最新刊期
期 3 ， 2020
- 摘要：Speed ratio control is one of the key technologies in transmission control field. The fuzzy PID control method is adopted to simulate the automobile cycle working condition by analyzing the structure and working principle of the swing pin chain CVT，the mathematical model of the CVT transmission system and the sub-model of the speed ratio fuzzy controller are built. The fuzzy control is simulated based on the Simulink/Cruise co-simulation software platform. Finally，genetic algorithm is introduced to optimize the control rules of the speed ratio controller，and the speed ratio tracking strategies of the starting and cycling conditions are verified respectively. The results show that the speed ratio fuzzy control based on genetic algorithm is better than the traditional fuzzy PID control method in the following effect and error variation of the target speed ratio，and meets the requirements of the swing pin chain CVT speed ratio control.关键词：CVT;Fuzzy control;Genetic algorithm;Speed ratio tracking;Parameter optimization
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发布时间：2022-10-20 - 摘要：Honing has become an important method of gear finishing. It is of great significance to study the honing mechanism and accurately grasp the influence of honing speed and particle size on the roughness of the tooth surface in order to improve the surface quality of the machined gear. According to the characteristics of strong honing of inner gear honing gear， through the analysis of the relative motion of inner gear honing gear and workpiece， the linear velocity equation of each point on the surface of inner gear honing gear and machined workpiece is established. Based on the actual machining parameters， the classical grinding theory is applied to predict the roughness of honing workpiece， to explore the variation of roughness at different tooth heights on tooth surface， and to use three-dimensional morphology. The surface roughness of the gear of the internal meshing honing workpiece is measured， and the roughness prediction results and the measurement results are compared and analyzed. The results verify the law， which is of great significance to improve the honing quality.关键词：Internal honing;Honing principle;Motion equation;Mathematical model;Roughness prediction
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发布时间：2022-10-20 - 摘要：Spherical parallel mechanisms with large or fully spherical workspace are one of the important research directions in the application of large-angle workspace. Aiming at the problem of insufficient workspace in the current spherical parallel mechanisms，a new idea for the type design of a 2-DOF decoupled parallel mechanism with a fully spherical workspace is presented based on the input and output characteristics of the double rocker mechanism. And a newly decoupled parallel mechanism (RR&P5R) with a fully spherical workspace is designed. The kinematic equations of parallel mechanism are established through kinematic analysis. Then the relationship of displacement，velocity and acceleration between input and output for the RR&P5R mechanism are obtained. With the objective of the minimum input quantity q2，the size of the RR&P5R mechanism is optimized. This research provides an important theoretical basis for large-angle spherical workspace applications.关键词：Spherical parallel mechanism;Fully spherical workspace;Movement decoupling;Structural optimization
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发布时间：2022-10-20 - 摘要：Taking the distributed electric drive hub reducer as study object，by using the FEA method, the support stiffness of the planetary wheel bearing and the flexible pin is solved. The obtained support stiffness are introduced into the lumped parameter dynamics model, a dynamics model that comprehensively considers the planetary pin shaft flexibility, time-varying mesh stiffness, time-varying mesh damping and comprehensive error is established. The relationship between the load sharing coefficient and the comprehensive error and the pin flexibility is explored. Moreover, by comparing the load sharing coefficient of the planetary transmission system under two planetary pin support structures, it shows that the proposed flexible pin structure can improve the system load sharing performance. The results provide a theoretical basis for the performance improvement and structural optimization of planetary gearbox.关键词：Flexible pin
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发布时间：2022-10-20 - 摘要：For an electric vehicles equipped with two-speed dual clutch transmission (DCT)， the two sets of clutch target torques are coordinated during the shifting process in order to obtain a more comfortable shifting quality. Regarded impact degree and the specific sliding friction work as evaluation indictor， and taking the impact degree and the sliding work as quadratic target functions， the Linear Quadratic Regulator (LQR) method is used to determine the clutch target torque of the torque phase of the shifting process. The global search ability of the genetic algorithm (GA) is used to optimally select the weighting matrix in the LQR. Thereby， the clutch target torque of better shift quality is obtained. Finally， the target torque of fixed slope change clutch currently used in the two-speed DCT is compared with the clutch target torque determined by this method. The result shows that the latter takes less time during the shifting process， and both the impact degree and the sliding friction work are reduced. The shifting quality of the two-speed DCT is improved effectively.关键词：Two-speed DCT
