最新刊期
期 3 ， 2022
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Research on Non-inertial System Effect of Dynamic Stress of Planetary Gear System under Basic Motion
摘要：Considering the comprehensive influence of the internal non-inertial system of the planetary gear system and the external non-inertial system of the body's time-varying attitude，a dynamics model of the planetary gear transmission system under the non-inertial system is established. Combining the modified Heywood formula and Hertz formula，a calculation model of the tooth root bending dynamic stress and contact dynamic stress of the planetary gear transmission system under the basic motion non-inertial system is constructed，and the stress non-inertial system coefficients describing the influence of the additional effects on the dynamic stress under the basic motion are defined. The variation law of the stress non-inertial system coefficients under three typical maneuvering conditions such as variable speed level flight，roll motion and somersault motion is studied. The results show that the stress non-inertial system coefficients are closely related to the basic motion form and motion parameters. Generally，the stress non-inertial system coefficients increase in a non-linear increase in the mobility of random bodies，and the influence of the basic motion cannot be ignored under high maneuvering conditions.关键词：Planetary gear transmission;Basic motion;Dynamic stress;Non-inertial system coefficient- 6
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发布时间：2022-09-24 - 摘要：Aiming at hysteresis changing with the load between the load torque and torsion angle of the harmonic reducer and a reduction of the conversion accuracy of the harmonic reducer resulting from this，a harmonic reducer with a memristor hysteresis model and an RBF neural network in parallel hybrid hysteresis model is proposed. The memristor model is improved to obtain a memristor hysteresis model，which is used to describe the basic change law of the hysteresis output of the harmonic reducer. The difference between the hysteresis model of the harmonic reducer and the memristor hysteresis model is compensated by the RBF neural network with nonlinear fitting ability. Experimental data verification results show that，compared with the memristor hysteresis model，the constructed hybrid hysteresis model can effectively describe the abrupt and non-smooth characteristics of the hysteresis of the harmonic reducer. The model validation mean square error is 0.06.关键词：Harmonic reducer;Hysteresis characteristic;Memristor hysteresis model;Neural Networks;Hybrid model;Parallel structure
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发布时间：2022-09-24 - 摘要：Hobbing is one of the most important gear machining process，forming process of which is complicated and involves a large number of cutting parameters. In order to quantify the influence of machining parameters on the cutting force in hobbing process，a method for predicting the cutting force of gear hobbing based on three-dimensional （3D） geometric simulation is studied. The relative position and motion relationship between hob and workpiece are determined according to the geometric parameters and cutting parameters of hob and workpiece， the 3D simulation of hobbing process is realized in CAD environment，and the 3D model of undeformed chips is obtained. According to the selected cutting force model，the instantaneous cutting force of a single cutting edge is calculated by using the cross-section size of undeformed chips model，and the overall cutting force process of hobbing is obtained. The influence of different cutting parameter on hobbing cutting force is analyzed quantitatively. The predictive model helps to optimize the design of the gear hobbing process to improve the quality and efficiency of the machining and reduce the cost.关键词：Gear hobbing;Cutting process simulation;Cutting force;Cutting parameter
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发布时间：2022-09-24 - 摘要：In order to explore the influence of the internal cavity structure on the churning loss and to improve the efficiency of the automobile transmission system，the gearbox is used as the research object，and a numerical simulation model of the gearbox churning loss is established by using the moving particle semi-implicit method. Through the numerical simulation results and combined with the distribution of lubricants，the influence of different axial clearances，radial clearances，oil baffle plates，oil collection grooves and internal cavities on the churning loss is analyzed. The analysis results show that the churning loss has a non-linear positive correlation with the axial clearance，but when the axial clearance reaches a certain value，it has almost no effect on the churning loss； it has a nonlinear negative correlation with the radial clearance，and as the radial clearance increases，its downward trend becomes smaller； the oil baffle and oil collecting groove structure can reduce the churning loss，and with the increase of its length，the effect becomes more significant； the streamlined cavity and the arc-shaped cavity increase the churning loss to a certain extent.关键词：Churning loss;Cavity structure;MPS;Flow field distribution
