最新刊期

    6 2021
    本期电子书

      Theory·Reserach

    • Chunsheng Ma,Wenbo Mi,Xiaoqin Yin,Zhendong Ma
      Vol. 45, Issue 6, Pages: 1-7(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.001
      摘要:A 2-SPR/(U+UPR)P(vA) redundant parallel mechanism with reconfigurable kinematic pairs is proposed,which can be applied to parallel operation platform. Firstly,the spiral matrix of the 2-SPR/(U+UPR)P(vA) parallel mechanism is established,the DOF of the mechanism under the R and U phases are solved,and the DOF of the mechanism are verified by using modified Kutzbach-Grübler formula. Secondly,the closed-loop vector method is used to solve the two sets of inverse kinematic solutions of the mechanism and verification,and the particle swarm optimization algorithm is used to study and establish the positive solution model of the mechanism under the R phase and verify. Finally,software to solve the mechanism's reachable workspace under the R phase and the translational workspace under the U phase are solved using SolidWorks combing with Matlab. The research results provide theoretical support for the further optimization and practical application of the mechanism.  
      关键词:Reconfigurable parallel mechanism;Kinematics analysis;Particle swarm optimization;Workspace   
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      发布时间:2022-11-10
    • Lele Bai,Lubin Hang
      Vol. 45, Issue 6, Pages: 8-15(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.002
      摘要:Based on the enveloping hexahedron constructed by Bennett mechanism,the instantaneous relative position and orientation relation between the Bennett linkage configuration and the hyperboloid defined by its joint axis are derived. The dynamic mapping between the Bennett mechanism,the enveloping hexahedron,and the hyperboloid is visually explored,the geometric characteristics of the enveloping hexahedron configuration of the Bennett linkage with equal diagonals are analyzed. It is found that the projection of the enveloping hexahedron's bottom surface of the Bennett linkage at the given configuration coincides with the short axis of the waist ellipse through visualization of the projection of the hyperboloid on waist cross-section,which sparks inspiration of exploring the pressure angle of the mechanism. The research discovers that when the input angle is equal to nπ+π/2(nN),the configuration of the Bennett linkage happens the minimum pressure angle,which equals the twist angle of the output link. The visualization research on the mechanism with specific structural parameters and its associated geometry characteristics,such as geometric surfaces and curves,get inspiration and can provide ideas to reveal the general rules of kinematics.  
      关键词:Bennett mechanism;Kinematics;Hyperboloid of one sheet;Instantaneous mapping;Pressure angle   
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      发布时间:2022-11-10
    • Peng Dai,Jianping Wang,Shuping Yan,Shengzhou Huang,Jun Liu,Fengtao Wang
      Vol. 45, Issue 6, Pages: 16-21(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.003
      摘要:As a key transmission mechanism in mechanical equipment,in the meshing transmission process of involute spur gears,under the influence of extreme working conditions,the tooth surface is easy to cause spalling defects,change the meshing rigidity of gear pairs,and seriously affect its working performance and transmission efficiency. On tooth surface spalling morphology evolution process of the gear pair meshing stiffness,to expand the edge line with the original rectangular flake edge line Angle peel fault evolution,combined with the method of potential energy building containing flaking fault gears meshing stiffness calculation model. The results show that when the gear tooth surface spalling occurs,will make the spalling is involved in the meshing range of mesh stiffness is reduced,and with the increase of scaling parameters,small gear meshing stiffness increase trend,and when the peeling area along the axial center gear pair,the surface is asymmetric gear torsional deformation and torsional stiffness. At the same time,due to the existence of friction,the edge of the spalling area will be further expanded,so that the width of the spalling area will increase,resulting in the range of time-varying mesh stiffness curve changes of the gear pair.  
