最新刊期
期 4 ， 2021
- 摘要：For gears running at high speeds， windage power loss is one of the main factors for low transmission efficiency. Computational fluid dynamics（CFD） technology is used to establish the air flow field model around the arc tooth cylindrical gear. The digital twin simulation calculation is performed to obtain the velocity vector diagram and windage loss power of the air flow around the arc tooth cylindrical gear. The results show that the baffle around the arc tooth cylindrical gear can effectively reduce windage power loss， the smaller the axial baffle spacing，the smaller the windage power loss of the arc tooth cylindrical gear. When the axial baffle gap is 2 mm，the windage power loss is reduced by 27.80% compared with the axial baffle gap of 10 mm. But for the radial baffle，it is not that the smaller the gap， the smaller the windage power loss of the arc tooth cylindrical gear. Different types of tooth shapes have different windage power losses under the same conditions. Under the same conditions， it is found that the spur gear with a pressure angle of 25° reduces the windage power loss by 23.84% compared with the standard helical gear.关键词：Arc tooth cylindrical gear;Windage power loss;CFD;Axial baffle;Radial baffle
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发布时间：2022-11-10 - 摘要：In order to overcome the disadvantage of small transfer torque in single magnetorheological drive， a combined drive method of electrothermal shape memory alloy（SMA） and magnetorheological is proposed， which can improve the transfer torque of drive device. Based on the thermal effect characteristics of shape memory alloy， the relationship between extrusion force and temperature of electrothermal SMA spring is established. Maxwell software is used to carry out finite element analysis of the magnetic field and obtain the distribution of the magnetic field intensity along the radius in the working gap of the disc under different currents. Based on the magnetorheological characteristic of magnetorheological fluids， the relationship between the torque transferred by magnetorheological fluids and the parameters such as magnetic field strength and radius is established. Based on the extrusion characteristics of SMA springs， the relationship between friction torque and extrusion force， radius and other parameters is established. The results show that， the friction torque produced by the extrusion force of the electrothermal shape memory alloy spring increases with the temperature increasing. The magnetic field increases with increasing radius. The combined transfer torque of the electrothermal shape memory alloy and magnetorheological（MR） is 53.8% higher than that of a single MR transmission.关键词：Electrothermal shape memory alloy;Magnetorheological fluid;Combined drive;Torque
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发布时间：2022-11-10 - 摘要：Planetary gearboxes are widely used in mechanical transmission systems due to their large transmission ratio and high transmission efficiency. In a planetary gearbox， the sun gear is usually set to float to balance the sharing of loads among planet gears. However， this floating set will result in the variation of pressure angle， overlap ratio and meshing phase in the meshing progress. In the previous studies， these parameters were reduced to constant. To study the influence of the dynamic parameters on the vibration response of planetary gearboxes under different operating conditions， a new lumped parameter model containing the time-varying pressure angle， time-varying overlap ratio and time-varying meshing phase is established. Based on this model， the vibration response mechanism of the sun gear is analyzed. Moreover， the comparison with the previous model is made and the rule of phase modulation caused by these dynamic parameters is revealed. By comparing the dynamic responses under different loads and rotation speeds， the phase modulation is studied in detail.关键词：Planetary gearbox;Lumped parameter model;Time-varying pressure angle;Time-varying meshing phase;Phase modulation
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发布时间：2022-11-10 - 摘要：The time-varying meshing stiffness （TVMS）of gear pair is a major parameter of mechanical dynamics analysis， and its accuracy directly affects the accuracy of dynamics analysis results. At first， the formula for computation of shear stiffness is derived theoretically， and it is applied in the case analysis， the obtained result is compared with and the result of finite element analysis， the result shows that the difference is small. Then， a kind of new crack failure model is established， which is called the gear tooth bilateral asymmetrical crack model. On the basis of the energy method based on the accurate full tooth profile， the calculation formula of TVMS of gear tooth bilateral asymmetrical crack model is derived. Then influence of crack shape on TVMS is analyzed. At last， the analysis validation is carried out by finite element method （FEM）， and the results indicate， the results of finite element method and energy method are basically the same.关键词：TVMS;Asymmetrical crack model;Accurate full tooth profile;Energy method;FEM
