摘要:Aiming at the characteristics of unstructured environment,a new type of wheel leg compound variable displacement obstacle surmounting robot suitable for unstructured environment is proposed. The moving robot can deform and step across obstacles. This innovation is that the load acting on the robot can be transported to the height difference on the larger surface to achieve a large barrier by the robot through its own deformation and without the aid,such as the completion of cross-step,into the car and a series of actions. In the process of crossing the barrier,the robot can keep the load plane parallel to the ground and the robot has a strong ability to adapt to the environment and the ability to cross the obstacle. The motion performance of the mobile robot in the non-structural environment of the ramp walking,up and down the steps,the more ditch,climb ladder function is mainly analyzed.
关键词:Unstructured environment;Mobile robot;Wheel leg compound;Obstacle surmounting
摘要:The influence of different viscosity lubricant on the wear resistance of the tooth surface is studied by using oil analysis and monitoring technology. Firstly,the simulation analysis of the influence of different viscosity lubricants on the film thickness of contact surface are carried out in the Romax software. Then,through the fatigue operation test,the influence of the different viscosity lubricants on gear tooth surface wear is analyzed. Through the analysis and monitoring of oil and combining the oil film thickness calculated by simulation,analysis data of particle concentration of oil,and life of gear,the results show that in the general mixed lubrication condition,lubricant viscosity,film thickness,the particle concentration and gear life have a certain relationship,as the lubricant viscosity increasing,the tooth surface abrasion condition improved,the tooth surface stress is more uniform,the gear life is prolonged.
摘要:The degree of freedom of the 3-CRS/SP parallel mechanism is analyzed by using the screw theory,the distribution of degree of freedom of the mechanism is determined,the result is verified by the modified G-K formula. And the inverse position solution of the parallel mechanism is got through the method of analytic geometry,the length between the three vertexes of the moving platform is regarded as the restrict condition to construct the constrained equations,the positive solution of all positions under the closed solution of the mechanism is studied. Finally,the appropriate motor is added to the mechanism,the boundary points that the intermediate branch chain in different lengths are searched,and the reachable workspace diagram of the mechanism is drawn by the MATLAB software.
关键词:Parallel mechanism;Degree of freedom;Forward and inverse solution;Workingspace
摘要:In order to overcome such shortcomings as great inertia and small workingspace existing in parallel mechanism,the flexible cable is adopted as the traction element of parallel mechanism to take place of connecting rods. Meanwhile,the design concept of flexible cable parallel mechanism is also introduced. With the combination of them two,a new configuration of parallel mechanism driven by the rigid-flexible coupling is put forward,which brings the advantages of the two mechanisms into full play to improve the performance of the new configuration. It possesses not only the merits of high rigidity,high precision and high load capacity of the parallel mechanism but also the advantages of low weight which is possessed by flexible cable. Besides,the freedom from the limitation of hinge angle increases the workingspace of the mechanism.
摘要:In order to develop new products of MW wind turbine gearbox,improve the design efficiency and calculation accuracy,and reduce product development risks and costs,the 2. 5 MW power-split wind turbine gearbox transmission system model is set up based on Romax Designer software,and the result of power split,bearing life,the strength of gear is analyzed and the potential weakness of the gear transmission system is researched,the theory basis for further optimization design is provided.
关键词:Wind power gearbox;Romax Designer;Power split;Fatigue life;Strength checking
摘要:Based on the rheological property of magnetorheological fluid( MRF) and thermal drive characteristics of shape memory alloy( SMA) spring,a new type of transmission device,which is based on the temperature field control of SMA to drive the MRF variable thickness to change the transmission torque is put forward. Its working principle is introduced,and the thickness calculation formula about relationship between thickness and SMA material,power,geometry parameters is derived. Based on the theory of magnetic circuit,the magnetic circuit model of the transmission device is established,the formula of magnetic potential is deduced. Based on the finite element simulation of two-dimensional magnetic field by using ANSYS software,and the distribution cloud of magnetic induction intensity under 4 different thicknesses is obtained,then the ability of torque transmission under different thickness is analyzed. The results show that the smaller the thickness of MRF,the greater torque can be transmitted,but MRF has the minimum thickness.
