is determined by the phase of the third back-EMF harmonic. The delta connection shows higher 3PSC peak current when the third harmonic is in phase with the fundamental back EMF, and conversely, the star connection shows higher peak current. The comparison of demagnetization also heavily depends on PM temperature. Finally, the experiments are conducted to verify the theoretical analysis.
Full article
(This article belongs to the Section Electrical Machines and Drives)
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Open AccessArticle
Design and Experimental Study of Negative Pressure Spiral Separation and Reduction Device for Drilling Holes
by
Xiangang Ren, Yongchen Huang, Bo Zhang and Zhuo Wang
Machines 2024, 12(6), 400; https://doi.org/10.3390/machines12060400 (registering DOI) - 12 Jun 2024
Abstract
Currently, screw conveyors and negative pressure vacuum screens with negative pressure vibration units are used for handling drilling cuttings both domestically and internationally. However, there is currently no effective solution to address the high liquid content of drilling cuttings during their conveyance by
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Currently, screw conveyors and negative pressure vacuum screens with negative pressure vibration units are used for handling drilling cuttings both domestically and internationally. However, there is currently no effective solution to address the high liquid content of drilling cuttings during their conveyance by screw conveyors. In this paper, a novel design scheme for a negative pressure spiral separation and reduction device is proposed based on an extensive literature survey. This device aims to effectively reduce the liquid content of drilling cuttings during their conveyance by screw conveyors, thereby minimizing the overall liquid content throughout the drilling process. The structural design of the negative pressure spiral separation and reduction device is conducted using theoretical analysis and 3D solid modeling methods, while strength analysis of the negative pressure suction unit is performed using a finite element method. Additionally, theoretical research on relevant process parameters is carried out, and an online real-time testing system for experiments is designed. An analysis of experimental results demonstrates that within 151 s, the liquid suction rate of the device can reach 51%, with an average flow speed of approximately 0.008 m/s, thus achieving the desired target for drilling cutting separation and reduction. By designing this new negative pressure spiral separation and reduction device, its feasibility has been verified through acceptable engineering results obtained from experimentation; furthermore, it aims to achieve an optimal liquid suction effect for drilling cuttings in order to enhance solid–liquid separation efficiency, as well as to improve drilling fluid recovery efficiency by conserving mud materials and reducing overall drilling costs.
Full article
(This article belongs to the Section Machine Design and Theory)
Open AccessArticle
Incipient Inter-Turn Short Circuit Detection in Induction Motors Using Cumulative Distribution Function and the EfficientNetv2 Model
by
Carlos Javier Morales-Perez, Laritza Perez-Enriquez, Juan Pablo Amezquita-Sanchez, Jose de Jesus Rangel-Magdaleno, Martin Valtierra-Rodriguez and David Granados-Lieberman
Machines 2024, 12(6), 399; https://doi.org/10.3390/machines12060399 (registering DOI) - 12 Jun 2024
Abstract
Induction motors are one of the most used machines because they provide the necessary traction force for many industrial applications. Their easy operation, installation, maintenance, and reliability make them preferred over other electrical motors. Mechanical and electrical failures, as with other machines, can
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Induction motors are one of the most used machines because they provide the necessary traction force for many industrial applications. Their easy operation, installation, maintenance, and reliability make them preferred over other electrical motors. Mechanical and electrical failures, as with other machines, can appear at any stage of their service life, making the stator intern-turn short-circuit fault (ITSC) stand out. Hence, its detection is necessary in order to extend and save useful life, avoiding a breakdown and unprogrammed maintenance processes as well as, in the worst circumstances, a total loss of the machine. Nonetheless, the challenge lies in detecting this type of fault, which has made the analysis and diagnosis processes easier. Such is the case with convolutional neural networks (CNNs), which facilitate the development of methodologies for pattern recognition in several areas of knowledge. Unfortunately, these techniques require a large amount of data for an adequate training process, which is not always available. In this sense, this paper presents a new methodology for the detection of incipient ITSC faults employing a modified cumulative distribution function (CDF) of the current stator signal. Then, these are converted to images and fed into a fast and compact CNN model, trained with a small data set, reaching up to 99.16% accuracy for seven conditions (0, 5, 10, 15, 20, 30, and 40 short-circuited turns) and four mechanical load conditions.