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发布时间：2022-11-10 - 摘要：Gear is widely applied in mechanical transmission systems. Gear meshing stiffness is a time varying parameter because of the periodical changing of the numbers of teeth involved in meshing process，the meshing vibration is generated during gear meshing. When the cracks are existed in roots of gear teeth，the meshing stiffness decreased，vibration response of the system due to gear meshing changed as well. Thus，identifying gear meshing stiffness through vibration response is a method monitoring healthy state of gear pairs. For the time-varying character of meshing stiffness，a gear meshing stiffness identification algorithm is proposed based on exponential window recursive least square method（EWRLS） interception and instantaneous frequency of the vibration signal. During the identification of meshing stiffness，EWRLS algorithm takes the speed curves of the input and output gears as the identification input signal and observation signal，respectively. In the algorithm，the exponential window is applied to intercept data，and the recursive least square algorithm is applied to estimate parameters of the system. To calculate speed curve of the input and output gears，the empirical mode decomposition （EMD） method is used to decompose vibration signal into intrinsic mode function （IMF） of different frequency，the IMFs are used to reconstruct character signals of input and output gears basing on the mean frequency of IMFs. The Hilbert transform is applied to calculate the instantaneous frequency curve of the character signals to obtain the speed curves of gears. The simulated signal and measured signal are used to validate the algorithm，results show that the EWRLS algorithm can identify time-varying meshing stiffness of gear pair.关键词：Stiffness identification;Gear;Meshing stiffness;Recursive least square method;Exponential window;Instantaneous frequency
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发布时间：2022-11-10 - 摘要：The study on stationary dynamic response of a gear transmission system with time-varying mesh stiffness subjected to stationary stochastic external excitation is carried out. A spur gear pair model with periodical time-varying mesh stiffness is built to include stochastic external force excitations. In order to compute the stationary response of gear system， a very efficient method， called the iterative spectral method is used. This method is derived in the frequency domain and provides the explicit power spectral density（PSD） of the response. The PSD response is expressed as a function of the bispectrum which is the bilinear Fourier transform of the bitemporal impulse response of the parametric system.关键词：Gear transmission;Parametric excitation;Periodic stiffness;Stochastic excitation
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发布时间：2022-11-10
Theory·Reserach
- 摘要：Based on the Archard wear model and the Hertz contact theory， the meshing area of the cycloid gear profile is discretized，and a calculation model for the wear process of the cycloid gear is established. According to the calculation model， the relationship between the sliding coefficient，wear rate，the wear deep and the engagement angle at each meshing point are analyzed， and the curve fitting is carried out. The results show that the established numerical calculation method can realize the quantitative calculation of the wear amount of the tooth profile of the cycloid pinwheel under different repair methods，different repair amounts，and different working conditions.关键词：Cycloid gear;Wear amount;Slip coefficient;Wear rate;Numeral calculation
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发布时间：2022-11-10 - 摘要：The cycloid pin wheel drive system is taken as the research object， and the nonlinear dynamics model of bending torsion coupling is established by using the method of concentrated mass. Considering the eccentric motion of cycloid and the influence of time-varying stiffness， backlash and transmission error of cycloid and pin gear， the differential equation of motion of the system is obtained by Lagrange method. According to the characteristics of positive semidefinite， variable parameters and strong nonlinearity of the system differential equation， the relative meshing displacement of the cycloid wheel and the pin wheel is taken as the generalized coordinate of the system. By using linear transformation， the equations are transformed into a unified matrix form， and the equations are dimensionless. The natural frequency and dimensionless frequency of the system are obtained by calculation， and the influencing factors of the natural frequency are analyzed.关键词：Cycloid pin gear transmission;Nonlinear dynamics;Dimensionless processing;Natural frequency
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发布时间：2022-11-10 - 摘要：In order to develop an old helper robot， based on the graph configuration theory and the numerical synthesis， a three-configuration old helper mechanism that can switch between 2 degrees of freedom， 1 degree of freedom， and 0 degrees of freedom is designed. Aiming at the 2-DOF walking configuration of the metamorphic mechanism， the closed-loop vector method is used to analyze the kinematics， and the displacement， velocity and acceleration of the key position of the metamorphic mechanism in this configuration are obtained. The analysis results show that， the displacement curve changes greatly when the support period transitions to the swing period， and the speed and acceleration change greatly within the last 40% of the gait cycle， which is in line with the law of human gait， indicating that the old helper mechanism design is reasonable.关键词：Kinematics;Structure state transform;Metamorphic mechanism;Graph theory