      关键词:Spalling;Spalling extension;Spur gear pair;Time-varying meshing stiffness;Asymmetric spalling   
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      发布时间:2022-11-10
    • Junchen Jia,Ruifeng Bo,Xinxin Guo,Ruiqin Li
      Vol. 45, Issue 6, Pages: 22-27(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.004
      摘要:Aiming at the demand of logistics industry for rapid sorting and packaging of a large number of commodities,a 4-DOF parallel mechanism (2-RRR&RPR+R) &URS type is proposed. The mechanism consists of a stationary platform,a moving platform and a URS branch chain,as well as two RRR branch chains and RPR branch chains connected with a connecting platform with R pairs. Firstly,the degree of freedom is analyzed by using the screw theory to institutions,get the mechanism can be realized to achieve two turn four degrees of freedom of movement,then by using the method of analytic vector inverse position analysis and using numerical search method combined with the inverse position equation,finding work space analysis work performance,and finally the position inverse equation by Matlab simulation,and by using the Adams results for validation,to prove the validity of the inverse kinematics model of the mechanism as well as the mechanism motion can be realized. The results show that the mechanism can move in a wide range along the X-axis direction and rotate at a large angle in the Y-axis direction,which can replace the manual operation in logistics industry and thus improve the work efficiency. The results can provide a theoretical basis for further dynamic analysis and application of the mechanism.  
      关键词:Parallel mechanism;Screw theory;Inverse position solution;Workspace   
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      发布时间:2022-11-10
    • Fanqiu Meng,Lianwang Gu,Changqing Ma
      Vol. 45, Issue 6, Pages: 28-37(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.005
      摘要:A gear rotor bearing coupling dynamics model is established for the star gear transmission system of geared turbofan engine(GTF). The dynamics model considers the relationship between the rotational motion of the star gear,the time-varying support stiffness of the bearing,the meshing stiffness of the gear,as well as the relationship between the multi tooth meshing and the comprehensive error. The influence of bearing position on input shaft and output shaft on floating quantity and load distribution characteristics is studied. The results show that the position and arrangement of the bearings on the input shaft and output shaft have great influence on the floating amount of the sun gear and ring gear,but almost no effect on the floating amount of the star gear. The change of the bearing position on the input shaft has no effect on the load distribution uniformity,while the bearing position on the output shaft affects the load distribution uniformity.  
      关键词:Gear transmission system;Load distribution characteristic;Bearing position;Dynamics model   
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      发布时间:2022-11-10
    • Yunlong Li
      Vol. 45, Issue 6, Pages: 38-45(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.006
      摘要:Based on the bearing dynamics and rotor dynamics,considering the nonlinear factors such as Hertz elastic contact force and radial clearance between rolling element and inner and outer raceway of rolling bearing. According to Timoshenko beam-axis theory,the finite element discretization model of the bearing-rotor system is established and the Newmark numerical method is used to solve the problem. Meanwhile the nonlinear dynamic behaviors of the system are illustrated by means of bifurcation diagrams,Poincaré maps,frequency spectrum diagrams,phase diagrams and orbit plots. The results shows that,the rotor system presents periodic and aperiodic (quasi periodic or chaos) responses. After passing through the chaotic region,the rotor system enters into chaos through period doubling bifurcation,and then leaves chaos through paroxysmal bifurcation. Reasonable selection of rotor speed and clearance can reduce the non periodic vibration caused by nonlinear bearing force,which can improve the stability of the system. The analytic results will provide a referenced gist for the dynamic stability of dual-rotor-rolling-bearing by the quantitative and qualitative analysis.  
      关键词:Rolling bearing-rotor system;Finite element method;Nonlinear dynamics;Bifurcation;Chaos   
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      发布时间:2022-11-10
    • Wenbin Wang
      Vol. 45, Issue 6, Pages: 46-50(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.007
      摘要:Considering the influence of nonlinear factors such as oil film force support of sliding bearing and external excitation of flexible support, a rigid rotor model with flexible supports at both ends is established. The dynamics behavior of the system is numerically simulated by using the fourth-order variable step size Runge-Kutta algorithm, the displacement bifurcation diagrams of the rigid rotor system varying with rotational speed with different external excitation amplitudes,and the phase diagram and Poincaré map under specific parameters are obtained. These diagrams directly reveal the dynamic characteristics of the system. The results show that the complex dynamic behaviors such as chaos, multi period,almost periodic and single period appear with the increase of rotating speed in the middle and low speed stage, in the middle speed and high speed stage,the system is mainly the mutual transfer of multi period and chaotic motion,and the emergence of paroxysmal chaotic motion. With the increase of the amplitude of external excitation, the system is easy to form almost periodic motion, and the oil film force at the journal bearing bush increases.  