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发布时间：2022-10-20 - 摘要：In order to deeply analyze the micro-displacement deformation performance of parallel two-axis straight circular flexure hinge，based on the assumption of small deformation of elastic beam，the bending theory of variable cross-section continuous beam and the principle of calculus superposition，the calculating formulas of angular deformation and angular stiffness are derived. According to Hooke's law，the calculating formulas of elongation and tensile stiffness for tension-compression deformation are obtained，and the flexure hinge under different structural parameters is also calculated. Finite element analysis is carried out，and structural parameters affecting angular stiffness and tensile stiffness are studied. The results show that the error between finite element solution and analytical solution of angular stiffness is less than 7%，the error between finite element solution and analytical solution of tensile stiffness is less than 3%; stiffness is proportional to minimum thickness and modulus of elasticity，inversely proportional to cutting radius，and minimum thickness is proportional to rigidity. The effect of minimum thickness is the most significant，cutting radius is the second，and modulus of praseodymium is the weakest.关键词：Flexure hinge;Corner stiffness;Tensile stiffness;Finite element analysis
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发布时间：2022-10-20 - 摘要：An obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for dual 6-DOF manipulator. Firstly，the cooperative working space of double manipulator is analyzed，and the possibility of self-collision is confirmed. Secondly，obstacle avoidance motion planning is carried out for the main arm against static obstacles，and path planning for the main arm is completed. Then，the main arm is taken as the dynamic obstacle when the slave arm moves，and obstacle avoidance motion path is planned for the slave arm. The new potential energy function is used to replace the potential energy function of the traditional artificial potential field method to carry out obstacle avoidance path planning for the double manipulator. Since the traditional artificial potential field method is easy to fall into the defect of local minimum value in the obstacle avoidance path planning of the manipulator，the virtual attraction point is added to avoid this situation. Simulation results show that this method is easily realized and can meet the requirements of double manipulator obstacle avoidance. It can effectively plan a collision-free path for the dual 6-DOF manipulator.关键词：Path planning
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发布时间：2022-10-20 - 摘要：The motion between the cylindrical roller and the slider groove of the tripod coupling is simplified as the motion between the cylinder and the infinite plane. With consideration of the unsteady state effect and time-varying squeeze effect in the running process of coupling，the numerical calculation model of linear contact thermal elastohydrodynamic grease lubrication is established. The transient solutions of lubrication parameters such as film pressure，film thickness and average temperature rise of lubricating oil film are obtained by using multi-grid method. The transient solutions are compared with the steady-state values. The results show that the transient solution and the steady solution of lubricating oil film characteristics are not much different when the variable effect is in the low frequency state. While in the high frequency state，the oil film thickness is smaller than the steady solution as a whole，and the temperature rise is particularly obvious. The distributions of high-frequency solution and low-frequency solution are almost same while the film thickness of high-frequency state is lower significantly than that of low-frequency state in a period of impact load.关键词：Cylindrical roller tripod coupling
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发布时间：2022-10-20
Theory·Reserach
- 摘要：Aiming at the design and verification of parallel indexing cam mechanism，a method of parallel indexing cam modeling and kinematic simulation analysis of indexing mechanism is proposed. Through the analysis of the indexing motion of parallel indexing cam mechanism，the mathematical model of the contour surface of parallel indexing cam is established by using the homogeneous coordinate transformation method，the data points of the contour surface are collected by software programming，the three-dimensional model of the mechanism is established by Creo and output to Adams after assembly，the virtual prototype of the mechanism is established and the kinematic characteristics are simulated. The characteristic curve of motion law drawn by simulation data is compared with the theoretical curve. The results show that，the angular acceleration curve fluctuates greatly，and the impact and oscillation of the mechanism are mainly located at the intersection of different roller exit and entry meshing stages and different roller working contour curves. The corresponding design improvement and processing measures are given，that is，adopting fillet transition working contour curve intersection，improving the sampling accuracy of contour curve data points，selecting appropriate motion rules and spline curve interpolation can reduce the impact and oscillation of mechanism motion.关键词：Parallel indexing cam