摘要:Based on the Reynolds equation considering the stress couple and magnetic field,the numerical analysis of the non-Newtonian magnetic fluid lubricated bearing is carried out. The effects of stress couple parameters,magnetic coefficient on the membrane pressure,load carrying capacity and attitude angle are studied,and then compared with the numerical results of Newtonian fluid. The results show that the stress couple will significantly improve the lubrication performance. The pressure and load carrying capacity will increase with the increase of the stress couple parameters,and the eccentricity is large,the change of pressure and load carrying capacity is obvious with stress couple parameters. With the increase of the magnetic coefficient,the pressure and load carrying capacity increase correspondingly and the attitude angle decreases,and the larger the stress couple parameters,the effect on the pressure and load carrying capacity and attitude angle is more significant,while the initial point of liquid film rupture is shifted to the right and the hole area is reduced.
摘要:The air-gap thickness is crucial to the operation of magnetic couplers,and it is of great significance for realizing speed adjustment of couplers through changing air-gap thickness. In order to investigate the relationship between air-gap thickness and adjustable-speed performance of axial-flux solid asynchronous magnetic couplers,a model for axial-flux magnetic couplers is established by combining equivalent magnetic circuit approach and Kirchhoff? s law of magnetic circuit. The magnetic circuit parameters of couplers are solved by utilizing the method of analytical calculation on the above model,then,the torque expression is obtained by integrating three-dimensional correction coefficient and torque formula. Moreover,by synthesizing the torque expression under constant torque load condition,the relationship between air-gap thickness and slip is derived,which is beneficial for acquiring the adjustable-speed relationship of axial-flux solid asynchronous magnetic couplers. The Matlab is used to solve the discretization of torque expression and adjustable-speed relationship,besides,the finite element simulations and experiments are also employed in the contrast and analyses,the accuracy of theoretical calculation is verified and the theoretical foundation for realizing precise speed adjustment of couplers is provided.
关键词:Axial-flux solid asynchronous magnetic coupler;Air-gap thickness;Adjustable-speed relationship;Discretization solution;Finite element simulation
摘要:The transmission performance of the recirculating ball steering is closely related to the tooth profile shape of the rocker shaft non-circular gear sector. Aiming at the problem of the mesh clearance required by different angles is different between steering gear and rack,a means is proposed to repair the rocker arm shaft by using the varying-modification-coefficient modification method. The varying-modification-coefficient modification method is compared with eccentric modification method and the meshing motion of two kinds of gear rack pairs is analyzed,the related parameters of the gear sector is calculated,and two kinds of NC machining methods are given. The processing simulation is carried out in MATLAB,and the tooth profile coordinates of the two types of modification methods are obtained. Taking into account the actual assembly for the fixed axis transmission,two kinds of rack and pinion gear transmission clearance are calculated. Finally,the driving force which is analyzed by using ADAMS shows that,the two kinds of modification methods can effectively reduce the transmission of meshing force.
摘要:The dynamics model of a two-speed planetary transmission is established by using the virtual displacement principle,the dynamic shifting processes comparison and simulation analysis between the planetary transmission using tooth brake and friction brake are carried out. The different joint speed effects on the transmission characteristics are also analyzed through the simulation. The simulation results show that the maximum torque impact of the planetary transmission using tooth brake is lower than using friction brake in the same shifting time. The larger the joint speed difference of the planetary transmission using tooth brake is and the smaller the shifting time is,the greater the maximum torque impact is still lower than the planetary transmission using friction brake.
摘要:With the deepening of the variable cell organization research,the flexibility of its continuous structure state change,the mechanism using versatility is gradually highlight. Combining with more poles structure construction method,the variable cell organization in promoting the feasibility of turning operation of the specific occasion is analyzed. In view of the common cell types,the topology structure change is analyzed,the mathematical tool of matrix is put forward to describe state modulator cell organization change process. The matrix contains motion pair type,reflect kinematic pair and the number of components,and the structure is simple,the description is complete,it is convenient for computer programming and logic operation,widely applicable to all kinds of cell organization analysis research work.
