最新刊期
卷 49 ， 期 8 ， 2025
- 摘要：ObjectiveA study was conducted to address the unclear variation patterns of meshing characteristics in linear conjugate internal gear pairs.MethodsBased on the parametric model of linear conjugate internal gear pairs, theoretical expressions for pressure angle, sliding ratio, and induced normal curvature were derived. By comparing with involute internal gear pairs, the meshing characteristics of the gear pair were elucidated. Subsequently, static stress simulations of the gear pair were conducted to analyze its force distribution patterns. Furthermore, the influence of design parameters such as tooth number, tooth profile angle, and reference circle tooth thickness coefficient on meshing characteristics was examined.ResultsThe research reveals the variation patterns of meshing characteristics in linear conjugate internal gear pairs, and the findings contribute to refining the design framework for such gear pairs.关键词：Linear conjugate internal gear pair;Meshing characteristics;Pressure angle;Sliding ratio;Induced normal curvature;Stress simulation14|5|0更新时间：2025-08-16
- 摘要：ObjectiveIn order to further improve the obstacle crossing performance of wheeled mobile robots, a planetary wheel type variable diameter wheel obstacle crossing robot was designed.MethodsFirstly, the variable diameter wheel transmission method adopted a dual degree-of-freedom planetary gear mechanism; based on Adams simulation software, the fluctuation of robot centroid was compared between single and compound structures, the implementation plan for the variable diameter wheel was determined, and a 3D model of the robot was constructed. Secondly, theoretical analysis was conducted on the disc angle and diameter ratio of the variable diameter wheel mechanism; the turning radius and pose equations of the robot were solved through kinematic modeling, and based on the stable cone model, the climbing stability of the robot was studied. Thirdly, through SolidWorks and Adams joint simulation of the virtual robot, regarding the ability to climb stairs, simulations and verifications were conducted on factors such as step height and length, and torque required for variable diameter wheels. Finally, a physical prototype model of the robot was built, the test verification of robot's climbing performance and differential turning was conducted.ResultsThe compound six wheel disc structure scheme is ultimately selected for the variable diameter wheel, with a variable diameter ratio of 1.6. The radius of the variable diameter wheel increases with the increase of the wheel disc angle. The pose of the robot during turning is related to the angular velocity of the variable diameter wheels on the left and right sides of the robot, as well as the width of the robot. It will not tip over during climbing steps. The maximum height and maximum torque of the variable diameter wheel climbing steps are obtained through simulation. The test results show that the robot can successfully climb continuous steps with corresponding obstacle crossing and differential turning capabilities, verifying the feasibility of the obstacle crossing robot design scheme.关键词：Obstacle crossing robot;Variable diameter wheel;Co-simulation;Climbing performance;Differential turning6|3|0更新时间：2025-08-16
- 摘要：[Odjective] To improve the bearing capacity of the variable hyperbolic circular-arc-tooth-trace (VH-CATT) cylindrical gear transmission system and reduce the vibration and noise of the system, a tooth surface modification method for the inclined cutter milling was proposed, and the contact performance of the modified VH-CATT cylindrical gear was analyzed.MethodsFirstly, the modified tooth surface equation was derived based on the forming principle, and the tooth surface was reconstructed. Secondly, the influence of different modification parameters on the tooth surface of the modified VH-CATT cylindrical gear was analyzed. Finally, the finite element analysis model of the VH-CATT cylindrical gear was developed, the maximum contact stress and transmission error of the VH-CATT cylindrical gear under different modification parameters were calculated.ResultsThe results show that when the inclination angle of the cutter head increases, the contact stress of the tooth surface decreases, but when it is greater than a certain value γ0, increasing the inclination angle of the cutter head, the VH-CATT cylindrical gear pair produces bridge-type contact, and the contact stress also increases. The influence of modification parameters on the transmission error of the VH-CATT cylindrical gear is consistent with the influence of the tooth surface contact stress. The research results will provide a basis for the high-quality VH-CATT cylindrical gear transmission and gear modification design.关键词：Variable hyperbolic circular-arc-tooth-trace cylindrical gear;Modification design;Contact performance;Transmission error5|2|0更新时间：2025-08-16
