最新刊期
期 8 ， 2022
- 摘要：In order to study the electromechanical coupling mechanism of the micro-robot joints in the unsteady working state and considering the time-varying stiffness and error of gear meshing， a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage series planetary gear transmission system. The influence of the natural frequency， and quality parameters of the system on the natural frequency of the system and the distribution law of modal energy is calculated and the torsional vibration characteristics of the gear system under impact load are analyzed. The research results show that as the quality of parts increases， the natural frequency of the system shows a downward trend. The modal energy of the system is mainly manifested as low-order torsional vibration strain energy and high-order kinetic energy. During the impact process， the system behaves as a vibration mode dominated by a first-order natural frequency and a one-time meshing frequency.关键词：Electromechanical coupling;Planetary transmission;Impact load;Inherent characteristics;Vibration mode
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发布时间：2022-09-23 - 摘要：Aiming at the problems of strength and fatigue of super-reduction ratio hypoid gears， a calculation of the gear blank parameters is completed， a three-dimensional assembly model is established， and a finite element simulation is carried out on the super-reduction ratio hypoid gears； a calculation method for calculating the design parameters of the pinion from the design parameters of the large gear is derived， and the corresponding pinion and large gear tooth blanks can be calculated. Using the large gear and pinion tooth surface equations， the coordinates of the discrete points on the tooth surface are calculated in Matlab and imported into SolidWorks to realize the three-dimensional modeling of super-reduction ratio hypoid gears， and then import the model into Ansys workbench for finite element simulation； the simulation results show that the rotation speed， reverse torque and gear tooth root parts are processed with different tip fillets， which will affect the minimum fatigue life of the super-reduction ratio hypoid gears.关键词：Hypoid gears;Super-reduction ratio;3D simulation
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发布时间：2022-09-23 - 摘要：For a radial hydrodynamic bearing with surface micro texture，the Gauss random rough surface is used to simulate the surface roughness of the bearing bush. A mathematical model of bearing oil film characteristics is established under the coupling of surface micro texture and roughness. On this basis，the static and dynamic characteristic parameters under different eccentricities and speeds are calculated and the influence of the surface roughness on the pressure distribution and instability threshold speed of textured hydrodynamic bearings are analyzed. The results show that the proper surface roughness can improve the oil film pressure and bearing capacity under certain eccentricities，the friction force and average temperature rise also increase，and the instability speed of textured hydrodynamic bearing decreases due to roughness. The theoretical results are compared with the test results of the M2000 friction and wear testing machine to verify the rationality of the model. The research has certain reference significance for the study of the lubrication mechanism of sliding bearings that take into account both roughness and texture.关键词：Hydrodynamic bearing;Surface roughness;Micro texture;Characteristic parameters
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发布时间：2022-09-23 - 摘要：The distribution law of the kinematic behaviors of the wire-driven planar robot （WDPR） in the workspace is mainly studied. The configuration and working principle of the WDPR are introduced. The kinematics and dynamics model of the WDPR are established and the workspace and evaluation index of the maneuverability of the WDPR are further discussed. The measurement index of the smartness of the WDPR is defined using the condition number of the structure matrix. The distribution law of the kinematic behaviors indexes in the effective workspace is given through calculation examples. The research results show that， there are no singular or non-positioned positions in the workspace， the robot has good motion and force transmission performance， and the motion and force transmission performance in the central area of the workspace is better than those in the boundary area of the workspace. The research results can provide certain reference for further research mission planning.关键词：Wire-driven robots;Dynamics;Workspace;Maneuverability;Smartness