摘要:The 3 D model of worm and helical gear is established based on UG by the equation of tooth surface and the data point. On the basis of Hyper Mesh,the pretreatment of the finite element model including mesh generation,applying constrains,setting contact condition,etc. is carried out. By using FEM,the analysis of dynamic contact from the double teeth-meshing to the single teeth-meshing and then to the double teeth-meshing is carried out to simulate the changes of the tooth contact stress and shape under the actual working conditions and to find the characteristics of engagement about plastic worm and steel helical gear,steel worm and steel helical gear. The samples including steel helical gear,plastic worm and steel worm are machined by hobbing,injection and turning respectively,then used to wear test on the basic of the micro-transmission test platform,the results show that the contact stress and fluctuation in the meshing process of plastic worm is small,and it has the better wear resistance.
关键词:Plastic worm;Steel helical gear;Finite element analysis;Tooth surface contact;Tooth surface wear
摘要:A drum cam-type gear shift actuator based on worm and gear mechanism is introduced. The mechanical efficiency of both the worm and gear mechanism and the drum cam-type gear shift actuator are analyzed. Finally,a corresponding test rig is built for testing the mechanical efficiency of the drum cam-type gear shift actuator. The results indicate that the analysis has a certain degree of authenticity. The references for the actuator design and the optimized direction to the efficiency of the drum cam-type gear shift actuator are provided.
关键词:Worm and gear;Drum cam;Gear shift actuator;Efficiency
摘要:The quadruple arc spiral bevel gear is a new type of gear with quadruple arc tooth profile applied to the spiral bevel gear. The three-dimensional model is built in Solid Works based on the tooth surface equation of spiral bevel gear with circular arc tooth profile. The static finite element analysis is carried out by using a pair of teeth based on Abaqus. Compared with the double arc spiral bevel gear,it is concluded that the load capacity of quadruple arc spiral bevel gear is 30% higher than that of double arc spiral bevel gear.
关键词:Quadruple arc spiral bevel gear;Tooth surface equation;Three-dimensional modeling;Finite element analysis
摘要:The rolling bearing is one of the most important and easiest faulty components in rotating machinery. If the performance of rolling bearing can be monitored and evaluated in real-time,the maintenance strategy can be completed in time. The autoregressive( AR) model is set up and the autoregressive coefficients and residuals of the early failure-free signal and the failure signal with the same type and the same position of bearing failure are extracted. The fuzzy C-means( FCM) is established by using the early failure-free features and the failure characteristics of the same bearing. The normal and failure cluster center are got. The test data are put into the FCM model by keeping the model invariant and continuously iterating,and the performance degradation index is obtained. Then the empirical model decomposition and Hilbert envelope demodulation are used to verify the conclusions. The experimental results show that the presented performance degradation method is consistent with the results obtained from the accelerated fatigue test.
摘要:In order to find out the more serious part of temperature rise of dry dual clutch in the working process,a finite element model of the dry dual clutch pressure platen and friction plate is established,different starting conditions for dry dual clutch temperature results is obtained by calculation of temperature rise,and a comparative analysis of results is carried out. The results show that the temperature rise of clutch 2 is generally higher than the clutch 1,and with the increasing throttle opening temperature rise of the clutch 2 is significantly higher than the clutch 1. Based on the calculation formula of the source of sliding wear power of the sliding wear,the engine and friction plate speed difference curve is extracted,it is found that because of the constant rotation speed control strategy of clutch 1 in the process of starting wear,the clutch speed difference is generally higher than that of clutch 1,which led to the temperature rise of the clutch 2 higher than that of clutch 1. Finally,the constant speed engine shift strategy is put forward.
摘要:The influence of component failure( an important form of failure) on the gear transmission box is taken into consideration during the study of gear transmission box of tracked vehicle. The dynamic reliability model of the main components is used to compute the reliability of the components,and the curves of life distribution function change with time are got according to the relationship between the life distribution function and the reliability of the components. Then,the least squares method is used to estimate the life distribution function of the components. On this basis,the appropriate Copula function is selected through the frequency histogram of related components,and the reliability model of gear transmission box under the condition of components failure is established. The cumbersome operation and the complexity of solving the correlation coefficient of related components can be avoided through using Copula function. The gear transmission box is reasonably divided by using the method of layer-by-layer analysis and using Matlab software to calculate the relevant parameters. Finally,the change regulation of life distribution function of gear transmission box system with time and the relevant parameters is obtained,which has a guiding significance for the design and maintenance of the transmission box.