- 摘要：ObjectiveWith the continuous advancement of human-robot collaboration technology, it has become a predominant working mode in the manufacturing industry. In human-robot collaboration scenarios, the robot collision detection serves as a critical foundation for ensuring the safe human-robot interaction. To address the limitations of existing collision detection algorithms, an algorithm was proposed to detect the collision point on a robot body by deriving its position coordinates based on the detection results of a six-dimensional force sensor installed on the base of the articulated robot and combined with the equation of the robot's outer surface.MethodsFirstly, a collision detection model for articulated robots was established. Secondly, taking an articulated robot with cylindrical external surface equations for its links as an example, the collision point was solved by categorizing collisions into nine scenarios and sequentially determining the coordinates of collision points for each case. Finally, collision detection tests were conducted on an articulated robot.ResultsThe collision detection results are consistent with the actual collision positions, validating the correctness of the theoretical analysis. The findings of this study provide a basis for the research on safety-related issues in the human-robot collaboration.关键词：Six-dimensional force sensor;Collision point detection;Articulated robot;Space force line vector2|2|0更新时间：2025-08-16
- 摘要：ObjectiveGear tooth surface modification can reduce transmission noise and vibration, and improve load-bearing capacity and service life. However, traditional gear modification only uses drum shape as the constraint condition for modification processing, resulting in significant differences between the gear modification design and the manufacturing. A continuous generation grinding gear surface modification method was proposed based on the combination of electronic gearbox and high-order polynomial interpolation to address this issue.MethodsFirstly, the involute gear surface of the standard cylindrical helical gear was used to model the worm wheel gear surface through coordinate transformation. Then, a continuous generative grinding machining model was established based on the parameter equation of the worm wheel gear surface and the linkage relation with the electronic gearbox. The feed axis of the grinding wheel during the machining process was added with the high-order polynomial motion. Using the normal deviation between the standard involute gear surface and the actual machined gear surface grid points as the evaluation criterion, the Levenberg-Marquardt algorithm was used to optimize the polynomial coefficients of the motion functions of each feed axis of the grinding wheel. Through the polynomial interpolation function of the Siemens 840Dsl CNC system, the practical application of this gear modification method on the Siemens 840Dsl gear grinding machine was discussed.ResultsThe effectiveness and feasibility of the proposed shape modification method have been verified through numerical analysis and test.关键词：Grinding gear with worm wheel;Modification of gear surface;Electronic gearbox;High-order polynomial;Multiaxial motion3|4|0更新时间：2025-08-16
- 摘要：ObjectiveThere is a safety issue for geometric and non-geometric errors that lead to remote center of motion (RCM) constraint point position errors during the movement of the RCM manipulator. A generalized kinematic error modeling and compensation method was proposed for the RCM manipulator of minimally invasive surgical robots.MethodsFirstly, an error model characterizing the joint-dependent kinematic errors caused by geometric and non-geometric errors was established based on the Chebyshev polynomial. Then, the polynomial coefficients and kinematic parameter errors in the error model were identified by the least squares method. Finally, the joint space compensation method was employed to reduce the RCM constraint point position errors.ResultsThe test results show that the RCM constraint point position errors after compensation are reduced from 2.726 1 mm to 0.641 5 mm, which is about 76.5% less.关键词：Remote center of motion manipulators;Error modeling;Parameter identification;Chebyshev polynomial807|291|0更新时间：2025-08-16
Theory·Research
- 摘要：ObjectiveAs a gradually emerging end effector device, manipulators are indispensable in robotics technology, but the current use effect of manipulators is not ideal. In order to achieve the grasping of complex objects, it is necessary to design a new type of robotic arm with a larger workspace and easier control.MethodsStarting from the principle of origami, a class of origami unit that can be connected in series was designed in combination with the Bennett mechanism. A new type of manipulator was designed based on this structure, and a module design was adopted for the manipulator fingers, so that different knuckles can be connected in series with each other at the beginning and the end, and can be replaced by each other.ResultsThe manipulator adopts single-degree-of-freedom design, and each finger only needs a single drive source. During the gripping process, each knuckle maintains an equiangular motion between the fingers, which can form a circular envelope curve and realize the envelope gripping of cylindrical objects. Meanwhile, for non-cylindrical objects, the manipulator can adopt the fingertip grasping mode, which has good adaptability.关键词：Origami mechanism;Multi-joint manipulator;Grasping test;Modular design;Bennett mechanism5|2|0更新时间：2025-08-16