Full article
(This article belongs to the Special Issue Data-Driven Fault Diagnosis for Machines and Systems)
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Open AccessArticle
Structural Optimization of Scarfing Machine with Acceleration Profile and Multi-Objective Genetic Algorithm Approach
by
Sangbin Lee, Yoonjae Lee, Byeonghui Park and Changwoo Lee
Machines 2024, 12(6), 398; https://doi.org/10.3390/machines12060398 - 12 Jun 2024
Abstract
Scarfing is a type of flame treatment used to improve the quality of metal generated during steelmaking. It employs the principles of gas cutting to remove impurities and defects. Due to the high-temperature conditions and the need for uniform metal treatment, mechanical scarfing
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Scarfing is a type of flame treatment used to improve the quality of metal generated during steelmaking. It employs the principles of gas cutting to remove impurities and defects. Due to the high-temperature conditions and the need for uniform metal treatment, mechanical scarfing performed via a frame is preferred over manual hand scarfing. To achieve stable mechanical scarfing, a properly designed frame is essential. Generally, while using more material can create stable equipment, it also increases costs. Therefore, this study proposed a design method that selects an acceleration profile to minimize the shock on the frame during scarfing equipment operation while using a multi-objective genetic algorithm to minimize weight and maximize rigidity. Because modifying existing scarfing equipment based on the optimization results would incur additional costs and time, pre-optimizing through simulation before equipment fabrication is crucial. Optimization was achieved via the dimensional optimization of the existing frame equipment. As a result, the weight of each part and the deformation decreased by an average of 17.05 kg and 3.93%, respectively.
Full article
(This article belongs to the Special Issue Optimization and Design of Compliant Mechanisms)
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Open AccessArticle
Defining the Consistent Velocity of Omnidirectional Mobile Platforms
by
Elena Rubies and Jordi Palacín
Machines 2024, 12(6), 397; https://doi.org/10.3390/machines12060397 - 11 Jun 2024
Abstract
The maximum linear (or translational) velocity achievable by an omnidirectional platform is not uniform as it depends on the angular orientation of the motion. This velocity is limited by the maximum angular velocity of the motors driving the wheels and also depends on
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The maximum linear (or translational) velocity achievable by an omnidirectional platform is not uniform as it depends on the angular orientation of the motion. This velocity is limited by the maximum angular velocity of the motors driving the wheels and also depends on the mechanical configuration and orientation of the wheels. This paper proposes a procedure to compute an upper bound for the translational velocity, named the consistent velocity of the omnidirectional platform, which is defined as the minimum of the maximum translational velocities achievable by the platform in any angular orientation with no wheel slippage. The consistent velocity is then a uniform translational velocity always achievable by the omnidirectional platform regardless of the angular orientation of the motion. This paper reports the consistent velocity for a set of omnidirectional platforms with three omni wheels that have the same radius and angular distribution but different angular orientations. Results have shown that these platforms can achieve different maximum velocities in different angular orientations although the consistent velocity is the same for all of them. Results have also shown that the consistent velocity has a linear relation with the angular velocity of the motion. The consistent velocity of a mobile platform can be used by its path-planning algorithm as an upper bound that guarantees the execution of any omnidirectional motion at a uniform and maximum translational velocity.