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发布时间：2022-09-24 - 摘要：In view of the skidding of aero-engine spindle bearings under high speed and light load and based on the construction of a simulation model of an aero-engine cylindrical roller bearing，the effects of structural parameters such as roller number，roller length，initial radial clearance and cage guide clearance on bearing skidding and fatigue life are studied . The results show that the rate of bearing skidding can be effectively reduced by increasing the number of rollers，cage guide clearance，and reducing roller length and initial radial clearance. By using the orthogonal design method，the influence weights of roller number，roller length，initial radial clearance and cage guide clearance on bearing skidding，bearing fatigue life and inner raceway wear rate are obtained. Through comprehensive balance and optimization，it is obtained that when the number of rollers，roller length，initial radial clearance and cage guide clearance are 13，6 mm，-2 μm and 1 mm respectively，the cage skidding rate is 0.29%，and the inner raceway wear rate is 5.9×10-13 m3/s，which reduce the probability of skidding and abrasion failure of the bearings while ensuring the bearing life.关键词：Cylindrical roller bearing;Skidding;Range analysis;Structural parameter
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发布时间：2022-09-24 - 摘要：According to the mathematical model of ZC1 worm shaft section tooth profile，the theoretical discrete points of worm shaft section tooth profile can be obtained. In the coordinate measurement of ZC1 worm shaft section tooth profile，the principle error is introduced due to the misalignment of x axis. Therefore，the tooth profile theoretical contact points close to the actual contact points are solved by subdivision method，Newton interpolation method and cubic spline interpolation method，and the compensated tooth profile deviation can be obtained. Taking the ZC1 worm with modulus of 4 mm as an example，compared with the evaluation results of the total deviation of the tooth profile without compensation，the total deviation results of the compensated tooth profile obtained by subdivision method，third-order Newton interpolation method and cubic spline method are close to the total deviation of the normal tooth profile obtained from the same specimen at the P26 gear measuring center in Klingelnberg，Germany. The compensation method has obvious effect and presents certain universality in contact precision measurement.关键词：ZC1 worm;Error compensation;Tooth profile deviation;Gear measuring center
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发布时间：2022-09-24 - 摘要：In order to process the workpiece with internal gearing power honing technology，the honing wheel is usually dressed with the customized diamond dressing wheel corresponding to the workpiece. A method of internal gearing power honing modification based on flexible dressing of honing wheel is proposed to increase the commonality of diamond dressing wheel，reduce the cost of internal gearing power honing technology. Firstly，the tooth surface mathematical model of dressing and honing is established according to the motion relationship of each axis of gear honing machine. Then，the multi axis linkage of honing wheel dressing is expressed in polynomial form，the influence of each axis movement on the final workpiece tooth surface is expressed as sensitivity matrix，and the polynomial coefficients of each axis are optimized with the target modification tooth surface. Finally，the final tooth surface of the workpiece is calculated according to the optimized motion parameters of honing，and the tooth contact is analyzed. The results show the standard diamond dressing wheel can be used for flexible dressing of honing wheel，and the effective modification workpiece can be machined finally.关键词：Internal gearing honing;Gear modification;Honing wheel dressing;Sensitivity matrix
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发布时间：2022-09-24
Theory·Reserach
- 摘要：At present，robot joint reducers are all constant transmission ratio，which makes it difficult for the motor to reach peak efficiency. Based on the nested structure，a compact continuously variable transmission （CVT） for robots is proposed，which can effectively increase the power usage of the motor by changing the transmission ratio in real time. Firstly，the mechanism of variable speed transmission is studied to obtain the relationship between transmission ratio and the ratio of planetary gear to sun gear radius，and the nested structure and the axial movement system of planetary gear and sun gear plate are designed. Secondly，the mathematical models of envelope angle on planetary and sun gear，transmission ratio，and radial movement of metal belt are deduced. Based on the multi-rigid-body dynamics simulation software，the output speed of the CVT is verified to show that the forward and reverse deviations of the transmission are 1.89% and 3.87% respectively. Finally，the principle prototype of the CVT is manufactured and the torque experiment platform is built，and the output torque is set to a specific value to test the corresponding input torque. The experiment shows that the test value is basically the same as the theoretical value，and the average transmission efficiency is 72.1%，which indirectly verifies the correctness of the theoretical derivation.关键词：CVT;Nested structure;Transmission ratio;Planetary gear;Sun gear