- 摘要：ObjectiveTo simulate the conditions of multi-directional variable-load cantilever torque borne by aero-engine accessory gearboxes during complex aircraft maneuvers, a cantilever torque loading device for aero-engine accessory gearboxes was proposed.MethodsFirstly, to address the insufficient multi-directional loading capability of existing common weight loading devices to simulate the high-altitude environment of the accessory gearbox, a cantilever moment loading device based on electromagnetic loading was designed for the accessory gearbox, which could achieve multi-directional cantilever moment loading under flight conditions such as level flight, constant speed hover, and accelerated rolling. Secondly, based on Maxwell’s electromagnetic field analysis and analysis of the effect of deformation on air gap, it was concluded that the device could achieve a unidirectional -600 N to 600 N load, and the structural deformation accounted for only 4.3％ of the air gap, verifying that the device was structurally reliable and met the loading requirements of a 3 kg attachment with a 20g load. Finally, the current control strategy of the device was obtained for flat flight, constant speed hover, and accelerated rolling flight attitudes.ResultsThrough the aforementioned analysis, it is verified that this device has the capability to simulate complex cantilever torques under multiple attitudes.关键词：Accessory gearbox;Gear drive;Cantilever moment loading;Electromagnetic field simulation;High altitude load simulation2|1|0更新时间：2025-08-16
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Research on three-dimensional parametric solid modeling method of variable modulus non-standard rack
摘要：ObjectiveIn order to solve the problem that the gear rack of automobile steering gear cannot be modeled directly and the repetitive work is too much, a three-dimensional parametric modeling method based on SolidWorks software secondary development was proposed to realize the staggered shaft variable transmission ratio curve rack.MethodsFirstly, the macro program code was written in SolidWorks/VBA for parametric modeling of gear cutter and rack blank respectively. Then, according to the meshing motion relation of pinion and rack and the line angle transmission ratio curve, the generating maching process was simulated, and the 3D model of the rack with variable transmission ratio curve was obtained. Finally, the correctness of the model was verified by the example and error analysis.ResultsThe example verification shows that this modeling method is feasible and can significantly improve the efficiency of product design.关键词：Non-standard rack;Staggered axis speed ratio;Macro program;Three-dimensional parametric modeling;Variable ratio curve rack2|3|0更新时间：2025-08-16 - 摘要：ObjectiveAs an advanced gear design technology, the gear modification is of great significance in improving gear bearing capacity, service life and noise reduction. As one of the key tools to realize the tooth profile modification for gears, the tooth profile design process of the form grinding worm diamand rollers is still unclear. At the same time, using the function of arc, parabola and high order curve to fit the tooth profile of worm wheels, there are some phenomena such as the large deviation between the modification amount and the theoretical design, and the curve distortion. Based on the analysis of hyperbolic characteristics and the design and working principle of worm gear grinding rollers, the application prospect of hyperbolic tooth profile in the design of worm gear grinding roller was discussed.MethodsThe design transfer function of hyperbolic worm grinding roller tooth profile was established based on the space coordinate transformation by analyzing the principle of double parameters’ enveloping forming of spiral wheel and helical gear and the forming and dressing principle of worm grinding roller and helical gear wheel. The relation and mechanism of the hyperbolic grinding roller tooth profile and the gear tooth profile in the process of manufacturing and dressing were clarified, which laid a theoretical framework for the application of hyperbolic tooth profile in the design of rollers. Finally, through grinding tests, the feasibility of hyperbolic tooth profile in worm grinding roller tooth profile design, manufacturing and application effect was verified.ResultsThe results show that the hyperbolic tooth profile can not only perfectly meet the high precision requirements of gear machining, but also show significant advantages in comparison with the higher order function of topological modification—no distortion occurs. This result provides a strong practical support for the wide application of hyperbolic profile in worm gear grinding roller design, and also provides a new idea and direction for the optimization and innovation of gear machining technology in the future.关键词：Hyperbolic tooth profile;Forming worm gear grinding roller;Coordinate transformation5|2|0更新时间：2025-08-16