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(This article belongs to the Special Issue Recent Advances in Mobile Robots)
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Open AccessArticle
Investigation on the Torsional–Flexural Instability Phenomena during the Bending Process of Hairpin Windings: Experimental Tests and FE Model Validation
by
Valerio Mangeruga, Saverio Giulio Barbieri, Matteo Giacopini, Fabrizio Giuradei, Piermaria Vai and Chris Gerada
Machines 2024, 12(6), 396; https://doi.org/10.3390/machines12060396 - 10 Jun 2024
Abstract
Modern electric motors developed for the automotive industry have an ever higher power density with a relatively compact size. Among the various existing solutions to improve torque and power density, a reduction in the dimensions of the end-windings has been explored, aiming to
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Modern electric motors developed for the automotive industry have an ever higher power density with a relatively compact size. Among the various existing solutions to improve torque and power density, a reduction in the dimensions of the end-windings has been explored, aiming to decrease volume, weight, and losses. However, more compact end-windings often lead to complex shapes of the conductors, especially when preformed hairpin windings are considered. The rectangular cross-section of hairpin conductors makes them prone to deviating out of the bending plane during the forming process. This phenomenon, known as torsional–flexural instability, is influenced by the specific aspect ratio of the cross-section dimensions and the bending direction. This study focuses on understanding this instability phenomenon, aiming to identify a potential threshold of the cross-section aspect ratio. The instability makes it difficult to predict the final geometry, potentially compromising the compliance with the geometric tolerances. A finite element model is developed to analyse a single planar bend in a hairpin conductor. Various cross-section dimensions with different aspect ratios are simulated identifying those that experience instability. Moreover, an experimental campaign is conducted to confirm the occurrence of instability by testing the same single planar bending. The experimental data obtained are used to validate the finite element model for the tested dimensions. The aim is to provide designers with a useful tool to select hairpin geometries that are more suitable for the folding process, contributing to successful assembly and improving the overall design process of preformed hairpin conductors.
Full article
(This article belongs to the Special Issue Advances in Design and Manufacturing in Die Casting and Metal Forming)
Open AccessTechnical Note
Preliminary Verification of the PHITS Code Applicability to Conversion Efficiency Calculation of Direct Charge Nuclear Battery
by
Hiroki Takezawa, Ryuma Kigeuchi, Hibiki Umeda, Fumihiro Tamura, Yuki Uchida and Takashi Kikuchi
Machines 2024, 12(6), 395; https://doi.org/10.3390/machines12060395 - 10 Jun 2024
Abstract
A direct charge nuclear battery, or DCNB, is one of the nuclear batteries based on direct energy conversion and is characterized by exceptional high voltage generation and conversion efficiency higher than other nuclear batteries. For studying potential applications of DCNB, a preliminary estimation
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A direct charge nuclear battery, or DCNB, is one of the nuclear batteries based on direct energy conversion and is characterized by exceptional high voltage generation and conversion efficiency higher than other nuclear batteries. For studying potential applications of DCNB, a preliminary estimation of DCNB electrical power and performance is required; hence, conversion efficiency analysis is crucial. For preliminary verification purposes, an ideal DCNB conversion efficiency was calculated under the simplified electron transport model by using the general-purpose Monte Carlo particle transport calculation code PHITS. The result was compared with a reference experimental efficiency for a T-loaded parallel plate DCNB, and the resulting relative error was approximately 12%. Considering the relative error of 20% or less in DCNB conversion efficiency shown by preceding studies, the resulting error was comparable, and it was concluded that the PHITS code is sufficiently applicable to DCNB conversion efficiency analysis.
Full article
(This article belongs to the Special Issue Science and Technology of Advanced Mechanical Engineering Applied to Society, Including Collections from the Latest Papers of KRIS 2023)
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Open AccessArticle
A Novel Double Closed Loop Control of Temperature and Rotational Speed for Integrated Multi-Parameter Hydro-Viscous Speed Control System (HSCS)
by
Kai Zhao, Yuan Wang, Shoukun Wang, Feiyue Gao, Xiang Feng, Hu Shen, Lin Zhang, Liang Wang, Bin Yu and Kaixian Ba
Machines 2024, 12(6), 394; https://doi.org/10.3390/machines12060394 - 10 Jun 2024
Abstract
Hydro-viscous clutch has already become an inevitable choice for special vehicle transmission in the present and future. As a nonlinear system with a large hysteresis loop, its speed control performance is affected by input rotational speed, lubricating oil temperature, lubrication pressure, and other
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Hydro-viscous clutch has already become an inevitable choice for special vehicle transmission in the present and future. As a nonlinear system with a large hysteresis loop, its speed control performance is affected by input rotational speed, lubricating oil temperature, lubrication pressure, and other factors. The traditional control method cannot adjust the temperature and rotational speed, which will lead to problems of narrow speed range, poor rotational speed stability, and large dynamic load impact. In order to solve the above problems, this paper studies the control method of an integrated multi-parameter hydro-viscous speed control system (HSCS) in a controlled environment. Through the mechanism analysis of the law of HSCS, the influence law of speed and temperature during the system operation is found. The temperature closed loop based on model predictive control (MPC) is introduced to control the rotational speed, and then the traditional PID control results are compensated according to the speed closed loop. Next, a novel double closed loop control method of temperature and rotational speed for HSCS is formed. Finally, the simulating verification is carried out. Compared with the traditional control method, the design method in this paper can adjust the control parameters according to the temperature of the lubricating oil and the input rotational speed and effectively expand the domain of HSCS and the speed control stability. The effective transmission ratio is extended to 0.2~0.8, and the hydro-viscous torque and speed fluctuation under the engine rotational speed fluctuation are reduced by more than 30%. The novel control method of HSCS designed in this paper can effectively improve the influence of input rotational speed and lubricating oil temperature on the speed control performance of HSCS and can be widely used in nonlinear HSCS such as hydro-viscous clutch.
