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Journal of Mechanical Transmission

Journal of Mechanical Transmission Journal of Mechanical Transmission
  • ISSN:1004-2539
  • CN:41-1129/TH
  • Publishing Cycle: monthly
  • Governed by: China Machinery Industry Federation
  • Sponsors: China Academy of Machinery Zhengzhou Research Institute of Mechanical Engineering Co. Ltd, 
  • Chinese Mechanical Engineering Society
  • China Machine General Components Industry Association.
  • Tel/Fax: 0371-67710817
  • E-mail： jxcd1977@foxmail.com
  • Address: No. 149, Kexue Avenue, Zhengzhou, Henan, China
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Volume 50 期 2，2026 2026年第50卷第2期

  • Reviews and Frontiers

    XU Yapeng, ZHANG Zhou, WANG Caidong, WANG Liangwen, WANG Shoufang

    DOI：10.16578/j.issn.1004.2539.2026.02.001
    摘要：SignificanceThere is an urgent demand for applications such as human-robot interaction and special operations, which imposes higher requirements on the compliance and dynamic adaptability of robot joints. As the core technology for compliant robot joints, variable stiffness actuators (VSAs) have become a research hotspot. To systematically sort out the design, control, application and development trends of VSAs and grasp their core research threads, a comprehensive review of relevant research achievements was conducted. [Analysis] Firstly, literatures at home and abroad in the past decade were collected and analyzed, and the research popularity and depth of VSAs were statistically analyzed, revealing the current macro history of VSAs. Secondly, the stiffness adjustment principle, transmission mechanism design, and control strategy of VSAs were classified, and the advantages and limitations of various variable stiffness theories and methods were discussed based on theoretical models. The characteristics of their adjustment speed, bandwidth, energy consumption, as well as the load capacity and response bandwidth of the actuator, were analyzed in different schemes. Thirdly, combined with specific cases, the applications of VSAs in fields such as humanoid robots, exoskeleton robots, industrial robot terminals, and special robots were explored. Finally, the development trend and technical challenges of VSAs in the field of robotics were discussed, and potential technological breakthroughs and applications were explored. With the continuous deepening of research, VSAs are expected to assist robots in achieving super-efficient, intelligent, and collaborative by interdisciplinary integration.  
    关键词：Variable stiffness actuator;Compliant joint;Bionic joint;Principle of variable stiffness   
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    DONG Ruiwen, YU Jiuyang, ZHOU Han, YANG Peiyan, LIU Pan, WU Yaojian, DAI Yaonan

    DOI：10.16578/j.issn.1004.2539.2026.02.002
    摘要：SignificanceAs special operation equipment in the full-life-cycle operation and maintenance system of pipelines, oil and gas pipeline robots are required to perform inspection, maintenance, and repair tasks under harsh working conditions such as high temperature, high pressure, and corrosive media. In view of the autonomy issues such as jamming faced by fully passively driven robots, and based on differences in speed control mechanisms, robots are categorized systematically into types such as braking control, bypass control, and self-driven control, and the body structure, motion control methods, and algorithms of various robots are summarized, aiming to clarify their technical characteristics and application limitations. [Analysis] Firstly, the current development status of speed control technologies for oil and gas pipeline robots at home and abroad was systematically summarized. Secondly, a comparative analysis was conducted focusing on the mechanical structure design, dynamic modeling methods, control strategies, and performance in pipeline anti-jamming, inspection, and positioning of braking-controlled, bypass-controlled, and self-driven controlled robots. Finally, based on current research progress, the development trends of oil and gas pipeline robots in structural modularization and control algorithm coordination were summarized, and prospects for future research directions were proposed. Through a multi-perspective review, this study provides reference and technical support for promoting the development of oil and gas pipeline robots towards intelligence and self-adaptation.  
    关键词：Oil and gas pipeline robot;Controllable speed;Body structure;Motion control method and algorithm   
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  • Robotic Actuation and Configuration Innovation