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发布时间：2022-10-20 - 摘要：Based on the theory of metamorphic mechanism，a novel parallel metamorphic mechanism of 2-PrRS-PR(P)S is proposed. The revolute pair of two limbs in the proposed mechanism can change its rotation axis to achieve the metamorphic configuration. Firstly，the kinematics inverse solutions of the two working configurations of the 2PrRS-PR(P)S are obtained. Then， the constraints conditions of the mechanism are analyzed. By using the three dimensional search method，the reachable workspace is solved. Finally，the relationship between each of parameters and the workspace in different configurations are analyzed. Aiming at the maximized workspace volume，the optimized structural parameters is obtained by Genetic Algorithm and single variable analysis.关键词：Parallel metamorphic mechanism
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发布时间：2022-10-20 - 摘要：In order to meet the complex and varied working conditions of the tractor， a multi-mode hydraulic mechanical composite transmission device is designed. The device combines the advantages of pure hydraulic， speed-dividing， torque-sharing and other transmission modes. The theoretical analysis of speed regulation characteristic， torque ratio characteristics， power shunt characteristic and efficiency are carried out. The results show that the designed multi-mode hydraulic mechanical composite transmission output torque changes continuously， the transmission efficiency is above 0.8， and in addition to the pure hydraulic mode， the hydraulic power split ratio of other modes is controlled between -0.2~0.3. The simulation model of the hydraulic mechanical composite transmission device is established and simulated. The results show that the designed hydraulic mechanical composite transmission has good speed regulation characteristics and can meet the complicated and varied working conditions of the tractor.关键词：Tractor
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发布时间：2022-10-20 - 摘要：In order to improve the terrain adaptability， obstacle-climbing capability and operability of wheeled mobile robots， an eight-wheeled robot with passive swing arms is designed. The articulated rocker arm can passively adapt to the change of the terrain and rotate relatively， and a flexible joint at the hinge point is introduced to generate a resistive torque， to improve the stability of the robot. The obstacle-climbing mechanism of this robot on vertical step is analyzed. The obstacle-climbing simulation is carried out by using the RecurDyn， the simulation results show that the robot can climb the vertical step beyond the diameter of the wheel. The feasibility of flexible joints is verified by simulation comparison experiments with and without flexible joints， and the optimal design parameters are obtained， a theoretical basis for the development of physical prototype is provided.关键词：Eight-wheeled robot;Obstacle-climbing;Structural design;Simulation analysis
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发布时间：2022-10-20 - 摘要：The backlash is one of the important technical indicators of the RV reducer， and there are many design parameters that affect the backlash. Based on the mathematical model between the part processing feature tolerance and cost， the minimum part processing cost is taken as the target， the allowable backlash(≤1′) and the assembly dimension chain are used as the constraints， and the genetic algorithm is used to optimize the key dimensional tolerances of the RV reducer cycloidal gear， pinwheel， crankshaft and other parts. The CATIA software is used to establish the 3D virtual prototype of the RV reducer considering the limit error of the part size， and the virtual prototype is imported into the Adams software for the simulation of the backlash. The simulation results show that the backlash of the RV reducer is 0.002′~1.07′， which is close to the allowable backlash (≤1′). The correctness of the proposed part tolerance optimization design method is verified， which has important reference value for improving the transmission precision of RV reducer and controlling the processing cost of parts.关键词：RV reducer
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发布时间：2022-10-20 - 摘要：In order to study the relationship between the performance index and structural parameters of parallel mechanical legs，the PRPAS/2-PUPR parallel mechanism is studied. According to the working task of the walking robot，the degree of freedom of the mechanical leg is determined. The positive and negative solutions of the position are used to prove that the mechanical leg has partial decoupling performance; the working space of the mechanical leg is searched by Monte Carlo method. Based on the first-order influence coefficient matrix and the second-order influence coefficient matrix，the speed global performance index and the acceleration global performance index of the mechanical leg are obtained，and the structural parameters are numerically determined to obtain a better range of structural parameters. Finally，the optimized mechanical leg structure parameters are obtained through the refined performance parameters of the structural parameters. The results show that the performance index can accurately optimize the structural parameters of the mechanical leg.关键词：Parallel mechanical leg
