Search Results (256)

The error motion of the precision rotary stage, particularly the tilt error motion, significantly influences the accuracy of machining and measuring equipment. Nonetheless, reliable and effective in situ measurement methods for tilt error motion are still limited. Based on the analysis of the conventional three-probe measurement method, this paper proposes a multi-probe measurement method using an ultra-precision reference plate with high-resolution displacement sensors. This method employs principles and methods to avoid harmonic suppression issues through optimal probe designs, enabling simultaneous quantification of tilt and axial error motions via error separation. Error separation techniques can effectively decouple motion errors from artifact form error, making them widely applicable in precision measurement data processing. Experimental validation confirmed that the synchronous measurement error is not greater than 4.69%, consequently affirming the metrological efficacy and reliability of the method. This study provides an effective method for real-time error characterization of rotary stages. Full article

The ongoing rise in global electricity demand highlights the need for advanced, efficient, and environmentally responsible energy conversion technologies. This research presents a comprehensive design, modeling, and experimental validation of a tubular permanent magnet linear alternator (PMLA) integrated with a free piston engine system. Linear alternators offer a direct conversion of linear motion to electricity, eliminating the complexity and losses associated with rotary generators and enabling higher efficiency and simplified system architecture. The study combines analytical modeling, finite element simulations, and a sensitivity-based design optimization to guide alternator and engine integration. Two prototype systems, designated as alpha and beta, were developed, modeled, and tested. The beta prototype achieved a maximum electrical output of 550 W at 57% efficiency using natural gas fuel, demonstrating reliable performance at elevated reciprocating frequencies. The design and optimization of specialized flexure springs were essential in achieving stable, high-frequency operation and improved power density. These results validate the effectiveness of the proposed design approach and highlight the scalability and adaptability of PMLA technology for sustainable power generation. Ultimately, this study demonstrates the potential of free piston linear generator systems as efficient, robust, and environmentally friendly alternatives to traditional rotary generators, with applications spanning hybrid electric vehicles, distributed energy systems, and combined heat and power. Full article

To collect the energy generated by rotational motion in the natural environment, a piezoelectric electromagnetic hybrid energy harvester (HEH) based on a planetary gear system is proposed. The harvester combines piezoelectric and electromagnetic effects and is mainly used for collecting low-frequency rotational energy. The HEH has a compact structure and contains four sets of piezoelectric energy harvesters (PEHs) and electromagnetic energy harvesters (EMHs) inside. The working principle of the energy harvester is analyzed, its theoretical model is established, and a simulation analysis is conducted. To verify the effectiveness of the design, an experimental device is constructed. The results indicate that the HEH can generate an average output power of 250 mW under eight magnets and an external excitation frequency of 7 Hz. In actual power supply testing, the HEH can light up 60 LEDs and provide stable power supply for the temperature–humidity meter. Full article

With the acceleration of industrialization, deformable mechanisms that can adapt to complex environments have gained widespread applications. Joints serve as carriers for transmitting forces and motions between components, and their stiffness significantly influences the static and dynamic characteristics of deformable mechanisms. A variable stiffness joint is crucial for ensuring the safety and reliability of the system, as well as for enhancing environmental adaptability. However, existing variable stiffness joints fail to meet the requirements for miniaturization, lightweight construction, and fast response. This paper proposes a piezoelectric-actuated variable stiffness miniature rotary joint featuring a compact structure, monitorable loading state, and rapid response. Given that the piezoelectric stack expands and contracts when energized, this paper proposes a transmission principle for stiffness adjustment by varying the pressure and friction between active and passive components. This joint utilizes a flexible hinge mechanism for displacement amplification and incorporates a torque sensor based on strain monitoring. A static model is developed based on piezoelectric equations and displacement amplification characteristics, and simulations confirm the feasibility of the stiffness adjustment scheme. The mechanical characteristics of various flexible hinge structures are analyzed, and the effects of piezoelectric actuation capability and external load on stiffness adjustment are examined. The experimental results demonstrate that the joint can adjust stiffness, and the sensor is calibrated using the least squares algorithm to monitor the stress state of the joint in real time. Full article