- 摘要：ObjectiveTo achieve enveloping and stable grasping of spherical-like fruits, a crocodile-inspired metamorphic clamping mechanism was designed by combining the excellent characteristics of crocodiles with metamorphic mechanisms.MethodsFirstly, the reverse engineering technology was employed to perform the three-dimensional reconstruction of a Cuban crocodile skull model. Based on the morphological features of the crocodile's upper jaw, surface fitting was conducted, and characteristic points were extracted to design a crocodile-inspired end effector. Secondly, addressing the two motion characteristics of crocodiles—the generation of tearing forces during the death roll and the instantaneous increase in bite force when biting prey,a direction metamorphic module and a force metamorphic module were designed for the crocodile-inspired metamorphic clamping mechanism based on the graph theory. Subsequently, the crocodile-inspired end effector and the metamorphic modules were integrated to construct the crocodile-inspired metamorphic clamping mechanism. Finally, the adjacency matrix method was used to analyze the topological structure transformation process of the metamorphic mechanism, followed by theoretical analyses of kinematics and statics, leading to the completion of simulations and the fabrication of a prototype.ResultsSimulation and test results verify the feasibility and grasping stability of the proposed mechanism.关键词：Crocodile snout;Metamorphic mechanism;Graph theory;Kinematics analysis;Statics analysis4|1|0更新时间：2025-08-16
- 摘要：ObjectiveIn order to quantitatively work out operating parameters and relation of parts of multi-power system coupled with planetary gears, a mathematical mapping analysis method was proposed.MethodsThe method was discussed by analyzing the hybrid system coupled with planetary gears of a truck; the kinematic and mechanical relations of parts of the system were deduced; a mathematical map was constructed with Matlab software; the switching order of modes and the path planning in start-up acceleration were quantitatively analyzed; the optimal cruising fuel consumption under different slopes and speeds was quantitatively analyzed; based on the above analysis, three system architecture optimizations were proposed, and compared to the original system in performance with simulation.ResultsThe switching order of modes, the path planning and the optimal fuel consumption point under cruising conditions can be intuitively and quantitatively figured out. The optimizations are verified by simulation to have a certain effect in performance improvement, which is useful for the development of control strategy and calibration of the system.关键词：Planetary gear;Multi-power system;Mathematical mapping;Quantitative analysis472|51|0更新时间：2025-08-16
- 摘要：ObjectiveTo improve the adaptive bending ability of crawler-type pipeline robots in different sizes of pipelines, a pipeline inspection robot that can adapt to both square and circular pipes has been designed and manufactured.MethodsThis study mainly focused on analyzing the geometric constraints and motion states of the dual-adapter detection robot for circular and square pipes when bending inside the pipeline, in order to verify the rationality of the pipeline robot design. The finite element analysis of the robot structure was carried out using Ansys software, and the passability and motion parameters of the robot inside the pipeline were analyzed using Adams software to prove its adaptability.ResultsTest results show that the designed dual-adapter robot for circular and square pipes has a reasonable structure and can successfully pass through bends. This study provides a basis for the structural design of pipeline robots.关键词：Round-square tube dual-adaptive inspection robot;Geometric constraint;Finite element analysis;Motion parameter142|83|0更新时间：2025-08-16
Design·Calculation
- 摘要：ObjectiveIn order to improve the performance indicators of precision reducers for industrial robots, a type of abnormal cycloidal planetary reducer structure was proposed based on the existing transmission principles of reducers.MethodsUsing SolidWorks software, a three-dimensional structural model of the reducer was established, the force analysis and strength verification on its meshing parts were conducted, and the theoretical calculation of transmission efficiency was conducted. Virtual simulation of angular velocity, meshing force, and transmission efficiency was conducted using Adams simulation software. Prototype tests were conducted, and the performance indicators were compared and analyzed with those of domestic precision cycloidal planetary reducers of the same model.ResultsThe results show that the transmission principle of the developed prototype of the abnormal cycloidal planetary reducer is feasible, and the performance indicators such as transmission error and transmission efficiency of the reducer basically meet the national standard requirements.关键词：Abnormal cycloidal planetary reducer;Strength verification;Transmission error;Transmission efficiency4|2|0更新时间：2025-08-16