      关键词:Nonlinear oil film force;Flexible support;Rigid rotor;Runge-Kutta method;Chaos   
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      发布时间:2022-11-10

      Design· Calculation

    • Chaoyang Jiang,Yanxue Wang,Junjie Lai
      Vol. 45, Issue 6, Pages: 51-57(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.008
      摘要:When a gear has a pitting fault,the vibration response characteristics caused by its time-varying meshing stiffness change is an important basis for the diagnosis of pitting faults,and an accurate gear geometry model is of great significance for the calculation accuracy of the gearing time-varying meshing stiffness. The tooth profile equations of internal and external meshing gears are derived,and a time-varying meshing stiffness calculation model of planetary gear pitting failure based on full tooth profile is proposed,which effectively solves the problem of the need for tooth number judgment and poor accuracy in the simplified model. The calculation accuracy of time-varying meshing stiffness of gear is improved. A theoretical foundation is laid for the dynamics modeling, failure mechanism analysis and fatigue life analysis of gear pitting failure.  
      关键词:Fault diagnosis;Full profile;Planet gear;Pitting fault;Time-varying meshing stiffness   
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      发布时间:2022-11-10
    • Jie Li,Linxian Che,Li Du,Xin Zheng
      Vol. 45, Issue 6, Pages: 58-64(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.009
      摘要:Taking a planar symmetrical (CRR)2S-(3R)2R parallel mechanism with two translations and two rotations (2T2R) as the research object,based on the position and orientation characteristic set theory analyzes the number and nature of the mechanism’s degree of freedom and then this study analyzes its kinematics problems. The coordinate transformation method is applied to establish a set of nonlinear equations for the positive solution of the mechanism position,and the differential evolution algorithm is used to find the set of equations. The analytical expressions for the inverse solution of the mechanism are derived,and numerical examples are used to verify the correctness of the forward and inverse solutions of the mechanism. The vector method is used to derive the velocity and acceleration expressions of the mechanism,and Matlab is applied to program the position,velocity and acceleration curves of the mechanism. At the same time,Adams is used for kinematics simulation,and the maximum error between the Matlab theoretical curve and the Adams simulation curve is obtained. The result shows that the kinematic analysis curves of the two are basically the same,indicating that the theoretical analysis of the mechanism is correct and reliable.  
      关键词:Parallel mechanism;Position and orientation characteristic;Forward displacement analysis;Kinematics analysis;Adams simulation   
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      发布时间:2022-11-10
    • Ronghui Lin,Peng Zhou
      Vol. 45, Issue 6, Pages: 65-70(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.010
      摘要:In lightweight research of driving axle housing of heavy dump trucks,the reliability of the axle housing is difficult to be controlled due to the uncertainty factors in the use and production conditions of the axle housing,so a lightweight research method combining deterministic optimization and robustness selection is proposed. The finite element analysis is carried out on the axle housing,it is verified that there is room for further optimization of the original axle housing. The sensitivity analysis method is used to select the optimization design variables and after that construct the Kriging response surface model. Three groups of 9 optimization sizes are obtained Through the deterministic optimization by multi-objective Genetic Algorithm. The L9 (34) orthogonal table is constructed,the robust selection of deterministic optimal size is carried out,the optimal size of good robust performance is obtained based on signal-to-noise ratio η. The results show that under the condition that the mass of the present axle housing is 16.7% lower than that of the original one,the robustness selection method improves the maximum stress robustness and the first-order natural frequency robustness,and increases the reliability of the axle housing. This method can ensure the normal performance of light weight axle housing under the interference of various uncertain factors,and partly make up for the deficiency of the existing robust optimization methods,a new way of thinking is proposed for the robust optimization of axle housing.  
      关键词:Driving axle housing;Lightweight;Robustness selection;Signal-to-noise ratio   
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      发布时间:2022-11-10
    • Mingsong Zhang,Jinzhi Xiao,Enheng Wang,Qiao Zhuang
      Vol. 45, Issue 6, Pages: 71-76(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.011
      摘要:In order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator,taking the 7DOF-S universal manipulator of Jaco2 as the object,an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geometry structure of the manipulator,the unique solution of the middle angle is derived,and the other joint angles are obtained by mapping. It is verified by Matlab Robotic Toolbox and Simulink modules that the algorithm has high accuracy and operation efficiency. Based on the verified kinematics model,a quintic interpolation algorithm based on rough and accurate interpolation is proposed. The calculation results of trajectory planning verified by Matlab show that the continuity and stability of each joint rotation are better.  