The paper shows the effect of using a lubricant in the form of an ionic liquid, 1-butyl-3-methylimidazolium hexafluorophosphate (BMIM-PF₆), on the tribological properties of a hydrogenated diamond-like coating (DLC) doped with tungsten a-C:H:W. The coatings were deposited on 100Cr6 steel by plasma-enhanced chemical vapor deposition PECVD. Tribological tests were carried out on a TRB³ tribometer in a rotary motion in a ball–disc combination. 100Cr6 steel balls were used as a counter-sample. Friction and wear tests were carried out for discs made of 100Cr6 steel and 100Cr6 steel discs with a DLC coating. They were performed under friction conditions with and without lubrication under 10 N and 15 N loads. The ionic liquid BMIM-PF₆ was used as a lubricant. Coating thickness was observed on a scanning microscope, and the linear analysis of chemical composition on the cross-section was analyzed using the EDS analyzer. The confocal microscope with an interferometric mode was used for analysis of the geometric structure of the surface before and after the tribological tests. The contact angle of the samples for distilled water, diiodomethane and ionic liquid was tested on an optical tensiometer. The test results showed good cooperation of the DLC coating with the lubricant. It lowered the coefficient of friction in comparison to steel about 20%. This indicates the synergistic nature of the interaction: DLC coating–BMIM-PF₆ lubricant–100Cr6 steel. Full article

316L stainless steel slender tubes with smooth inner surfaces play an important role in fields such as aerospace and medical testing. In order to solve the challenge of difficult machining of their inner surfaces, this paper introduces a novel rotary magnetorheological finishing (RMRF) method specifically designed for processing the inner surfaces of slender tubes. This method does not require frequent replacement of the polishing medium during the processing, which helps to simplify the processing technology. By combining the rotational motion of a magnetic field with the linear reciprocating movement of the workpiece, uniform material removal on the inner surfaces of 316L stainless steel tubes was achieved. Initially, a finite element model coupling the magnetic and flow fields was developed to investigate the flow behavior of the MPF under a rotating magnetic field, to examine the theoretical feasibility of the proposed polishing principle. Subsequently, experimental validation was performed using a custom-designed polishing apparatus. Through processing experiments, with surface quality designated as the index, the influences of key parameters such as the volume content and sizes of carbonyl iron particles and abrasive particles in the MPF were comprehensively evaluated, and the composition and ratio of the MPF were optimized. Based on the optimized formulation, the optimal processing time was established, reducing the inner surface roughness from an initial Sa of approximately 320 nm to 28 nm, and effectively eliminating the original defects. Full article

The mental fatigue of crane operators can pose a serious threat to construction safety. To enhance the safety of crane operations on construction sites, this study proposes a rotary switch semi-dry electrode for detecting the mental fatigue of crane operators. This rotary switch semi-dry electrode overcomes the problems of the large impedance value of traditional dry electrodes, the cumbersome wet electrode operation, and the uncontrollable outflow of conductive liquid from traditional semi-dry electrodes. By designing a rotary switch structure inside the electrode, it allows the electrode to be turned on and used in motion, which greatly improves the efficiency of using the conductive fluid and prolongs the electrode’s use time. A conductive sponge was used at the electrode’s contact end with the skin, improving comfort and making it suitable for long-term wear. In addition, in this study, the multifractal detrend fluctuation analysis (MF-DFA) method was used to detect the mental fatigue state of crane operators. The results indicate that the MF-DFA is more responsive to the tiredness traits of individuals than conventional fatigue detection methods. The proposed rotary switch semi-dry electrode can quickly and accurately detect the mental fatigue of crane operators, provide support for timely warning or intervention, and effectively reduce the risk of accidents at construction sites, enhancing construction safety and efficiency. Full article