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发布时间：2022-09-24 - 摘要：Considering the Ligusticum wallichii-soil mixture is easy to block and the broken soil is difficult to separate when the Ligusticum wallichii is excavated and harvested，a vibration mechanism of double rocker threw broken soil is designed，and the kinematic characteristics of the mechanism are studied. The kinematic analysis and modeling of the vibrating earth breaking mechanism are carried out by analytical methods，the kinematics of the earth breaking vibration mechanism is obtained，the kinematic simulation of the earth breaking mechanism is carried out using Adams，the centroid displacement，velocity and acceleration of the mechanism are obtained，and the motion law and soil crushed ability of the vibrated soil crushed mechanism are verified. The results show that when the crank of the double rocker threw and crushed mechanism are at a turned angle of 22.4°，the mixture would be thrown away，and the horizontal backward movement distance is 67.1 mm，which is greater than the forward distance of the harvester 39.7 mm，realizes the backward conveyed of the mixture，the separation of the broken soil and avoids the occurrence of soil clogging. This research provides theoretical support for the design of the vibration crushing mechanism of the Ligusticum wallichii harvester.关键词：Ligusticum wallichii harvest;Clog;Crushing soil mechanism;Motion analysis;Adams simulation
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发布时间：2022-09-24 - 摘要：An accurate calculation method of the maximum grinding wheel diameter for the form grinding of modification herringbone gears is proposed. A modified surface with three-section parabolic tooth profile is established. According to the meshing equation of the grinding wheel and the workpiece，the contact line equation of the grinding wheel is derived. The contact line of the grinding wheel is moved spirally around the axis of the workpiece，and considering the change of the center distance of the grinding wheel，a double modification of the herringbone gear is realized. According to the geometric conditions，when the grinding wheel is grinding the end point of the tooth surface，the maximum diameter of the grinding wheel is calculated，and the influence of the basic parameters，modification parameters and process parameters of the gear on the maximum diameter of the grinding wheel is analyzed. Numerical example simulation shows that tooth surface modification has little effect on the maximum diameter of the grinding wheel，and grinding depths have a greater influence on the maximum diameter of the grinding wheel. Both the number of teeth and the helix angle have an obvious effect on the maximum diameter of the grinding wheel.关键词：Herringbone gear;Form grinding;Grinding wheel diameter;Tooth surface modification
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发布时间：2022-09-24 - 摘要：In view of the growing aging population and the increasing rate of physical disability，and by referring to the design inspiration of shared bicycles，a semi-shared stair-climbing wheelchair is innovatively proposed.A modular design method is adopted to design the folding body and the stair-climbing body of the stair-climbing wheelchair separately. The transmission system and kinematic system of the stair-climbing wheelchair are also studied. A dynamics simulation model is established through Adams to verify the feasibility of the stair-climbing wheelchair.关键词：Stair-climbing wheelchair;Kinematics analysis;Adams simulation
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发布时间：2022-09-24 - 摘要：Aiming at the problem that the back module of the existing nursing bed chair is difficult to realize the mutual change between the postures of the nursing bed and wheelchair，a new type of back plate mechanism is proposed. A serial backplane spatial combination mechanism is formed by connecting multiple mechanisms with single function，and its spatial freedom is analyzed to meet the motion demand. The target size is parameterized，and the optimal position of the support connecting rod，backplane and support frame hinge is obtained using the minimum inclusive area method. According to the geometric relationship and statics analysis result of the backplane mechanism，the JC35D electric push rod with rated stroke and working stroke of 175 mm and 230 mm and self-locking force of 1 000 N is used as the driving mechanism. The backplane mechanism of the nursing bed chair is designed according to the optimized parameters and the drive device type，and the overall virtual prototype is assembled by SolidWorks. The simulation finite element analysis plug-in is used to analyze the stress of the backplane under the posture of the nursing bed chair，and the safety and reliability of the structural strength are verified. Under the posture of nursing bed，Adams View software is used to carry out the static rollover simulation test of the mechanism，and the stability requirement of the backplane under the rollover test load is verified.关键词：Nursing bed chair;Backplane mechanism;Parameter optimization;Finite element analysis;Stability test