    ZHU Wei, ZHU Yongjing, ZHOU Xiaoyu, REN Qiuyang

    DOI：10.16578/j.issn.1004.2539.2026.02.003
    摘要：ObjectiveIn response to the lack of effective design analysis methods and insufficient dynamic performance evaluation indicators in the combination scenario of cable-driven parallel robots (CDPRs) and rigid branch chains, an innovative design of CDPR structure was carried out based on constraint-based configuration synthesis method, and corresponding new evaluation indicators were proposed.MethodsFirstly, by analyzing the driving and constraint conditions of the end-effector through constraint-based configuration synthesis, a novel three-translational high-speed CDPR was designed. Then, the kinematics and static models of the mechanism were derived, and the dexterity metric of the mechanism within its workspace was analyzed. Finally, the dynamic model of the mechanism was established, and its dynamic workspace was computed under specific trajectory planning and high acceleration conditions. The dynamic performance of the mechanism was analyzed using the ratio ζ of the volume of the acceleration interval (ACI) to the volume of the task workspace as indicators.ResultsThe test results show that ζ=0.951 indicates good dynamic performance for the mechanism. Additionally, the analysis of the acceleration range provides valuable design reference for trajectory planning.  
    关键词：Rigid constraint;Cable-driven parallel robot;Configuration synthesis;Workspace;Dynamic performance   
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    FAN Zhi, ZOU Guangming, ZHANG Jufang, CHENG Yao, DING Zhe

    DOI：10.16578/j.issn.1004.2539.2026.02.004
    摘要：ObjectiveAiming at the problems of poor human-machine interaction and limited stiffness adjustment range of traditional joints, a new type of variable stiffness joint based on composite gear train was designed. By changing the rotation mode of the gear train, “stiffness adjustment” and “constant stiffness output” were realized to improve the environmental adaptability of the joint.MethodsFirstly, the variable stiffness principle, configuration and main structure of the joint were analyzed in detail, and its stiffness adjustment range was calculated. Secondly, kinematics analysis was carried out to explore the motion law of the composite gear train and the mathematical relation of stiffness adjustment. Finally, a prototype was fabricated, and a test platform was built to conduct stiffness measurement tests.ResultsThe results show that the adjustable range of the joint is 0-1.345×106 N·mm/rad. The similarity between the test curve and the theoretical curve is 0.92, which verifies that the designed joint has good variable stiffness characteristics.  
    关键词：Composite gear train;Spring plate;Variable stiffness joint;Kinematics;Stiffness measurement   
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  1. 0 1 Gear Skiving and Tool Design Method for Manufacturing Tangent Quadruple Circular-arc Harmonic Flexsplines

    Guo Erkuo, Xu Jia, Hong Yang, Liu Chang, Hu Lele 2705 | 259 | 0

  2. 0 2 Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

    Pan Mingzhang, Wang Shuo, Li Jing, Liang Ke 1921 | 2325 | 0

  3. 0 3 Research on Digital Design and Tooth Shape Optimization of Non-circular Gears Based on Envelope Features

    Yongping Liu, Beibei Yun, Yongqiao Wei, Changbin Dong, Zhongtao Ren 1575 | 94 | 0

  4. 0 4 Deep Reinforcement Learning-based Trajectory Planning for Manipulator Obstacle Avoidance

    Cao Yi, Guo Yinhui, Li Lei, Zhu Baiyu, Zhao Zhihua 1365 | 483 | 0

  5. 0 5 Research on Fatigue Life and Node Displacement Modification Method of Helical Gears

    Li Yufeng, Li Dongyang, Wu Luji, Ge Shixiang, Yang Yongfei, Chang Hao 1317 | 22 | 0

  6. 0 6 Prediction of Cutting Temperature and Optimization of Process Parameters in Gear Skiving

    Wen Zijin, Chen Yongpeng 1261 | 181 | 0

  7. 0 7 Study on Tooth Surface Roughness Modeling of Form Grinding Considering the Change of the Local Grinding Condition

    Chen Xiaoqi, Tang Cheng, Liao Xianggui, Zhou Weihua, Tang Jinyuan 1254 | 104 | 0

  8. 0 8 Gearbox Fault Diagnosis Method Based on Improved Multi-scale Mean Permutation Entropy and Parameter Optimization SVM

    Guo Panpan, Zhang Wenbin, Cui Ben, Xu Han 1248 | 312 | 0

  9. 0 9 Review on Fault Diagnosis Technology for High-speed EMU Gearboxes

    Zhang Jianchao, Chen Xiangsong, Hao Rujiang, Gu Xiaohui, Ren Bin 1245 | 125 | 0

  10. 10 Adaptive diagnosis method based on gearbox unbalanced fault data

    TIAN Juan, XIE Gang, ZHANG Shun, WANG Yufei 1224 | 217 | 0

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