To address the resource utilization challenges of residual plastic film in Xinjiang and the issues of low reliability, poor cutting length qualification rates, and high energy consumption in existing film-mixed residue choppers, a rotary knife-type mixed film residue chopper was designed based on the “single support cutting + sliding cutting” principle. The device primarily consists of an adaptive feeding mechanism, a chopping mechanism, and a transmission system. The main structural and motion parameters of the mechanisms were determined through the analysis of feeding and chopping conditions. The primary factors affecting the cotton stalk chopping length qualification rate (CLCR-CS), residual film chopping length qualification rate (CFCR-RF), and specific energy consumption (SEC) were identified as the feeding roller speed, chopper speed, and the gap between the moving and fixed blades. Vibration characteristic analysis of the chopper was conducted using ANSYS software. The first six natural frequencies of the chopper were found to range from 112.54 to 186.65 Hz, with maximum deformation ranging from 0.885 to 1.237 mm. The excitation frequency was significantly lower than the first natural frequency, ensuring that the chopper met reliability and operational performance standards. A prototype was fabricated, and a second-order rotational orthogonal experiment was performed with CLCR-CS, CFCR-RF, and SEC as the test indicators and feeding roller speed, chopper speed, and the gap between the moving and fixed blades as the experimental factors. Variance and response surface analyses were conducted using Design-Expert software to clarify the effects and interactions of experimental factors on the test indicators. The second-order polynomial response surface model was optimized, and the optimal factor values were derived based on practical operational conditions. Verification experiments confirmed that the optimal operating parameters were a feeding roller speed of 32.40 r/min, a chopper speed of 222.0 r/min, and a blade gap of 1.0 mm. Under these conditions, CLCR-CS was 89.96%, CFCR-RF was 91.62%, and SEC was 5.36 kJ/kg, meeting the design specifications of the mixed film residue chopper. Full article

Rotator cuff tears are common in individuals over 40, and physical therapy is often prescribed post-surgery. However, access can be limited by cost, convenience, and insurance coverage. CuffLink is a telehealth rehabilitation system that integrates the Strengthening and Stabilization System mechanical exerciser with the interACTION mobile health platform. The system includes a triple-axis accelerometer (LSM6DSOX + LIS3MDL FeatherWing), a rotary encoder, a VL530X time-of-flight sensor, and two wearable BioMech Health IMUs to capture upper-limb motion. CuffLink is designed to facilitate controlled, home-based exercise while enabling clinicians to remotely monitor joint function. Concurrent validity and test–retest reliability were used to assess device accuracy and repeatability. The results showed moderate to good validity for shoulder rotation (ICC = 0.81), device rotation (ICC = 0.94), and linear tracking (from zero: ICC = 0.75 and RMSE = 2.41; from start: ICC = 0.88 and RMSE = 2.02) and good reliability (e.g., RMSEs as low as 1.66 cm), with greater consistency in linear tracking compared to angular measures. Shoulder rotation and abduction exhibited higher variability in both validity and reliability measures. Future improvements will focus on manufacturability, signal stability, and force sensing. CuffLink supports accessible, data-driven rehabilitation and holds promise for advancing digital health in orthopedic recovery. Full article

This research article tackles the control problem of an inverted pendulum, also known as the Furuta pendulum, mounted on a velocity-controlled robot manipulator in two configurations: the rotary pendulum and the translational pendulum. Differently from most of the existing control architectures where the motor actuating the pendulum motion is torque-controlled, the proposed control architecture exploits the inner velocity loop usually available on industrial robots, thus easing the implementation of an inverted pendulum. Another aspect investigated in this paper and mostly overlooked in the literature is the digital implementation of the control and, specifically, the latency introduced by the digital controller. The proposed control solution explicitly models such effects in the control design phase, improving the closed-loop performance. The additional novelty introduced by this paper is the friction compensation that is essential in the swing-up phase of the inverted pendulum, whereas classical control strategies for the nonlinear swing-up usually neglect this effect, and their solutions lead to control failures in practical systems. This paper presents detailed modeling and experimental identification phases followed by the control design of both the nonlinear swing-up algorithm and the linear stabilization controller, both experimentally validated on a Meca500 robotic arm controlled via an EtherCAT communication protocol by a mini PC featuring a Xenomai real-time operating system. The overall system showcases the potential of high-performance digital control systems in industrial robotic applications. Full article