- 摘要：ObjectiveM50 steel, as a prevailing material for aero-engine bearing rings, typically undergoes cold ring rolling prior to quenching and tempering to achieve ring formation. However, due to the high deformation resistance of M50 at ambient temperature, conventional cold ring rolling processes under large deformation conditions are prone to induce micro-and nano-scale damage, adversely affecting grain refinement and thereby limiting the inheritance of microstructural characteristics during subsequent quenching and tempering, resulting in constrained enhancement of mechanical properties. Thus, a method has been proposed to further enhance the grain refinement of M50 steel under identical cold ring rolling parameters through electro-pulse assistance, thereby improving the microstructural heredity effect during its quenching and tempering process.MethodsThe electric pulse-assisted cold ring rolling-quenching and tempering (EPCRR-QT) process was employed, wherein pulsed electric current was synchronously applied during cold ring rolling to further optimize the microstructure. The evolution behavior of the microstructure during quenching and tempering was systematically analyzed.ResultsThe findings indicate that compared with specimens subjected to conventional cold ring rolling followed by quenching and tempering, those processed via EPCRR-QT exhibited a 15.2% refinement in prior austenite grain size. Additionally, reductions are observed in retained austenite content, Mo2C carbide content, and the fraction of low-angle grain boundaries. Correspondingly, Vickers hardness values increase by 4.7% in the quenched state and 4.4% in the tempered state.关键词：M50 bearing steel;Electric pulse-assisted;Cold ring rolling;Quenching and tempering;Genetic effect2|1|0更新时间：2025-08-16
- 摘要：ObjectiveIn fields such as aviation, requirements for the vibration performance and service life reliability of bevel gear transmissions are continuously increasing, driving the upgrading of bevel gear rolling testers towards higher detection accuracy and multi-functionality. Currently, the shaft angle positioning accuracy of the world’s most advanced rolling testers has reached within 10 arcseconds, the adjustment accuracy of mounting distance and offset distance has achieved the micron level, and they are integrated with fatigue life and vibration testing functions, thus significantly increasing the difficulty of development.MethodsAgainst the background of developing high-precision bevel gear rolling testers, to ensure the geometric motion accuracy of the tester, a kinematic model of the rolling tester was established using multi-body system kinematics theory. Through homogeneous coordinate transformation, the influence of various errors in the kinematic chain of the rolling tester on the pose of the bevel gear under test was simulated. By extracting the geometric error items that affected the bevel vertex positioning and shaft angle accuracy of the bevel gear, a certain value was set for a single error item, its influence result was calculated, and then the reasonable range of each error item was analyzed and determined.ResultsThis method provides data support for error allocation and manufacturing accuracy assurance in the design and manufacturing process of rolling testers.关键词：Bevel gear tester;Geometric error;Simulation analysis4|3|0更新时间：2025-08-16
- 摘要：ObjectiveTo study the lubrication characteristics of grease-lubricated rolling ball bearings, such as film thickness and pressure variations in elastohydrodynamic lubrication with elliptical point contact, a numerical analysis model of elastohydrodynamic grease lubrication was constructed.MethodsThis model was based on the Herschel-Bulkley rheological model of lubricating grease and included the constitutive equation for grease, Reynolds equation, film thickness equation, viscosity-pressure equation, density-pressure equation, and load balance equation. Then, a modified film thickness formula proposed, based on the Hamrock-Dowson approach, was applied to calculate and adjust the film thickness within the model. Finally, the model was solved numerically using a direct iteration method to analyze the effects of different rheological indices, ellipticity, entrainment speeds, and loads on the film thickness and pressure of the grease. The results were also compared with the film thickness and pressure trends of Newtonian fluids under the same conditions of ellipticity, entrainment speed, and load.ResultsThe results show that the model solutions, which account for film thickness modifications, more closely match the test data. Additionally, as the entrainment speed and rheological index decrease, the grease film thickness decreases, and the grease film pressure in the contact area approaches the maximum Hertz pressure. As the ellipticity increases, the peak grease film pressure significantly decreases, and the film thickness slightly increases. Compared to Newtonian fluids, the impact of load and entrainment speed on the lubrication film thickness and pressure distribution in the grease lubrication is smaller.关键词：Grease lubrication;Elliptical contact;Film thickness correction;Elastohydrodynamic lubrication117|437|0更新时间：2025-08-16