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发布时间：2022-11-10 - 摘要：Due to the particularity of the structure，the hysteretic stiffness and dynamic friction belong to the inherent properties of harmonic gear drive. Traditional models consider the stiffness as a fixed stiffness or segmented stiffness model，and the friction as a static friction model. Such simplification will lead to the decrease of the dynamic analysis accuracy of harmonic gear drive system. In order to improve the dynamic analysis accuracy and transmission performance of harmonic gear drive，considering the nonlinear hysteretic stiffness and dynamic friction phenomenon，a dynamics model of harmonic gear drive based on memory characteristic hysteresis stiffness and LuGre dynamic friction is proposed，and the corresponding simulation model is established. The effects of harmonic gear parameters on the system output are discussed. The results show that the stiffness hysteresis phenomenon leads to the decrease of system output and transmission efficiency， the larger the transmission stiffness coefficient， the more stable the system， the larger the damping torque coefficient， the lower the transmission efficiency.关键词：Harmonic gear drive;Hysteresis stiffness;LuGre friction model;Dynamics modeling;Simulation
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发布时间：2022-11-10 - 摘要：Based on the rheological properties of MRF，a disc-type MR brake with rectangular bump is designed，and the calculation formula of its braking torque is derived. The simulation model is established based on Matlab/Simulink， and the size parameters of rectangular bump are continuously optimized. The simulation results show that when there are 12 rectangular bumps with a width of 2 mm and a depth of 1.5 mm， the braking torque is 626 N·m， which is 31.5% higher than that of the bumps without machining. It shows that the designed MR brake can effectively improve the braking torque.关键词：Magnetorheological fluid;Disc brake;Rectangular bump;Matlab/simulink;Braking torque
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发布时间：2022-11-10 - 摘要：A quadruped wheel-legged mobile robot based on 2-UPS/（S+SPR）R closed loop parallel mechanism is designed for the complex surface environment of aliens planet. The optimal gait is obtained by comparing the stability margin and the barycenter adjustment of the robot in the process of motion， the stability of the robot in the static gait is measured by ZMP method， and the trajectory of the foot end is planned by the improved compound cycloid method. In the whole movement process， the movement of the mechanical leg is stable and the change of speed and acceleration is relatively smooth， which would not cause damage to the mechanical leg due to strong impact. Besides， the speed and acceleration are zero at the moment of lifting the leg and landing， which would not impact the fuselage. The analysis results indicate that the quadruped wheel-legged mobile robot moves flexibly and smoothly， which is suitable for the exploration of outer space.关键词：Quadruped wheel-legged robot;2-UPS/（S+SPR）R closed-loop parallel mechanism;Gait analysis;Trajectory planning
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发布时间：2022-11-10 - 摘要：In order to overcome the weakness of the snake-like robot driven by driven wheels，a new three-link snake-like robot driven by driving wheels is proposed. The snake-like robot is composed of a plurality of serial connecting rods connected by passive joints，and the center of each connecting rod is provided with an active omnidirectional wheel. The driving force of omnidirectional wheels only acts on the transverse direction， while the robot moves along the longitudinal direction. In addition，aiming at the characteristics of incomplete constraint and underactuated snake-like robot， a motion controller with anti-skid function is designed by using local coordinate system， so that the motion and joint angle do not interfere with each other. The experimental results of slithered movement show that the proposed design is feasible， and the motion controller effectively avoids the problem of omnidirectional wheel slippage and improves the stability of the whole system.关键词：Snake-like robot;Wheel drive;Three-link;Modularization;Active wheel;Nonlinear control system
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发布时间：2022-11-10
Design· Calculation
- 摘要：Aiming at the problem that is difficult to accurately identify rolling bearing faults， a fault diagnosis method based on sensitive components and Multi Convolution Pooling Group （MCPG） is proposed. Firstly， the Empirical Mode Decomposition （EMD） is used to decompose the original signal into multiple Intrinsic Mode Function（IMF）， and the discrete Fréchet distance is used as the measurement index， the fault sensitive components are selected as the fault data sources representing different fault types. Then， a MCPG deep neural network architecture is proposed， and sensitive data sources are used to train and test the model to achieve the data-driven bearing fault diagnosis. Through experimental verification， it is proved that the method has good recognition effect on different types of vibration data （different speeds， different damage types， different damage degrees）.关键词：Fault diagnosis;Rolling bearing;EMD;Discrete Fréchet;Convolutional neural networks