As the core component of modern mechanical transmission, the precision rotary motion mechanism and its drive system have wide applications in aerospace, robotics, and other fields. This article systematically reviews the design principles, performance characteristics, and research progress of various rotational motion mechanisms and their driving technologies. The working principles, advantages, disadvantages, and applicable scenarios of gears, drive belts, sprockets, camshafts, ratchet claw mechanisms, and linkage mechanisms were analyzed in terms of traditional mechanisms. In terms of new mechanisms, we focused on exploring the innovative design and application potential of intermittent indexing mechanisms, magnetic gears, 3D-printed spherical gears, and multi-link mechanisms. In addition, the paper compared the performance differences of electric, hydraulic, pneumatic, and piezoelectric drive methods. Research has shown that through material innovation, structural optimization, and intelligent control, there is still significant room for improvement in the load capacity, accuracy, and reliability of precision rotary motion mechanisms, providing theoretical support and practical reference for innovative design and engineering applications of future mechanical transmission technologies. Full article

Solving the common paradoxical problem between sub-micro-arc level resolution and a wide range of rotation angles in rotary actuators, this paper designs a single-drive compliant rotary mechanism (CRM) and develops a cross-scale compliant rotary actuator (CCRA). Specially, the proposed CRM employs a single-input–four-output divergent parallel configuration to transform a unidirectional input force into a rotational moment around the rotational center, effectively avoiding asynchronous motion and rotational center shift caused by the multiple actuation. Moreover, the CCRA is developed based on the CRM and a direct-drive rotary (DDR) motor, and adaptive switching between the macro- and micro-combination can simultaneously achieve large rotary range and sub-µrad resolution. After a series of modeling, mechanism optimization, and simulation, a prototype experimental system was built to further test the performance of proposed CCRA. The open-loop and closed-loop characterization experiments showed that the CRM can achieve a rotational resolution of 0.05 $\mathsf{\mu }$rad and a driving force of 0.78 N·m. In addition, the cross-scale switching experimental results show that the CCRA is able to achieve a static positioning accuracy of 3.5 $\mathsf{\mu }$rad within a $\pm 5^{\circ }$ rotational range. Full article

Knee exoskeletons are sophisticated wearable devices engineered to aid or augment human movement, especially in rehabilitation and mobility assistance contexts. To address reliability concerns, the proposed knee exoskeleton incorporates a fault-tolerant control system using a fault detection, isolation and reconfiguration (FDI) technique. This system enables the exoskeleton to continue functioning even if one of the actuators experiences a fault, ensuring user safety and continuous operation. For actuator fault detection, analytical redundancy relations (ARRs) are derived from the bond graph model of the knee exoskeleton. ARRs are monitored for actuator fault detection and isolation. In this work, there is no fault initially; after some time, a fault is created in the rotary actuator; finally, the faulty actuator is reconfigured by another rotary actuator. Simulation findings illustrate the suggested FDI system’s effectiveness in improving the robustness of knee exoskeletons during the sit-to-stand motion. The proposed system successfully reconfigures itself in response to faults. Full article

This paper presents an electromagnetic translational–rotary motion impact energy harvester based on a magnetic cylinder rotated around a fixed magnetic ring. It is beneficial for capturing impact energy generated by natural human motions, such as clapping, boxing, and stomping. The energy harvester consists of a circular housing, twelve coils, a magnetic cylinder, and a magnetic ring. Once activated, the magnetic cylinder revolves and rotates around the magnetic ring, inducing a significantly large electromotive force across the twelve coils. According to Faraday’s law, the output voltage generated by the coils is proportional to the turns, enabling the efficient harvesting of biomechanical waste energy. Moreover, the energy harvester can convert translational motion from any orientation into a multi-circle rotational motion of the low-damping magnetic cylinder, which passes through twelve coils and applies a variable magnetic field across them. During a single excitation event, the prototype harvester was able to charge a 470 μF, 25 V capacitor to over 0.81 V in just 39.5 ms. The energy output and effective average power were calculated to exceed 0.15 mJ and 3.80 mW, respectively. Full article

The article examines the parameters of axial motion of bulk material in rotary kilns, including bed height, axial velocity, and mean residence time. The review includes summary tables of experiments from the scientific literature, detailing the conditions and ranges of operating parameter variations. Mathematical models from the literature are presented for each of the parameters discussed. The materials of the article cover studies from 1927 to 2025, including analysis of numerous works that were not published in international sources. Based on the review, the necessity of studying the impact of coating formation on the axial motion parameters is highlighted, along with the need for experiments on real facilities and pilot plants. Full article