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发布时间：2022-10-20 - 摘要：Time-varying Mesh Stiffness (TVMS) is one of the important parameter variables in the study of gear system dynamics. It is crucial to accurately simulate TVMS for the analysis of dynamic performance response indexes of gear transmission system such as vibration and noise. On the basis of meshing kinematic equation and geometric position relation of involute gear，one accurate modeling method of spur gear pairs based on geometry and potential energy method is proposed. The meshing limit boundary conditions of standard involute profile is analyzed in real-time and effectively，and a computational analysis model of TVMS from physical model to mathematical model is constructed which combined with the potential energy method. The TVMS of spur gear pair is calculated accurately by numerical calculation method，and an example is given to illustrate its application. On the allowable range of bearing capacity for gear design，it is necessary to select tooth width and shaft diameter reasonably which makes minor adjustments for TVMS. It is also necessary to make further efforts to optimize stiffness and improve anti-deflection performance of rotor system which provide the later stage of gear system dynamics calculation as a basic application research.关键词：Geometry
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发布时间：2022-10-20 - 摘要：A new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both X and Y directions. Taking one of the branches as the research object，the local coordinate system of each component is established by D-H method，and the inverse kinematics analysis is performed. The analytical equation is obtained by using the bivariate inverse tangent function. Then the force and moment balance equations of each component are established according to the D'Alembert principle. The dynamics model of the platform is derived by New-Euler method，and the dynamic model is used to calculate the parallel drive bidirectional deflection platform. The graph of the driving torque required to achieve the specified motion under given external force and external torque is obtained.关键词：Parallel driving
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发布时间：2022-10-20
Design· Calculation
- 摘要：The non-contact permanent magnet force linear driving device of double permanent magnet wheel is a magnetic driving device for long-distance linear transmission by means of permanent magnet force. There is no direct surface contact between the double permanent magnet driving wheel and the iron rail rack，and the servo motor is controlled. The permanent magnet driving wheel is driven by the servo motor，and the device is driven by the magnetic force generated by the permanent magnet to the iron guide rack convex teeth. Firstly，the mathematical model of the magnetic force is established according to the structure of the dual permanent magnet wheel magnetic drive device. Secondly，the finite element method is used to simulate the horizontal driving force and the vertical interference force of the driving device，and the simulation result is compared with the single permanent magnet wheel driving device. The simulation results are compared and analyzed. Through comparative analysis，it is shown that the dual permanent magnet wheel non-contact permanent magnet force linear drive device not only eliminates the interference of longitudinal vertical interference force，but also increases the horizontal driving force of the driving device，and eliminates the backlash of the driving device during the driving process. The rail is balanced in the horizontal direction，which greatly improves the driving efficiency of the driving device.关键词：Double permanent magnet wheel
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发布时间：2022-10-20 - 摘要：Aiming at the phenomenon of frequency coupling in the dynamic response of double planetary gears system，this paper uses MSC.Adams software to establish a dynamic simulation models for two typical connection forms of double planetary gears system. The meshing force is Fourier-decomposed and combined according to the two-row tooth frequency and its multiplication. The influence of joint stiffness，rotational speed and load on frequency coupling of double planetary gears is studied by the ratio of the amplitude of the two-part meshing force. The results show that when the joint stiffness of the connection shaft reaches 108 N·mm/（°） or more，the proportion of frequency coupling is stable，and the current gear tooth frequency influence ratio is always higher than the coupling gear frequency influence ratio. As the speed increases，the current gear tooth frequency influence ratio increases，and the load increases，the current gear tooth frequency influence ratio decrease，the coupling frequency influence ratio is opposite. For the parallel tooth row load and speed combination analysis，in the working range，the frequency coupling influence ratios in the two rows are similarly expressed，∑fh minus∑fb is proportional to the load ratio minus the speed ratio. In multi-row planetary gear system，the frequency influence ratio distribution conforms to the above-mentioned frequency coupling law of series and parallel row，and the frequency coupling of parallel row is more serious than that of series row.关键词：Planet gear;Frequency coupling;Fourier series