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发布时间：2022-09-24 - 摘要：Aiming at problems that it's difficult for existing robots to move in complex unstructured environment such as forest，mountain and collapse area， a jumping robot which can carry reconnaissance or rescue equipment to move efficiently in the rugged environment is designed and developed. The total mass of the robot is 97.1 g and the maximum jump height is 1.5 m， it has certain load capacity，and thus it can carry equipment for practical application. First of all，the theoretical analysis and comparison of several design schemes of spring mechanism are carried out，and then the scheme with the best stability and the highest energy utilization rate is designed. Secondly，to enable the jumping mechanism to release energy instantaneously，a compact and reliable energy control mechanism is designed. The mechanism can effectively control the energy storage mechanism for fast energy storage and instantaneous release，so that the stored elastic potential energy can be efficiently converted into the kinetic energy of the robot. Finally，in terms of system integration of the robot，a theoretical analysis is conducted from two aspects and a reasonable overall mass distribution of the robot is obtained.关键词：Robot;Design;Optimization;Jumping
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发布时间：2022-09-24 - 摘要：A high-efficiency and high-power continuously variable transmission（CVT） is studied, which is mainly composed of variable-diameter pulley stepless speed change transmission and planetary differential gear train transmission. Multi-channel transmission and power convergence can be realized through the combination of variable-diameter pulley transmission and planetary gear transmission, and the ratio of power convergence can be adjusted through the free ratio of two input speeds of planetary differential gear train. The mechanism has the characteristics of simple structure, high transmission power, high efficiency transmission and stable operation.关键词：Continuously variable transmission;Variable-diameter pulley;Planetary differential gear train;Power confluence
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发布时间：2022-09-24
Design· Calculation
- 摘要：Aiming at the divergences in the selection of the guidance mode of the high-speed cylindrical roller bearing cage，a simulation model of the high-speed cylindrical roller bearing is established based on Adore. The effects of the number of rollers，radial clearance，cage guidance clearance and pocket hole clearance on cage slip rate and running stability are analyzed under the outer guidance mode and inner guidance mode，and the reliability of the simulation model is verified by the high-speed bearing slip test. The results show that when the inner ring rotates，the inner guidance mode is more beneficial than the outer guidance in preventing the cage from slipping. In the inner guidance mode，the smaller radial bearing clearance and guiding clearance can reduce the cage slip rate and improve the running stability. The pocket hole clearance has almost no effect on cage slip，but as the pocket hole clearance increases，the running stability of the cage becomes worse.关键词：Cylindrical roller bearing;Cage;Guidance mode;Slip rate;Guidance clearance;Pocket hole clearance
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发布时间：2022-09-24 - 摘要：Taking the noise of a certain DCT transmission as the research object，the noise order of the second gear small throttle acceleration is determined by using whole vehicle testing technology and order analysis method. A Romax rigid-flexible coupling analysis model is established，and the micro-modification parameters originally designed are introduced into the finite element model to conduct the test and simulation analysis of contact spot calibration. It is found that under 20% of the input rated torque，a deflection load appears in the simulation and test contact spot，which provides a correct finite element analysis model for subsequent micro-modification. In order not to affect the requirements of other acceleration conditions，a genetic algorithm is introduced to optimize the micro-modification parameters of the second gear by reducing the peak-to-peak value and load per unit length of the transmission error of the second gear. Considering the requirements of machining accuracy，the optimized micro-shape modification parameters are rounded，and the peak-to-peak value of transmission error and load per unit length of 2-gear small throttle acceleration condition are obtained，which are lower than the original design. The vehicle test data shows that the noise of the second gear is reduced by 11.36% after modification and optimization. Subjective evaluator evaluates that there is no obvious noise in the vehicle under the acceleration condition of the second gear. It shows that the application of genetic algorithm to optimize gear micro-modification has practical engineering guidance significance for reducing transmission error.关键词：Whole vehicle test;Contact spot;Transfer error;Genetic algorithm;Micro-modification