关键词:Copula function;Reliability;Relevant failure;Life distribution function;Related parameter
摘要:The torsional vibration of the main drive system of the tandem cold rolling mill has serious consequences for the safe operation of the rolling mill and needs to be controlled in order to improve the safety and stability of the whole operation. Taking a cold tandem mill F3 frame as the research object and the nonlinear torsional vibration simulation model of the main drive system of the tandem cold rolling mill is established which including nonlinear stiffness,nonlinear damping and non-linear friction at the load side. Because Hopf bifurcation is one of the important reasons to the unstable oscillation of the main drive system of the rolling mill,it is necessary for effective control of the phenomenon of Hopf bifurcation. Based on Hopf bifurcation theory,a nonlinear state feedback controller is constructed. Aiming at the nonlinear system,the Hopf bifurcation control method is proposed to enlarge the stable region,change the behavior of the bifurcation point and reduce the limit amplitude. The results show that the range of the stability region is greatly increased by enlarging the stable region,the limit amplitude is reduced by introducing the nonlinear feedback link. So by means of increasing the nonlinear feedback gain kn to change the behavior of the bifurcation point and reducing the persistent oscillation amplitude,the above methods all can achieve the effective control of self-excited vibration behavior and can be used as an important reference for the actual design choice.
关键词:Cold rolling mill;Non-linear;Torsional vibration;Hopf bifurcation;Model
摘要:Based on the principle of gear meshing,the precise 3 D solid geometry model of spiral gear is established. Then the finite element model of spiral gear for loaded meshing characteristics analysis is built,and the grid size of model is reasonably determined by the Hertz contact theory. Taking six teeth as research objects,the positions of the maximum contact and bending stresses of the spiral gear are found,and the stress curves are plotted in a meshing period. The analysis of meshing characteristics including contact patterns and paths on the gear surface is carried out by selecting the loading condition and assembly error as the variable respectively. The results provide a remarkable guiding role in the design and practical application of spiral bevel gear.
关键词:Spiral bevel gear;Stress;Tooth edge contact;Assembly error;Finite element analysis
摘要:Taking a new type of gear drive-the duplex face gear as study object,the solid model of the duplex face gear is established by using the Creo software. The former 6 order of natural frequencies and principal vibration shapes are calculated through the modal analysis by using the finite element analysis software Workbench,the influence of material on natural frequency and principal vibration shapes are discussed. The results indicate that the modal vibration shapes are first order radial direction,second order radial direction,torsional vibration. The results are verified by experiment,the theory basis for the dynamic response analysis and structure design of the duplex face gear transmission system is provided.
关键词:Duplex face gear;Natural frequency;Modal analysis
摘要:The wear test of 05 CT automobile engine timing chain of slit sleeve and seamless sleeve is carried out,the results show that,under the same experimental conditions,the pin and sleeves of two different forms all have cyclic softening phenomenon more or less after the chain went through high-speed wear test,and the softening degree of slit sleeve is less than that of the seamless sleeve. Under the condition of oil jet lubrication,the lubrication and cooling condition of slit sleeve chain is better than that of seamless sleeve chain,and the wear resistance of slit sleeve is better than that of seamless sleeve.
摘要:In order to research the stress intensity factor of tooth root of the high-speed EMU gear,the location of crack initiation is determined by combining the finite element method and mapping method. The stress intensity factor of the different nodes of the initial crack tip of the tooth root is calculated by Abaqus based on the theory of linear elastic fracture mechanics,then by contrast,the type I stress intensity factor is dominant in the crack propagation. Based on the obtained result,the influence of load magnitude,crack radius and crack shape on the mode I stress intensity factor is discussed. The results indicate that the influence of load magnitude on the modeⅠstress intensity factor is obvious and linear. The influence of crack shape on the distribution of mode I stress intensity factor in the crack front is very obvious.