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发布时间：2022-11-10 - 摘要：In order to improve fault diagnosis accuracy of gear， an improved feature selection （IFS） method is proposed based on share feature selection（SFS） which is usually used. In the IFS， an independent fault feature set is established for binary fault type based on the characteristics of the two fault types of gears which used to instead unified fault feature set for all fault types of gears. And then， the independent fault feature sets are identified by establishing multiple support vector machines with multi binary classification support vector machine and the diagnosis results are obtained. The example of gear fault diagnosis shows that the improved feature selection method eliminates the interference of useless feature， the diagnosis accuracy is improved and has certain advantages.关键词：Feature selection;Improved;Fault diagnosis;Gear
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发布时间：2022-11-10 - 摘要：The lubrication condition of angular contact ball bearings in operation is crucial，and the lubricant directly affects the contact state of rolling bearings. In order to analyze the lubrication condition of angular contact ball bearings and the mechanical characteristics of bearings considering lubrication，based on finite element method and Lattice-Boltzmann method， the bidirectional fluid-structure coupling simulation model of bearings is established. The dynamics finite element simulation and lubricating fluid simulation of angular contact ball bearings are carried out，and the results are compared with the calculation results of bearing quasi-static theory to verify the accuracy of the model. The results show that the cage is in contact with the ball and hits，the oil film pressure is the largest in the bearing cavity，and the contact areas of the ball with the inner ring and the outer ring raceway are the second and third largest oil film pressure areas respectively. The lubricating oil is affected by the revolution of the ball and flows along the direction of rotation of the ball to achieve lubrication between the ball and inner ring，outer ring and cage. The simulation results of ball motion and maximum contact stress are consistent with the solution results of bearing quasi-static theory，that is，the fluid-structure coupling simulation model has high accuracy in calculating the mechanical characteristics of bearings.关键词：Angular contact ball bearing;Finite element method;Lattice-Boltzmann method;Fluid-structure coupling;Bearing quasi-statics
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发布时间：2022-11-10 - 摘要：In order to compare the tooth root bending fatigue life of 18CrNiMo7-6 and 20CrMnTi gears，based on the fatigue characteristics of these two materials，the gear model is built by using the GearTrax plug-in in the 3D modeling software SolidWorks. Through the finite element analysis software Workbench， the statics analysis of the single tooth of the gear is performed，and then the static analysis result is introduced into the fatigue analysis software FE-SAFE，in combination with the load spectrum information， the fatigue life of the two gears are calculated，and the obtaining life cloud maps are analyzed and compared. The feasibility of the simulation method is verified by experiments. The results show that， under the same load conditions， the fatigue life of gears with 18CrNiMo7-6 is slightly greater than that with 20CrMnTi， it is close to the experimental results. The analysis results have a certain guiding role for engineering practice.关键词：Fatigue life;Gear;Statics;Simulation analysis
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发布时间：2022-11-10 - 摘要：The vibration signal of crane gearbox has the characteristics of low signal-to-noise ratio and nonlinearity，so it needs some professional knowledge and experience to realize fault diagnosis. In order to realize intelligent fault diagnosis of crane gearbox，an intelligent fault diagnosis method based on variational modal decomposition（VMD） improved wavelet denoising and particle swarm optimization（PSO） support vector machine（SVM） is proposed. Firstly， VMD is used to decompose the vibration signal to obtain the intrinsic mode function（IMF） of different scales. The decomposed high frequency component is improved after wavelet de-noising and the low frequency component is reconstructed. Then the feature parameters of reconstructed signal are extracted to construct the feature vector， and kernel principal component analysis（KPCA） is used to realize the feature information fusion. Finally， the PSO optimized SVM is used for fault identification and classification. The experimental results show that the SVM model based on VMD improved wavelet signal preprocessing and PSO algorithm has high recognition accuracy and can effectively and accurately identify and classify the fault types of the crane gearbox.关键词：Crane gearbox;Variational mode decomposition;Wavelet decomposition;Particle swarm optimization;Support vector machine