Full article
(This article belongs to the Special Issue Control and Mechanical System Engineering)
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Open AccessArticle
Research and Implementation of Pneumatic Amphibious Soft Bionic Robot
by
Wenchuan Zhao, Yu Zhang, Lijian Yang, Ning Wang and Linghui Peng
Machines 2024, 12(6), 393; https://doi.org/10.3390/machines12060393 - 7 Jun 2024
Abstract
To meet the requirements of amphibious exploration, ocean exploration, and military reconnaissance tasks, a pneumatic amphibious soft bionic robot was developed by taking advantage of the structural characteristics, motion forms, and propulsion mechanisms of the sea lion fore-flippers, inchworms, Carangidae tails, and dolphin
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To meet the requirements of amphibious exploration, ocean exploration, and military reconnaissance tasks, a pneumatic amphibious soft bionic robot was developed by taking advantage of the structural characteristics, motion forms, and propulsion mechanisms of the sea lion fore-flippers, inchworms, Carangidae tails, and dolphin tails. Using silicone rubber as the main material of the robot, combined with the driving mechanism of the pneumatic soft bionic actuator, and based on the theory of mechanism design, a systematic structural design of the pneumatic amphibious soft bionic robot was carried out from the aspects of flippers, tail, head–neck, and trunk. Then, a numerical simulation algorithm was used to analyze the main executing mechanisms and their coordinated motion performance of the soft bionic robot and to verify the rationality and feasibility of the robot structure design and motion forms. With the use of rapid prototyping technology to complete the construction of the robot prototype body, based on the motion amplitude, frequency, and phase of the bionic prototype, the main execution mechanisms of the robot were controlled through a pneumatic system to carry out experimental testing. The results show that the performance of the robot is consistent with the original design and numerical simulation predictions, and it can achieve certain maneuverability, flexibility, and environmental adaptability. The significance of this work is the development of a pneumatic soft bionic robot suitable for amphibious environments, which provides a new idea for the bionic design and application of pneumatic soft robots.
Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
Open AccessArticle
Influence of Runner Downstream Structure on the Flow Field in the Runner of Small-Sized Water Turbine
by
Lingdi Tang, Wei Wang, Chenjun Zhang, Zanya Wang and Shouqi Yuan
Machines 2024, 12(6), 392; https://doi.org/10.3390/machines12060392 - 7 Jun 2024
Abstract
Unstable flows in the runner of water turbines, such as reverse flow, vorticity and flow direction transition, are the main factors causing increased losses and decreased efficiency, and changing the geometry structure in the downstream of the runner is an important means of
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Unstable flows in the runner of water turbines, such as reverse flow, vorticity and flow direction transition, are the main factors causing increased losses and decreased efficiency, and changing the geometry structure in the downstream of the runner is an important means of mitigating these instabilities. The different flow fields downstream of runners induced by different locking nut structures are numerically calculated and verified by experimental results. The flow states are evaluated in terms of characteristic quantities such as pressure gradient, swirling flow, reverse flow, and vorticity. The results show a non-negligible effect of the locking nut, which leads to a more uniform pressure distribution, increases the descending speed of the reverse flow rate, and reduces the volume and strength of the vortex. The small locking nut significantly weakens the pressure gradient, reduces the top reverse flow zone, and decreases the vortex volume at the blade flow passage outlet and the size of the downstream disturbance vortex. The extended lock nut reduces the growth rate of the vortex generation rate and the size of the partial vortex, but increases the range of the high-pressure zone, causing the bottom reverse flow and increasing the vortex.