- 摘要：ObjectiveTo achieve enveloping and stable grasping of spherical-like fruits, a crocodile-inspired metamorphic clamping mechanism was designed by combining the excellent characteristics of crocodiles with metamorphic mechanisms.MethodsFirstly, the reverse engineering technology was employed to perform the three-dimensional reconstruction of a Cuban crocodile skull model. Based on the morphological features of the crocodile's upper jaw, surface fitting was conducted, and characteristic points were extracted to design a crocodile-inspired end effector. Secondly, addressing the two motion characteristics of crocodiles—the generation of tearing forces during the death roll and the instantaneous increase in bite force when biting prey,a direction metamorphic module and a force metamorphic module were designed for the crocodile-inspired metamorphic clamping mechanism based on the graph theory. Subsequently, the crocodile-inspired end effector and the metamorphic modules were integrated to construct the crocodile-inspired metamorphic clamping mechanism. Finally, the adjacency matrix method was used to analyze the topological structure transformation process of the metamorphic mechanism, followed by theoretical analyses of kinematics and statics, leading to the completion of simulations and the fabrication of a prototype.ResultsSimulation and test results verify the feasibility and grasping stability of the proposed mechanism.关键词：Crocodile snout;Metamorphic mechanism;Graph theory;Kinematics analysis;Statics analysis4|2|0更新时间：2025-08-16
Test·Analysis
- 摘要：ObjectiveTo address the challenge of accurately capturing weak features in vibration signals under strong noise interference, a joint filtering method combining ensemble empirical mode decomposition (EEMD), fast kurtogram (FK), and adaptive maximum correlation kurtosis deconvolution (AMCKD) was proposed.MethodsFirstly, the vibration signal was decomposed into multiple intrinsic mode functions (IMF) via EEMD for multiscale analysis. The IMF components were then screened using cross-correlation coefficients and kurtosis as evaluation metrics, followed by signal reconstruction. Next, the fast kurtogram algorithm was employed to determine the carrier frequency, bandwidth, and the layer with the maximum kurtosis value of the reconstructed signal, enabling the design of a bandpass filter for noise reduction. Subsequently, particle swarm optimization (PSO) was utilized to adaptively determine the MCKD parameters, and the AMCKD algorithm was applied to enhance the features of the filtered signal. Finally, the fault characteristic frequency was extracted via envelope demodulation and compared with the theoretical value to achieve fault diagnosis.ResultsThe results demonstrate that the proposed method effectively extracts weak features under strong noise interference, exhibiting robust noise resistance. This approach provides valuable reference for research on identifying bearing weak features in high-background-noise environments.关键词：Rolling bearing;Maximum correlation deconvolution;Feature enhancement;Fast kurtogram5|1|0更新时间：2025-08-16
- 摘要：ObjectiveIn order to improve the meshing performance and design efficiency of harmonic gears, a tooth profile optimization method aiming at increasing the meshing conjugate interval was proposed, and the design and analysis software was developed.MethodsFirstly, based on the basic principle of harmonic gear transmission, the mathematical model of theoretical conjugate region and conjugate tooth profile was established, and the tooth profile of the rigid gear was obtained. Then, the genetic algorithm was used to optimize the tooth profile parameters of flexspline, and the assembly state, motion trajectory and meshing backlash of harmonic gear before and after optimization were compared. Finally, the software integrating parameter optimization and meshing characteristic analysis was developed based on the App Designer module of Matlab software.ResultsThe results show that the number of meshing teeth after optimization is increased by 8, an increase of 7%. The tooth profile clearance is reduced by 34%. The meshing interval is increased by 3.8° and 7.4%. The developed software provides an efficient means of design analysis for industrial applications.关键词：Harmonic drive;Parameter optimization;Meshing characteristic;Software development3|2|0更新时间：2025-08-16
- 摘要：ObjectiveTaking the rack-pinion lifting system of a jack-up offshore platform as an example, the random load data of the platform lifting system was collected for 6 months, and the construction technology and method of load spectrum for jack-up offshore platform lifting systems was studied.MethodsAccording to the load characteristics of the lifting system, the rain flow counting method was adopted to process the measured main shaft loads, and the rotation counting method was used to convert them into gear load spectra. The programmed load spectrum of the offshore platform lifting system was developed, and a method for load spectrum collection and compilation of offshore platform lifting systems was proposed. The fatigue life of the climbing gear in the lifting system was analyzed based on the load spectrum.ResultsThe position with the maximum damage degree was the contact area of the climbing gear’s positive tooth surface, with a damage degree of only 1.55×10⁻³ and a fatigue life of approximately 1.29×10⁶ h, which far exceeds the design life.关键词：Jack-up offshore platform;Rack and pinion jacking system;Load spectrum construction;Fatigue life analysis;Rain flow counting method;Rotation counting method;Miner linear cumulative damage theory6|1|0更新时间：2025-08-16
Development·Application
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