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发布时间：2022-11-10 - 摘要：When the gearbox fails， its vibration signal is unstable and nonlinear. The commonly applied gearbox fault diagnosis methods are almost all based on the single-channel vibration signal analysis，which is easy to cause the loss of fault information，so the practicality in industrial production is limited. In order to overcome this defect， the multivariate multiscale dispersion entropy is introduced into the gearbox fault diagnosis. Meanwhile， the coarse graining method of it is improved， and improved multivariate multiscale dispersion entropy（IMMDE） is proposed to extract fault information of multi-channel vibration signal of gearbox. Based on this，a new gearbox fault diagnosis method based on ensemble empirical mode decomposition （EEMD），IMMDE and genetic algorithm optimization support vector machine（GA-SVM） is proposed. Through the analysis of experimental data， it can be seen that this method has higher accuracy and stability compared with multivariate multiscale sample entropy（MMSE） and multivariate multiscale fuzzy entropy （MMFE），and has obvious advantages in dealing with short time series.关键词：Gearbox;Fault diagnosis;EEMD;Improved multivariate multiscale dispersion entropy;GA-SVM
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发布时间：2022-11-10 - 摘要：Wear is one of the main causes of the failure of mechanical equipment and mechanical parts. The coupling between wear and dynamic response of system has an important effect on the performances of mechanism. A series of parametric studies are carried out based on a simplified model of revolute reaction force， and the dynamical model of slider-crank mechanism is built through combining with the d'Alembert's principle. The distribution of contact pressure is obtained by using the Winkler elastic foundation model. The wear depth of revolute clearance pair is calculated using Archard model，and the coupling analysis framework between wear and dynamics of slider-crank mechanism with clearance is built. It is found that the coupling model of wear calculation has not only comparative solution precision but also high computation efficiency by comparing with the finite element method（FEM）.关键词：Wear;Clearance revolute pair;Slider crank mechanism;Stationary clearance link model
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发布时间：2022-11-10 - 摘要：Based on the status that the research of the influence of eccentricity error on the meshing performance of the circular arc tooth trace cylindrical gear is relatively rare， the characteristics of the circular arc tooth trace cylindrical gear processed by different processing techniques are introduced. A three-dimensional model of the circular arc tooth trace cylindrical gear with geometric eccentricity is established. By using the commercial software Adams， the dynamics simulation model of the circular arc tooth trace cylindrical gear considering eccentricity error is established to study the speed fluctuation characteristics of driven wheel in the circular arc tooth trace cylindrical gear system under three working conditions of driving system， namely， the existence eccentricity of driving wheel， the existence eccentricity of driven wheel and the common eccentricity of driven and driven wheel. The research results show that， under the 3 kinds of eccentric conditions， the speed fluctuation characteristics of driven wheel periodically changes in the circular arc tooth trace cylindrical gear system， and the eccentricity has a certain effect on the speed fluctuation characteristics. The research results provide a theoretical basis for lubrication， fault diagnosis and tooth profile modification of the CATT cylindrical gear system.关键词：Circular arc tooth trace cylindrical gear;Eccentricity error;Transmission characteristic;Dynamics
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发布时间：2022-11-10 - 摘要：In order to analyze the vibration characteristics of high-speed train gear transmission system under the influence of track irregular excitation， the dynamics software SIMPACK is used to establish a vehicle dynamic model including the gear transmission system， and the measurement points are arranged inside the large and small gears respectively. Dynamics simulation experiments under no track irregularities and conditions with track irregularities can obtain the vibration acceleration of large and small gears at a speed of 250 km/h for high-speed trains. The horizontal， vertical and vertical vibration acceleration amplitudes of the large and small gears are analyzed in frequency domain， and then the vibration amplitude and frequency spectrum distribution of the gear transmission system in the presence and absence of track irregularities are compared and analyzed. The results show that due to the influence of track irregular excitation， the lateral， longitudinal and vertical vibrations of the high-speed train gear transmission system are strengthened， and the vibration acceleration increases significantly， among which the vertical vibration acceleration has the largest amplitude change. The vibration frequency of the gear transmission system is mainly concentrated in 0~400 Hz. The lateral vibration of the pinion and the large gear is affected by the track irregularity， but the longitudinal vibration of the pinion is slightly smaller than that of the large gear， and the vertical vibration of the pinion is slightly larger than that of the large gear.关键词：Gear system;Wheel-rail excitation;Vibration characteristic;Vibration amplitude;Frequency domain analysis