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发布时间：2022-10-20 - 摘要：This research focuses on the dynamic modeling of Delta 3D printer multi-energy domain mechanical-electrical coupling system. Based on the advantages of screw bond graph in the dynamic modeling of parallel robot，the dynamic model of the printer's mechanical ontology subsystem is constructed，and the dynamic model of the driving subsystem is established by combining with the traditional bond graph，and the global dynamic model of the printer's mechanical-electrical coupling is obtained. For a given moving platform trajectory，comparing the results of Adams numerical simulation，Matlab theoretical calculation and experimental driving force measurement show that the full solution model of multi-energy domain system dynamics of the mechanism is correct. The results lay a foundation for the following dynamic parameter identification and dynamic control research，and also provide a new idea for other mechanical system dynamics modeling.关键词：3D printing;Dynamics modeling;Screw bond graph;Multi-energy domain
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发布时间：2022-10-20 - 摘要：The construction vehicles runs and works on the off-road for a long time， and it is easy to produce violent vibration in many directions. To solve this problem， a 3-RPS parallel seat mechanism is proposed based on the comparative analysis of multiple parallel mechanisms. The single-open-chain theory and UG simulation are used to verify its "one flat and two turns" motion state. And the D-H matrix is used to analyze the positive pose model of seat mechanism motion. The seat mechanism model is established in Adams software， and the vibration damping performance of the seat model is simulated and analyzed for four different installation positions because of considering the different installation positions of the branch chain will produce different vibration damping effects. The research shows that the seat mechanism has good vibration damping performance. Branch chain is installed on the axis， the direction of vibration reduction effect is superior to the other position， and 120° three branches chain installed uniform damping effect is better than other ways. The results of this study can provide reference for the installation of parallel seats in construction vehicles under different working environments. At the same time， it is of great significance to improve the comfort and safety of construction vehicles.关键词：Construction vehicle
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发布时间：2022-10-20 - 摘要：To research the dynamics characteristic of high load ball screw under angular vibration driving velocity，a flexible body dynamic model and a control model considering the process of ball entering and leaving the re-circulating mechanism are built based on explicit time integration. The comparison of dynamic responses and other characteristics shows that the ball screw under high load has a certain probability of transient stuck originated from the impact between the balls in the groove and the balls in the deflector，this phenomenon stems from the collision between the ball in the raceway and the ball in the reverser，and the common action of the normal force loading and unloading when balls enter and leave the re-circulating mechanism，etc. This research provides a reference for the optimization design aiming at enhancing the dynamic performance of ball screw.关键词：Ball screw
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发布时间：2022-10-20 - 摘要：Abstract To study the motion control problem of the two-wheeled robot on the spherical container，the motion characteristics of the robot on the spherical surface are analyzed. For motion description，the motion of the robot in the three-dimensional environment is decomposed and projected into the two-dimensional coordinate plane by making a tangent plane and a normal plane at the center point of the robot. The trajectory and velocity of the robot on the spherical surface are obtained，and then the mathematical model of the robot's motion on the spherical surface is established. Finally，the kinematics model is discretized and simulated in Matlab.The feasibility of the model is verified by the simulation results, and the graphics of the simulation process visually shows the motion state of the robot, which provides theoretical help for the motion planning of the robot.关键词：Sphere
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发布时间：2022-10-20 - 摘要：Aiming at the problems of slow movement，poor steering ability and difficult control for the existing robot，a synchronous mobile steering mechanism with clear motion classification and simple structure is designed for dodging robot to realize omni-directional and fast movement in xOy plane. The kinematics principle and the design basis of key parameters of the mechanism are introduced. The steering differential analysis of the mobile mechanism is carried out by using the differential principle，and the kinematics equation. The forward and inverse solutions of the mobile mechanism are obtained. At the same time，the three-dimensional model of the structure is established by UG software. After reasonable simplification，the model is imported into Adams for simulation analysis. The results verify the accuracy of the theoretical design and achieve the desired purpose. It provides an important reference for the design and development of robots.关键词：Mobile mechanism