      关键词:Redundant manipulator;Inverse kinematics;Trajectory planning   
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      发布时间:2022-11-10
    • Haonan Ma,Zhian Zhang,Qingliang Li
      Vol. 45, Issue 6, Pages: 77-84(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.012
      摘要:Aiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system,and it is easy to fall into the local extreme point,the artificial potential field method is improved. Use the D-H method to analyze the kinematics of the dual-manipulator system,use the cylindrical-hemisphere bounding box model as the collision detection model. The construction of a new potential energy function dual-manipulator system is used to plan the path,use the method of constructing virtual target points to help the manipulator escape local extreme points. Simulation experiments show that the improved algorithm overcomes the shortcomings of local minima and realizes the path planning of the dual-manipulator system.  
      关键词:Dual manipulator system;Path planning;Artificial potential field method;Local minimum   
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      发布时间:2022-11-10
    • Hongfu Xing,Chaohui Yang,Nan Yu,Chao Xu,Jingliang Jiang
      Vol. 45, Issue 6, Pages: 85-89(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.013
      摘要:With the development of technology,the high precision transmission equipment has higher and higher requirements on gear. In the gearbox of main reduction helical cylindrical gear as the research object,by using Romax software,the gearbox model is established,combining the theory of microscopic parameters optimization of cylindrical bevel wheel,the transmission error,distribution of load per unit length of gear tooth surface and the contact spot are taken as the optimization objectives for microscopic gear modification,an omnidirectional modification method combining helical modification and tooth profile modification is proposed. By comparing the goal of the optimization of the gear parameters before and after modification,reduce the optimized transmission error and tooth surface load distribution more uniform,good contact spots,improve the gear meshing,improve the service life of the gear.  
      关键词:Helical gear;Transmission error;Contact spot;Load per unit length;Modification   
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      发布时间:2022-11-10
    • Baoping Ma,Fan Zhang,Zhaoying Zhang,Xun Zou,Guosheng Zhang
      Vol. 45, Issue 6, Pages: 90-95(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.014
      摘要:In order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator,the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator,and the gravity compensation of the manipulator is carried out by the pull spring-rope wheel. Then the dynamic model of RCM mechanism from the slave manipulator is established according to the Lagrange equation,and the gravity compensation is carried out by the method of calculating moment. By comparing and analyzing the motion response curves of each joint of the manipulator after gravity compensation with Adams,it shows that gravity compensation model can effectively compensate gravity items.  
      关键词:RCM mechanism;Gravity compensation;Calculation moment method;Lagrange equation   
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      发布时间:2022-11-10

      Test·Analysis

    • Tianyu Mao,Yong Yu,Huaiju Liu,Caichao Zhu,Genshen Liu
      Vol. 45, Issue 6, Pages: 96-103(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.015
      摘要:As a new type of transportation for future urban air transportation,flying cars are intelligent,efficient and convenient. As a key component of the power transmission of a flying car,the safety and reliability of gear transmission has become a difficult problem restricting the development of flying cars. However,the current reliability analysis method for the gear transmission system of flying cars is lacking. The existing design method fails to consider the influence of the strength degradation and failure correlation on the reliability of the transmission system which has a potential failure risk. Therefore,a dynamic reliability analysis model of a flying car gear transmission system considering the correlation between strength degradation and failure is established based on the theory of stress-strength interference. According to the flight mission profile,the load spectrum is established and the gear contact and bending stress are obtained. The complex stress history is equivalent to symmetric cyclic stress by Goodman criterion,which matched the fatigue damage calculation based on S-N curve. A gear strength degradation model is established based on the theory of non-linear fatigue cumulative damage,and the Copula function is used to describe the failure coupling correlation in the transmission system. Combined with the stress-strength interference theory,the reliability evolution law of the flying car gear transmission system is expounded,which lays a foundation for the dynamic design and reliability optimization of the gear transmission system of flying car.  