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发布时间：2022-09-24 - 摘要：Taking the main bearing-main journal of a six-cylinder diesel engine as the research object，based on the elastic- -fluid lubrication theory and the micro-bump contact theory and considering factors such as journal misalignment and main bearing surface roughness，the main bearing lubrication characteristics model under the flexible whole body is established，and the influence of the main bearing surface profile on the main bearing lubrication characteristics and main journal vibration characteristics is analyzed. The results show that，compared with the result that does not take into account the main bearing surface profile，when the main bearing surface profile is included，the minimum oil film thickness of the main bearing is increased by 75.53%，the maximum oil film pressure is reduced by 6.15%，the average friction loss is reduced by 2%，the horizontal flexural vibration amplitudes of the main journal is reduced by 6%，the vertical flexural vibration amplitudes is reduced by 5%，and both the axial vibration and torsional vibration amplitudes are reduced by 2%. With the increase of the main bearing surface profile height，the minimum oil film thickness of the main bearing increases，the maximum oil film pressure decreases，the average friction loss decreases，and both the maximum roughness contact force amplitude and the number of occurrences are reduced; the amplitudes of flexural vibration，axial vibration and torsional vibration of the main journal are all reduced.关键词：Main bearing;Surface profile;Crankshaft;Lubrication characteristic;Vibration characteristic
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发布时间：2022-09-24 - 摘要：Considering traditional continuously variable transmission cannot adapt to the working environment of high speed and high torque，an adder-type non-circular gear continuously variable transmission scheme without internal circulating torque is given. The torque characteristics and load conditions of non-circular gear teeth under relatively harsh working conditions are analyzed. General formulas for calculating the inertia moment，load moment and engine driving moment of this type of gear set are deduced，which provide a theoretical reference for optimal designs，production and processing of this type of continuously variable transmission.关键词：Non-circular gear;Continuously variable transmission;Inertia moment
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发布时间：2022-09-24 - 摘要：In order to meet the processing requirements of large aerospace thin-walled curved workpieces，a five-degree-of-freedom （5-DOF） hammer riveting robot is designed. In view of the characteristics of the 5-DOF hammer riveting robot， combining Lie group Lie algebra and spiral theory， its kinematics model is established and solved； use the exponential product formula to derive the Jacobian matrix of the robot，and use the stiffness mapping theory to solve the stiffness matrix of the robot； the finite element and Matlab simulation software are used to simulate and verify the end deformation under the general pose and the extreme pose，and the stiffness distribution map of the robot in the task space varying with the change of pose is given；the simulation result is compared with the theoretical calculation value and the error is not more than 10%，which verify the correctness and effectiveness of the established stiffness model and provide important reference for optimization of subsequent work path.关键词：Hammer riveting robot;Spiral theory;Exponential product;Stiffness characteristic
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发布时间：2022-09-24 - 摘要：For patients with lower limb dyskinesia，the combination of robotic systems and biomedical systems has brought good news to patients. The analysis of human gait law through medical perspective can better develop and drive robotic systems. Therefore， based on the idea of importing human motion data as a reference trajectory into the robot system，the human lower limb motion data and plantar force data are collected experimentally through 3D infrared motion capture system and 3D force measuring platform system. The algorithm is used to filter and fit the collected data. By establishing the link model of the lower limb exoskeleton robot，the rotation angle and torque curve of the hip joint and knee joint are deduced and calculated based on experiment data based on experim ent data，an adaptive controller is designed based on Matlab，and effectiveness of kinematics and dynamics analysis based on experimental data is verified，which provides data support and theoretical basis for the motor selection and control system design of the lower limb exoskeleton robot.关键词：Exoskeleton robot;Kinematics;Dynamics;Moment
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发布时间：2022-09-24
Test·Analysis
- 摘要：Considering the status quo of processing，to avoid conventional spatial meshing theory，and relying on actual production projects，the forming principle of straight profile hourglass worm is analyzed in terms of geometry. After processing verification，it meets the design and use requirements. Combining with examples，presents readers with a software implementation method for reprinting.关键词：Actual production;Geometry;Straight profile hourglass worm;Software realization