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(This article belongs to the Section Turbomachinery)
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Open AccessArticle
Digital Simulation of Coupled Dynamic Characteristics of Open Rotor and Dynamic Balancing Test Research
by
Yixiang Guo, Lifang Chen, Yuda Long and Xu Zhang
Machines 2024, 12(6), 391; https://doi.org/10.3390/machines12060391 - 5 Jun 2024
Abstract
An aero engine, as the core power equipment of the aircraft, enables safe and stable operation with a very high reliability index, and is an important guarantee in flight. The open rotor turbine engines (contra-rotating propeller) have stood out as a research hotspot
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An aero engine, as the core power equipment of the aircraft, enables safe and stable operation with a very high reliability index, and is an important guarantee in flight. The open rotor turbine engines (contra-rotating propeller) have stood out as a research hotspot for aviation power equipment in recent years due to their outstanding advantages of low fuel consumption, high airspeed, and strong propulsion efficiency. Aiming at the problems of vibration exceeding the standard generated by imbalance during the operation of the dual-rotor system of aircraft development, the difficulty of identifying the coupled vibration under the micro-differential speed condition, and the complexity of the dynamic characteristic law, a kind of numerical simulation of the dynamics based on the finite element technology is proposed, together with an experimental research method for the fast and accurate identification of the coupled vibration of the dual-rotor system. Based on the existing open rotor engine structure design to build a simulation test bed, establish a double rotor finite element simulation digital twin model, and analyze and calculate the typical working conditions of the dynamic characteristics of parameters. The advanced algorithm of double rotor coupling vibration signal identification is utilized to carry out decoupling and dynamic balancing experimental tests, comparing the simulation results with the measured data to verify the accuracy of the technical means. The results of the study show that the vibration suppression rate of the finite element calculation simulation test carried out for the simulated double rotor is 98%, and the average vibration reduction ratio of the actual field test at 850 rpm, 1000 rpm, and 3000 rpm is over 50%, which achieves a good dynamic balancing effect, and has the merit of practical engineering application.
Full article
(This article belongs to the Section Electrical Machines and Drives)
Open AccessArticle
Optimization of the Factory Layout and Production Flow Using Production-Simulation-Based Reinforcement Learning
by
Hyekyung Choi, Seokhwan Yu, DongHyun Lee, Sang Do Noh, Sanghoon Ji, Horim Kim, Hyunsik Yoon, Minsu Kwon and Jagyu Han
Machines 2024, 12(6), 390; https://doi.org/10.3390/machines12060390 - 5 Jun 2024
Abstract
Poor layout designs in manufacturing facilities severely reduce production efficiency and increase short- and long-term costs. Analyzing and deriving efficient layouts for novel line designs or improvements to existing lines considering both the layout design and logistics flow is crucial. In this study,
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Poor layout designs in manufacturing facilities severely reduce production efficiency and increase short- and long-term costs. Analyzing and deriving efficient layouts for novel line designs or improvements to existing lines considering both the layout design and logistics flow is crucial. In this study, we performed production simulation in the design phase for factory layout optimization and used reinforcement learning to derive the optimal factory layout. To facilitate factory-wide layout design, we considered the facility layout, logistics movement paths, and the use of automated guided vehicles (AGVs). The reinforcement-learning process for optimizing each component of the layout was implemented in a multilayer manner, and the optimization results were applied to the design production simulation for verification. Moreover, a flexible simulation system was developed. Users can efficiently review and execute alternative scenarios by considering both facility and logistics layouts in the workspace. By emphasizing the redesign and reuse of the simulation model, we achieved layout optimization through an automated process and propose a flexible simulation system that can adapt to various environments through a multilayered modular approach. By adjusting weights and considering various conditions, throughput increased by 0.3%, logistics movement distance was reduced by 3.8%, and the number of AGVs required was reduced by 11%.