      关键词:Strength degradation;Failure correlation;Copula function;Stress-strength interference theory   
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      发布时间:2022-11-10
    • Xiaozheng Xie,Jun Li,Rongzhen Zhao,Zhenqi Cui
      Vol. 45, Issue 6, Pages: 104-112(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.016
      摘要:Aiming at the difficulty extracting the local damage information of rolling bearings under the background of random noise,a new feature extraction method based on singular value decomposition(SVD) and local mean decomposition(LMD) joint de-noising combined with Teager energy operator(TEO) is proposed. Firstly,by using the SVD method,the fault vibration signal of rolling bearings is processed to eliminated the background noise preliminarily. Then,the signal which is denoised by using LMD method is reconstructed after the sensitive product function(PF) is screened out according to the correlation coefficient index. Finally,the reconstructed signal is analyzed by TEO demodulation,the frequency component which amplitude prominent in demodulation spectrum is compared with the theoretical value of fault characteristic frequency to extract fault information. The experimental results demonstrate that the method can effectively extract the characteristic frequency of the local damage information of rolling bearings and the fault diagnosis is realized.  
      关键词:Rolling bearing;Singular value decomposition(SVD);Local mean decomposition (LMD);Teager energy operator(TEO);Fault diagnosis   
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      发布时间:2022-11-10
    • Yandong Shi,Ruiliang Zhang
      Vol. 45, Issue 6, Pages: 113-119(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.017
      摘要:When spur gear pair meshing with the assembly error,it will cause the edge contact and stress concentration,and affect the service life. In the meantime,because the parallelism error of vertical plane will produce a larger deviation of tooth contact,therefore,taking the spur gear pair with the parallelism error of vertical plane as the research object,then based on the systematic introduction of the numerical calculation theory of gear contact stress,and the contact stress,contact width and the corresponding load distribution coefficient along the tooth in the case of different assembly error and load conditions are calculated,and the results calculated by numerical calculation method and national standard calculation method in the case of no assembly error are made a comparative analysis. The results show that the results calculated by two methods in the case of no assembly error are close to each other,and the numerical calculation result can reflect the edge effect of the gear pair meshing. Under the same load,with the increase of the installation error,the uneven contact in the tooth width direction becomes worse,and one side disconnects. Under the same assembly error,the uneven contact is improved with the increase of load,the maximum contact stress presents nonlinear increase with the increase of assembly error and load.  
      关键词:Spur gear;Assembly error;Contact analysis;Numerical calculation   
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    • Zhihe Zhang,Shoune Xiao,Guangwu Yang,Youtao Liang,Xiangru Zhang
      Vol. 45, Issue 6, Pages: 120-126(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.018
      摘要:In order to study the safe reliability of using the laminated coupling on the permanent magnet direct drive locomotive and the vibration characteristics of laminated coupling under the action of track excitation are analyzed,a small loop test is carried out on a permanent magnet direct-drive locomotive. The real-time monitoring of acceleration of the laminated coupling and its mounting position are obtained. The least square iteration method is used to identify the modal parameters of the laminated coupling at high speed and the modal parameters are obtained. According to the definition of vibration stage drop,the transmission characteristics of transverse,vertical and longitudinal vibration of coupling at high speed are analyzed. Finally,the variation law of acceleration impact range with velocity grade and the variation of acceleration RMS value decay rate with velocity grade are summarized. The analysis of the vibration level drop shows that the three-directional vibration isolation effect of position (c) is better,and the horizontal vibration isolation effect of position (e) is better than the vertical and longitudinal vibrations. By using acceleration impact range and RMS value attenuation rate evaluation also reached the conclusion that position (c) vibration is effectively attenuated. The conclusion provides a reference for the application and optimization design of the laminated coupling in the permanent magnet direct drive locomotive.  