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发布时间：2022-11-10
Test·Analysis
- 摘要：In order to solve the movement dysfunction problem of the lower limbs caused by the decline of muscle strength of the lower limbs， bone and joint diseases， cardiovascular and cerebrovascular diseases， spinal cord injury， etc.， such as the inability to independently complete the basic life actions such as walking， standing， sitting， etc.， a mobile assisted robot structure design scheme with the functions of assisted walking， assisted seating， assisted moving is proposed. According to the size distribution of human body， the size of structural components is calculated. In order to ensure that the mechanism has enough structural strength， the finite element simulation analysis of key components is carried out. On this basis， human-machine coupling system model is established， and kinematics simulation of human-machine coupling is completed. Hardware system design scheme of mobile assisted robot is proposed. Electrical system connection is built， and hardware circuit design is completed. In order to verify the correctness of the theoretical results， the experimental prototype is manufactured and related experiments are carried out.关键词：Mobile assistant robot;Structure design;Human-machine coupling;Simulation analysis;System framework;Experiment
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发布时间：2022-11-10 - 摘要：With the design objective of accurately ensuring the total transmission ratio of the multi-stage parallel shaft gear reducer， the mathematical relations among the gear parameters are studied under the conditions of given center distance and total transmission ratio. The mathematical model of gear tooth number selection of multi-stage reducer is established. The program for calculating the number of teeth of the multi-stage gear reducer is developed， which enables the designer to quickly determine the number of teeth of each gear of the multi-stage parallel shaft gear reducer， and ensure the center distance of each stage and the total transmission ratio accurately within the reasonable value range of modulus， helix angle and modification coefficient.关键词：Accurate transmission ratio;Multi-stage gear reducer;Gear tooth number
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发布时间：2022-11-10 - 摘要：In order to correctly evaluate the gear strength calculation results in different standards， the difference between Chinese aviation industry standard （HB） and international standardization organization standard （ISO） in calculating the load capacity of bevel gear tooth surface contact fatigue is analyzed and compared. Through the two ways of comparison of calculation methods and examples， the differences of the two standard calculation formulas， the types of correction coefficients， the differences in values and their effects on the calculation results are found out. The results show that the ISO standard considers more influence factors than the HB standard， and the range is wider. Especially， there is a great difference in the calculation of dynamic load coefficient， which makes the basic value of contact stress calculated by ISO standard smaller， the calculated contact stress equivalent， and the allowable contact stress larger.关键词：HB standard;ISO standard;Bevel gear;Contact fatigue;Difference
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发布时间：2022-11-10 - 摘要：In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally， through simulation experiment， compared with the present algorithm of path planning of manipulator，the simulation results show that the algorithm has more performance advantages in grasping time and accuracy.关键词：Multi-colony ant algorithm;Manipulator;Path planning;Kinematics method of manipulator
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发布时间：2022-11-10
Development·Application
- 摘要：The unpowered lower extremity exoskeleton robot can be used in medical rehabilitation， sports assistance， load operation and other scenes.The development background and the forms of assistance of unpowered lower extremity exoskeleton robot are systematically expounded. The research history of unpowered lower extremity exoskeleton robots at home and abroad is summarized， it is classified according to multi joint and single joint， and the structure， characteristics， advantages and disadvantages， and efficiency evaluation of the two types of robots are summarized. According to the key technologies and future development trend of unpowered lower extremity exoskeleton robots， the analysis and prospect are carried out.关键词：Unpowered;Lower extremity exoskeleton;Rehabilitation assistance;Load bearing
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发布时间：2022-11-10
Review
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