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发布时间：2022-09-24 - 摘要：A fault diagnosis method of gearbox based on time frequency union （TFC） feature extraction and manifold learning of improved supervised local tangent space arrangement （MS-LTSA） is presented. Firstly，a feature extraction method combining time domain，frequency domain and HHT time-frequency domain is proposed to obtain the comprehensive feature vector information of vibration signals. Then，the singular values of high-dimensional feature vectors are extracted and the singular value matrix is denoised by manifold learning theory. Finally，an efficient and accurate fault identification of the gearbox is realized by the feature vector after noise reduction. The proposed MS-LTSA method realizes the combination of the internal structure information and the class discrimination information of the data set，and improves the clustering effect of the extracted low dimensional features. Through analysis of experimental data，the excellent performance and application value of the proposed method in gearbox diagnosis are verified.关键词：Gearbox;Feature extraction;Manifold learning;Fault diagnosis
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发布时间：2022-09-24 - 摘要：A spatial 3-PRR parallel mechanism is proposed and the axes of all the revolute pairs of the parallel mechanism are parallel to each other. Based on the screw theory calculation，the mechanism has three degrees of freedom （DOFs） which include two translations and one rotation. The inverse kinematic solutions are obtained by using close-loop vector method. Based on the inverse kinematic solutions，the Jacobian matrix of the mechanism is solved，and two kinds of singularities of the mechanism are obtained according to the Jacobian matrix. Based on the given parameters and constraints，the reachable workspace of the moving platform is determined by using workspace search method. An application example of engraving machine for irregular surface is given. The experiment result shows that its performance can satisfy the requirements of engraving.关键词：3-PRR parallel mechanism;Inverse kinematics;Singularity;Workspace;Engraving machine
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发布时间：2022-09-24 - 摘要：Aiming at the difficulty in identifying early faults and compound faults of gearboxes under strong noise background，a method of extracting fault features based on the combination of improved symplectic geometry mode decomposition （ISGMD） and minimum entropy deconvolution （MED） is proposed. Firstly，the signal is preprocessed by minimum entropy deconvolution to highlight the fault impact component in the signal. Then，the fault enhancement signal is adaptively decomposed into several symplectic geometric components through improved symplectic geometric modal decomposition，and the sensitive symplectic geometric component with the largest kurtosis value is selected according to the maximum kurtosis criterion. Finally，an envelope analysis of the selected sensitive symplectic geometric components can effectively extract the fault features of the gearbox. The effectiveness of the method is verified by experimental.关键词：Gearbox;Symplectic geometry mode decomposition;Minimum entropy deconvolution;Early fault;Feature extraction
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发布时间：2022-09-24 - 摘要：Aiming at the problem of early weak fault features of rolling bearings are difficult to be extracted under strong background noise and the components decomposed by the singular spectral decomposition method still contain noise，a method of extracting the weak fault features of rolling bearing based on the combination of singular spectrum decomposition （SSD） and maximum cyclostationarity blind deconvolution （CYCBD） is proposed. The SSD method is used to adaptively decompose the bearing vibration signal into high-frequency to low-frequency singular spectral components. The best component is selected according to the principle of maximum component kurtosis. The best component is used in CYCBD post-processing for further noise reduction. Furthermore，the noise reduced signal is analyzed by Hilbert envelope demodulation to obtain the fault characteristic frequency. Simulation and experimental analysis show that this method can extract early weak fault features of rolling bearings effectively.关键词：Rolling bearing;Singular spectrum decomposition;Maximum second-order cyclostationarity blind deconvolution;Weak fault;Feature extraction
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发布时间：2022-09-24 - 摘要：Aiming at the problems of poor fine operation performance and tactile perception of underactuated bionic hand，a new bidirectional fully actuated bionic hand is designed by means of electromagnetic reversal and belt driving. The 15 finger joints of the five-fingered bionic hand are independently driven by a single motor，and an experimental prototype is manufactured. By adopting the single current and multi-angle sensor used in combination，not only accurate control of finger joint angle is realized，at the same time，through the study of the data acquisition of angle sensor and drive current and matching processing，the current amplitude change and the joint force，current change rate and the mathematical model of hardness are established，which enrich the bionic hand tactile perception ability. A platform is built to test the grasping ability of the bionic hand，which shows the bionic hand presents good grasping characteristics when the current and angle sensor are used together，and the bidirectional independent driving mode improves the grasping efficiency of the bionic hand.关键词：Electromagnetic reversal;Bidirectional drive;Current feedback;Tactile perception
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发布时间：2022-09-24
Development·Application
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