关键词:Helical gear;Tooth root crack;Three dimensional stress intensity factor;Finite element method
摘要:In order to improve the adaptive capacity of the robot in a complex environment,solving the problems of the posture adjustments and roll and right itself of the hopping robot,a kind of flexible wheeled hopping robot which adopts flexible wheel train mechanism and the multi-chain hopping mechanisms with the ability of hopping,posture adjustments and roll and right itself is designed. Through control the flexible wheel train mechanism to implement fast moving of the robot on the flat and level road,by using the elastic deformation of flexible wheel to absorb the part impact of the landing when it hits the ground,and the deformation is analyzed which based on the Timoshenko beam theory for the flexible wheel. The robot bounce,takeoff angle adjustment and roll and right itself after landing can be realized by the multi-chain hopping mechanism,and it has the characteristics of single mechanism have multi-function. A kind of composite nut mechanism is designed. The motor of storage energy drive the screw rotation to realize the robot storage energy after the nut is closed. The elastic potential energy of spring release instantaneously when the nut is separated to achieve the hopping motion of the robot. The simulation of the posture adjustment,hopping motion and roll and right itself of robot is carried out by using the ADAMS. A prototype is developed,and the prototype test shows that the design of flexible wheeled hopping robot has the feasibility.
摘要:In the dynamics simulation of the pneumatic tyre on marine clutch,the establishment of nonlinear model of pneumatic tyre is the hardest part in the simulation. Based on the platform of Abaqus,the finite element model is established with the consideration of geometric nonlinearity,material nonlinearity and boundary conditions nonlinearity,meanwhile the inflation process of tyre is simulated. Through the data interactive technology between Abaqus and ADAMS,the modal neutral file generated from Abaqus is imported into ADAMS to complete the dynamics model. The axial rigidity,radial rigidity and torsional rigidity of the pneumatic tyre are test in Abaqus and ADAMS. Finally,the analysis results and the actual results is compared to prove the correctness of the simulation. This research can lay the foundation for the research of the dynamic simulation of engagement and vibration noise of the marine pneumatic friction clutch.
摘要:The radial force of annular gear and the flow pulsation is analyzed based on internal gear pump with four idlers. The model of the dual objective function is established with the minimum flow pulsation and the minimum volume of internal gear pump with four idlers,and the model is solved by using the genetic algorithm.The results show that the radial force of annular gear is balanced. Comparing with common internal gear pump,the flow pulsation of internal gear pump with four idlers is decreased greatly,and the flow pulsation is decreased with the increase of the number of annular gear teeth and increased with the increase of the number of small gear teeth. The optimization results meet the requirements of reducing the flow pulsation and weight,so that the theoretical basis can be provided for the design and manufacture of internal gear pump with four idlers.
关键词:Internal gear pump with four idlers;Radial force;Flow pulsation;Genetic algorithm;Optimum design
摘要:To improve property of artificial bee colony algorithm in multi-robot path planning,the optimized artificial bee colony algorithm is proposed. A new environment modeling method is given,which makes barrier border smooth. The principle of artificial bee colony algorithm is analyzed,adaptive searching factor is proposed to improve new food source generation method,which balances searching range and convergence rate.The robot path point is improved by location angle,and by using this way,the location parameter is reduced.The path length,path smoothness and path safety is synthesized to a goal function by weight. The simulation trial shows that path length and time cost of improved algorithm is superior to primary algorithm. And with robot quantity increasing,the gap of the two algorithms is bigger and bigger.
摘要:Aiming at the large-modulus and special-weight heavy-duty gears,the gear contact stress analysis model is established to study the contact characteristics of the tooth surface during the meshing process.By using the two methods of Abaqus finite element software analysis and Hertz contact stress calculation,the contact stress distribution law of dangerous area under the meshing condition of the heavy load gear is found,the contact stress distribution of contact teeth is given by computer simulation. The results show that the maximum value of the contact stress occurs at the contact surface of the tooth surface and along the tooth. The contact stress occurs on the driving wheel,the contact stress is linearly distributed along the tooth width direction,the tooth width is too large,resulting in the uneven load of the tooth to the load,and the contact stress occurs in the direction of the tooth. Therefore,by increasing of the drive wheel strength and using the positive displacement,it is useful for improving the reliability and service life of heavy equipment.