Full article
(This article belongs to the Special Issue Digital Twin-Driven Smart Production, Logistics, and Supply Chains)
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Open AccessArticle
Application of an Improved Laplacian-of-Gaussian Filter for Bearing Fault Signal Enhancement of Motors
by
Dafeng Tang, Yuanbo Xu and Xiaojun Liu
Machines 2024, 12(6), 389; https://doi.org/10.3390/machines12060389 - 5 Jun 2024
Abstract
The presence of strong noise and vibration interference in fault vibration signals poses challenges for extracting fault features from motor bearings. Therefore, appropriate pre-filtering procedures can effectively suppress the impact of the noise interference and further enhance fault-related signals. In this work, an
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The presence of strong noise and vibration interference in fault vibration signals poses challenges for extracting fault features from motor bearings. Therefore, appropriate pre-filtering procedures can effectively suppress the impact of the noise interference and further enhance fault-related signals. In this work, an improved Laplacian-of-Gaussian (ILoG) filter is proposed to enhance the fault-related signal. The proposed ILoG approach employs an enhanced Kurtosis-based indicator known as Correlated Kurtosis (CK). The CK capitalizes on the cyclostationarity of fault-related impulses and mitigates the random nature of impulse noise. Subsequently, an objective function, based on CK statistics, is suggested to iteratively update LoG coefficients by maximizing the CK value of the output signal. Therefore, the ILoG filter can better highlight the fault cyclic impulses associated with bearing faults. Furthermore, the ILoG filter is capable of attenuating impulsive noise, a feature that is absent in the original LoG filter. The simulation and experimental results demonstrate that the proposed ILoG method provides a remarkable capability to effectively enhance the fault-induced components, thereby improving the diagnostic accuracy. Consequently, the ILoG filter holds great potential for application in motor bearing fault diagnosis.
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(This article belongs to the Section Machines Testing and Maintenance)
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Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles
by
Maria Paterna, Carlo De Benedictis and Carlo Ferraresi
Machines 2024, 12(6), 388; https://doi.org/10.3390/machines12060388 - 5 Jun 2024
Abstract
Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this
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Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this paper presents the design of a passive upper-limb exoskeleton based on McKibben artificial muscles. The interaction forces between the exoskeleton and the user, as well as the mechanical resistance of the exoskeleton structure, were investigated to finalize the design of the device prior to its prototyping. Details are provided about the solutions adopted to assemble, wear, and regulate the exoskeleton’s structure. The first version of the device weighing about 5.5 kg was manufactured and tested by two users in a motion analysis laboratory. The results of this study highlight that the exoskeleton can effectively reduce the activation level of shoulder muscles without affecting the lumbar strain.
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(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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Open AccessArticle
Research on Collaboration Motion Planning Method for a Dual-Arm Robot Based on Closed-Chain Kinematics
by
Yuantian Qin, Kai Zhang, Kuiquan Meng and Zhehang Yin
Machines 2024, 12(6), 387; https://doi.org/10.3390/machines12060387 - 4 Jun 2024
Abstract
Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the research object. Initially, a transformation model is established
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Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the research object. Initially, a transformation model is established for the characteristic trajectories between the workpiece coordinate system and various other coordinate systems. Subsequently, the position and orientation curves of the working trajectory are discretized to facilitate the controller’s execution. Furthermore, an analysis is conducted of the closed-chain kinematics relationship between two arms of the robot and a pose-calibration method based on a reference coordinate system is introduced. Finally, constraints to the collaborative motion of the dual-arm robot are analyzed, leading to the establishment of a motion collaboration planning methodology. Simulations and experiments demonstrate that the proposed approach enables effective and collaborative task planning for dual-arm robots. Moreover, joint angle and angular velocity curves corresponding to the motion trajectory exhibit smoothness, reducing joint impacts.
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(This article belongs to the Section Automation and Control Systems)
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