      关键词:Permanent magnet direct drive locomotive;Laminated coupling;Small loop test;Modal parameter identification;Vibration transfer   
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      发布时间:2022-11-10
    • Mingyong Hu,Yunbo Hu,Jinku Li,Wei Liu
      Vol. 45, Issue 6, Pages: 127-131(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.019
      摘要:Based on the Monte Carlo method,the reliability model of random meshing efficiency of helical gears is established. Five parameters that have a greater impact on the meshing efficiency are selected as random parameters. Through the normal distribution sampling of the random parameters,the reliability effects of each random parameter on the meshing efficiency are obtained. The results show that the normal modulus and the helix angle have the smallest effect on the meshing efficiency of helical gear,which are similar,the second is the tooth width,the third is the normal pressure angle,the most influential is the addendum height coefficient h. Therefore,in the design and manufacture of helical gear transmission systems considering meshing efficiency,the contact strength and bending strength of helical gears can be improved by optimizing the normal modulus ,helix angle β and tooth width to reduce the impact on meshing efficiency.  
      关键词:Monte Carlo method;Helical gear;Random meshing efficiency;Reliability analysis   
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      发布时间:2022-11-10
    • Jun Shao,Guodong Hu,Wei Yang,Dewei Wang
      Vol. 45, Issue 6, Pages: 132-138(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.020
      摘要:Aiming at the low stroke times motion characteristics badly of beam pumping units,a reversing mechanism for gear guide-rod pumping units is analyzed. The reversing mechanism is mainly composed of a long rod incomplete gear,a rack moving frame,a roller and the like. Firstly,the gear guide-rod pumping unit reversing mechanism and its principle are introduced,and then the mechanical model of the reversing mechanism is established. Then,based on the contact impact algorithm,the joint dynamics simulation of the reversing mechanism is carried out by using Solidworks and Adams. The results show that,the speed of the reversing mechanism is gentle on the upstroke,and there is a sudden increase in acceleration on the downstroke. Comparing the acceleration simulation curves of the pumping unit under three different strokes,the pumping unit meets the requirements of low-yield wells production requirements. Comparing the acceleration theoretical curves of beam pumping unit and gear guide-rod pumping unit,the acceleration of the suspension point of the upstroke of this pumping unit is less than that of beam pumping unit,has better motion characteristics,and is suitable for low production well oil extraction operation. The change of stroke times has a greater impact on the contact force of components. At the same time,it provides data support for the subsequent strength calculation of the reversing mechanism.  
      关键词:Low stroke times;Gear guide-rod;Pumping unit;Reversing mechanism;Incomplete gear;Adams simulation   
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      发布时间:2022-11-10

      Development·Application

    • Junyan Wang,Junyu Cai,Xin Fan
      Vol. 45, Issue 6, Pages: 139-145(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.021
      摘要:Taking the ZF 9-speed automatic transmission (9HP48) as the research object,the power transmission line in each gear of the automatic transmission is clarified. The transmission ratio and torque ratio (considering friction loss) of each gear are theoretically derived. The М.А.Крейнeс formula is used to calculate the transmission efficiency of 9 forward gears and 1 reverse gear. To verify the theoretical derivation,AMESim simulation software is used for building the simulation model of the automatic transmission. The transmission ratio and transmission efficiency values of each gear are obtained through the simulation calculation. The simulation results are consistent with the theoretical analysis results. The simulation results verify the correctness of the theoretical derivation and provide a basis for optimizing the automatic transmission scheme in the future.  
      关键词:Automatic transmission;Крейнeс М А formula;Transmission characteristic;AMESim   
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      发布时间:2022-11-10
    • Zhiqiang Li,Weiguo Li,Zhicheng Feng,Lili Wang,Wen'gang Yan,Shijie Guo
      Vol. 45, Issue 6, Pages: 146-152(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.022
      摘要:Aiming at the problems of the existing oil and gas pipeline inspection robots,such as single motion mode,small pipe diameter adaptation range,poor passing ability and adaptability of the robots in pipelines,a new pipeline robot with variable motion mode is designed. The design requirements is presented and the overall structure and working principle of the robot is introduced,the support organization with the combination of main and auxiliary springs to achieve common preloading and drive structure with adjustable angle function are further proposed and analyze force. At the same time,the dimension constraints and motion constraints of the robot through the elbow pipe are analyzed. Finally,experimental verification is carried out. Experimental results show that the structure design and calculation of the robot are reasonable,the size and motion constraint analysis of the robot in the bend pipe are correct,the robot can successfully pass the bend pipe with R≥1.5D. The research results provide a reference for the follow-up robot simulation experiment and prototype manufacture.  