关键词:Heavy load gear;Root scraping;ABAQUS;Finite element;Tooth side surface;Contact stress
摘要:In order to overcome the disadvantages of present doffing robots,a novel squirrel-cage doffing mechanism is proposed. The principle of the squirrel-cage doffing mechanism is analyzed and the structure model of the mechanism is built. The squirrel-cage doffing mechanism mainly consists of grippers,vertical rails,driving shafts,driving chains,driving wheels and a spatial cam. The reasonable range of the structural parameters of the squirrel-cage doffing mechanism is determined by the motion analysis of the squirrel-cage doffing mechanism. The squirrel-cage doffing robot adopting the squirrel-cage doffing mechanism is developed. The experimental results show that the squirrel-cage doffing robot can pull the cops out of the spindles vertically. During the doffing process,the doffing robot has no damage to the yarn and spindles. The squirrel-cage doffing robot is of low cost,highly efficient and reliable.
摘要:In order to alleviate the energy crisis,solar energy resources is widely developed and utilized.Improving the utilization of solar energy is an effective solution to alleviate the problem of energy. The solution is proposed from two aspects of the transmission precision and tracking precision of the solar tracking device.First of all,the secondary worm gear and worm drive program is applied to ensure the transmission accuracy of the mechanism. Then,the sun azimuth angle and height angle calculation formula under correction of installation error is applied to revise the tracking trajectory of the device. The tracking time nodes are selected by discrete selection method. Finally,the results of the experiments show that the structure design scheme and the tracking algorithm are of great significance for improving the utilization of solar energy.
摘要:The scheme optimized selection method of automobile automatic transmission is presented by analyzing the planetary gear mechanical construction of hydraulic automatic transmission and adding the necessary constraints of the design objective. The method is using the lever analogy to find out all the combinations of2 degree of freedom,2 rows planetary gear train. After the exhaustion,according to the nomograph of the planetary gear train,the feasible combinations would be composed into its clutching sequence. From a set of desired speed ratios the basic ratio of each row can be got. Using the basic ratios as the criterion,the number of feasible combinations will be decreased dramatically. By using this method,the numbers of the combination of the structural synthesis can be decreased and the clutching sequences synthesis efficiency will be increased effectively.By using this method,the optimized selection of nine-speed parallel-connected planetary gear mechanisms automatic transmission is realized and four feasible schemes are obtained.
关键词:Automatic transmission;Parallel-connected planetary gear mechanism;Graphic design methodology;Lever analogy;Basic transmission ratio
摘要:Abstract The combination of worm gear box used for drum filter drive device is a precedent for nuclear power plants in China. By mapping the combination of old worm gearbox used for drum filter drive device,the repair scheme is formulated,different experiments are performed in different ways,the test results meet the requirements. The experience in the repair and test data are summarized,a reference for formulating acceptance specification of nuclear power plant repair is provided,for this purpose,the special test bench is built,a domestic blank is filled.
摘要:For the serious scuffing failure during the process of the delivery test of the high speed crown gear coupling used in a NGW type epicyclical gearbox,the oil mass distribution and oil supply method of coupling in the gearbox are analyzed with three-dimensional CFD software,and the cause of scuffing failure is found out and the shortcomings of the design of original oil supply system is explicated. Finally,the reliable solutions for subsequent failure treatment and some reference for the design of similar couplings are provided.
摘要:With the characteristic of compact structure,high load capability,wide speed applicability,the crown gear coupling is widely used in mechanical engineering,such as marine,wind power,aerospace and metallurgy. The characteristics of crown gear coupling will directly affect the performance of mechanism equipment. Many researchers have carried out extensive and in-depth research on the design and analysis of crown gear coupling. From the application status,crown gear surface processing,geometric contact analysis,bearing contact analysis,wear strength and the dynamics and so on,the study status of the design and analysis of crown gear coupling at home and abroad is summarized. Combining with the characteristics of a large marine crown gear coupling,such as a large size,a high torque,and used in a harsh environment,some critical issues for further study are also given.
摘要:By using IPC classification method and data collection,the patent information hiding in the technological field of the harmonic reducer is mined. The corresponding patent map is drawn,the issues related to research harmonic reducer technology in the global scope of the patent layout,key technology and research focus are studied. The technology industry development trend,key technology areas and competition mechanisms are analyzed,the development present situation and future development trend in the field of technology are obtained.