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发布时间：2022-10-20 - 摘要：A morphing wing structure is proposed by using planar multi-closed loop linkage. The mathematical model of the structure is established. The mechanism trajectory is simulated and analyzed in Matlab by using the structural mathematical model. In order to verify the curvature adjustment ability and aerodynamic characteristics of the mechanism， a three-dimensional model of the mechanism is established， and the kinematics simulation and aerodynamics simulation analysis are carried out. In order to obtain better aerodynamic characteristics， an improved artificial fish swarm optimization algorithm is proposed based on the traditional artificial fish swarm optimization algorithm. The performance of the algorithm is tested by the classical optimization algorithm test functions. The optimization algorithm is used to optimize the morphing wing structure. On the basis of theoretical research， the experimental prototype is processed and the related experimental tests are carried out.关键词：Morphing wing;Structure design;Simulation analysis;Optimization algorithm;Prototype;Experiment
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发布时间：2022-10-20
Test·Analysis
- 摘要：Based on the numerical controlled (NC) rotary table of TK13250E，the influence of various errors of the worm gear and worm of the transmission mechanism of the NC rotary table on the transmission precision is studied. The dynamics simulation software Adams is used to simulate the worm pair. The simulation results are compared with the ideal results，which verify the correctness of the virtual prototype model. The material error，manufacturing error，use error and their random synthesis error of the worm pair are simulated by Adams and the influence degree of different errors on accuracy is obtained. In order to study the law of accuracy deterioration of NC under excessive load，the accelerated wear test of precision decline of NC rotary table is designed. The test shows that with the increase of worm gear wear，the positioning accuracy and repetitive positioning accuracy of NC rotary table begin to decline.关键词：NC rotary working table
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发布时间：2022-10-20 - 摘要：In order to test the durability， service life and other properties of roller chain， based on the principle of closed power flow， an automatic test-bed is designed for testing the wear running-in of roller chain. To enable the power flow closure of the test system， the tension and clamping device is controlled by computer and the sprocket staggered teeth method is used for loading torque to the test chain and the accompanying test chain. The hydraulic and computer control systems are designed to realize the automatic tension and clamping function of the test-bed. The design and selection of tensioning cylinder and clamping cylinder are also carried out， so that the test-bed can meet the test conditions of different types of chains. The prototype test-bed is built by processing and purchasing required components. The wear running-in test of the roller chain is carried out by using the prototype. The results show that the prototype can meet the test conditions of different types of roller chains with low energy consumption and reliable operation.关键词：Roller chain
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发布时间：2022-10-20 - 摘要：After years of service，the single strand chain transmission escalator has serious wear and aging，and has great safety hazards. It has also failed to meet the latest national mandatory inspection standards. It is economical and effective to change the single strand chain drive to double strand chain. Taking the reconstruction of 8 escalators in Jinan Guihe Shopping Center as an example，the design method and reconstruction technology of double strand chain transmission of escalator is elaborated. According to the working conditions and performance requirements of the escalator，the design and calculation of the double strand chain transmission system are carried out，especially the calculation and verification of the size of the large and small chain wheel，and the structural design of the wheel is carried out. The field application proves the correctness and feasibility of the proposed double strand chain design method and construction technology，which can provide reference for other similar escalator reconstruction projects.关键词：Escalator
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发布时间：2022-10-20 - 摘要：In order to solve the problem that the signal-to-noise ratio of the gearbox fault signal is low and fault feature extraction is difficult，a method for extracting gearbox fault feature based on parameters optimized variational mode decomposition is proposed. Firstly，the drosophila optimization algorithm is used to search for the most optimal combination of the variational mode decomposition's K and α，aiming at the minimum local entropy of the decomposition result. The original signal is decomposed into several IMF components，from which the component with the smaller envelope entropy is selected for signal reconstruction，and the reconstructed signal is demodulated to extract the fault frequency feature from the envelope spectrum of the reconstructed signal. The results show that this method can reduce the noise and extract the fault features of gearbox successfully，and the effect of noise reduction is better than the empirical mode decomposition method，and the extracted fault features are more obvious.关键词：Variational mode decomposition
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发布时间：2022-10-20
Development·Application
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