      关键词:Pipeline robot;Structural design;Bend pipe passability   
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      发布时间:2022-11-10
    • Wei Hao,Honghai Xu
      Vol. 45, Issue 6, Pages: 153-158(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.023
      摘要:Taking the drive gearbox of a high-speed EMU as the research object,uses APDL language to establish the constrained modal analysis parametric model of the gearbox,uses the spring element to simulate the joint surface between the shaft and the box,and the first four mode shape and the natural frequency of gearboxes are obtained through finite element analysis. By using the Sobol local sensitivity analysis method,the key structural parameters that affect the natural frequency of the gearbox is determined,the influence of key structural parameters on the natural frequency is analyzed. On this basis,the size parameters of the key structure improvements are carried out to increase the first and second order natural frequencies of the gearbox by more than 5%,the anti-vibration capability of the gearbox is improved. A theoretical basis for the improved design of the drive gearbox for high-speed EMU is provided.  
      关键词:Gearbox;Constrained modal;Natural frequency;Sensitivity analysis;Structural improvement   
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      发布时间:2022-11-10
    • Zhiguang Wu
      Vol. 45, Issue 6, Pages: 159-164(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.024
      摘要:A modular underactuated five-finger bionic hand based on polygon SMA actuator is designed. The overall mass is 260 g,each finger can be disassembled and driven independently. The effective length of SMA wire is improved by using the series and put of multi-section steel sheet and SMA wire,and the driving displacement is increased by one time through the inner pulley structure. The mathematical models of driving current and output displacement as well as temperature and driving voltage are established to solve the problems of small driving displacement and poor real-time performance of temperature feedback control. The experimental results show that the new polygon SMA actuator has small volume,light quality,drive a large displacement,through the double feedback current and temperature control algorithm,the precise control of output displacement is realized and the SMA actuator response speed under different environmental temperature is improved,by fetching experiments,the bionic hand grasping ability is verified. The research results provide a way to promote the application of SMA bionic hand.  
      关键词:Polygon SMA actuator;Current feedback;Temperature feedback;Grasping experiment   
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      发布时间:2022-11-10
    • Decheng Wang,Pengchao Sui,Dongling Ma,Chao Zeng,Shi Cheng
      Vol. 45, Issue 6, Pages: 165-170(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.025
      摘要:The transverse vibration equation is obtained by establishing the balance equation of poly-V belt and tensioner and coupling vibration model of pulley and poly-V belt. The influence of different extreme deviations on the dynamic performance of EFEADS is analyzed by calibrating and modifying the simulation model. Result shows that the maximum swing of tensioning arm reduced under the increasing of extreme deviation. At medium and high speed,the larger extreme deviation caused EFEADS instability and the swing of tensioning arm increasing. In addition,it caused the entire increasing of transverse vibration. But,the changing tension force lead to variation of resonance frequency and caused corresponding rotary speed by transverse vibration peak drifted at different speed. The smaller the extreme deviation caused the greater the belt tension and the lesser transverse vibration.  
      关键词:Poly-V belt;Extreme deviation;Swing of tensioning arm;Transverse vibration   
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      发布时间:2022-11-10
    • Jiawang Li,Zhou Lan,Ziming Yin,Tiantian Li
      Vol. 45, Issue 6, Pages: 171-176(2021) DOI: 10.16578/j.issn.1004.2539.2021.06.026
      摘要:In order to solve the vibration and reliability problems of timing belt transmission system of a 2.0L VVT engine,the mechanical model of timing drive system is simplified from the point of view of force balance,and the external excitation factors affecting the vibration of timing drive system are quickly found. Through the methods of reducing the fluctuation of camshafts loads,reducing VVT adjusting shock,optimizing belt tensioner internal structure,reducing the vibration of timing belt transmission system and timing tensioner swing,the issues of wear failure of timing tensioner and belt are solved. The key index of the vibration of the timing transmission system is determined,and the reliability test of the engine is verified.  
      关键词:Timing transmission system;Camshaft load torque;Tensioner   
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      发布时间:2022-11-10
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