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发布时间：2022-09-23 - 摘要：Aiming at the problem of how to reduce the complexity of trajectory optimization of redundant or super-redundant manipulators， a constrained energy consumption optimal manipulator trajectory planning method is proposed. The dynamics of the redundant manipulator are modeled based on lagrange dynamics， and the motion trajectory is constructed using the uniform quintic B-spline function. In order to improve the computational efficiency of trajectory optimization， a new penalty algorithm is designed through dealing with the kinematic and dynamic constraints in the cost function calculation， so as to avoid running the inverse dynamic model when all the constraints are not met. Before running the inverse dynamic model for trajectory optimization， a new virtual link concept is introduced to replace all redundant links to eliminate the physically impossible configuration. The proposed method is verified by experiments on a three-degree-of-freedom redundant manipulator at the same time. The research results show that the simulation and the actual measurement obtain the same expected optimal trajectory tracking performance， and the energy consumption after trajectory optimization is significantly reduced by about 56.32%， which verifies the effectiveness of the proposed trajectory planning optimization method.关键词：Redundant manipulators;Optimal trajectory planning;Energy consumption optimization;Constraint processing;Cost function
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发布时间：2022-09-23 - 摘要：The fatigue crack initiation direction of wind turbine gearbox bearings is investigated. Through theoretical research，it is believed that the direction of crack initiation depends on the direction of the maximum shear stress amplitude plane at the local initiation position. After calculation，it is found that the orthogonal shear stress amplitude of the shallow layer inside the bearing raceway is greater than the principal shear stress amplitude，and the principal shear stress amplitude at the deeper layer is greater than the orthogonal shear stress amplitude. Therefore，the crack initiation angle varies with the initiation depth. Aiming at the problem of crack propagation，the method of stress superposition in the polar coordinate of the crack tip in fracture mechanics is used to clarify the influence of Hertz contact stress，residual stress，assembly interference pressure，etc. on the direction of crack propagation. The applicability of the theory is verified by analyzing the failure cases of bearings with different thermal treatment microstructure.关键词：Bearing failure;Crack initiation;Crack propagation direction;Hertz contact;Residual stress
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发布时间：2022-09-23 - 摘要：Based on the variation law of helical gear time-varying contact line length， an analytical algorithm of helical gear friction and friction torque is deduced. Based on the time-varying friction coefficient model， the influences of sliding friction on meshing force and meshing efficiency are studied. The results show that considering the sliding friction， the tooth surface meshing force is less than the normal force， the tooth surface meshing force increases with the increase of the rotating speed， decreases with the increase of tooth surface roughness and lubricating oil viscosity， and the influence is more significant in the multi-tooth meshing area. Under the action of time-varying friction coefficient， the average meshing efficiency increases with the increase of speed and torque， and decreases with the increase of tooth surface roughness， especially when the viscosity of the lubricating oil is large at low temperature.关键词：Helical gear;Sliding friction;Tooth surface meshing force;Meshing efficiency
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发布时间：2022-09-23
Theory·Reserach
- 摘要：A novel parallel machine tool configuration is presented based on 3-RRRS mechanism. RRRS refers to kinematic pairs of a branched chain consisting of three R-pairs and an S-pair. The 3-RRRS mechanism connects a moving platform between top and bottom platforms，by which the six-dimensional motion of the moving platform relative to the bottom platform can be achieved. A power head installed on the moving platform completes the machining operation of the machine tool. Each R-pair in RRRS motion branch chain is equipped with a drive power where each motion consists of 3 drive pairs. The whole motion branch chain system has 9 driver variables and possesses sub-driver features，which make the parallel machine tool have a larger workspace and better motion and dynamic characteristics. Firstly，the modular structure of the novel machine tool is introduced. Secondly，the modeling analysis of the machine tool based on 3-RRRS mechanism is carried out and the motion and control models of each mechanism variables are given in machine tool operation. Finally，the calculation example is given and the result is verified by using a motion simulation. The related works provide a theoretical basis for the practical use of subsequent equipment.关键词：Parallel machine tool;3-RRRS mechanism;Modular construction;Inverse kinematics;Modeling and simulation
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发布时间：2022-09-23 - 摘要：Based on the principle of gear meshing and differential geometry theory， the motion coordinate conversion relationship between the gear cutter and the non-circular gear tooth blank is obtained， and the machining process of the non-circular gear tooth profile is simulated. At the same time， in view of the impact vibration and noise problems in the process of non-circular gear transmission， a precise， efficient and general modification design method of non-circular gear tooth profile is obtained by taking the modification of gear shaping cutter as the means and the modification of non-circular gear tooth profile as the purpose. The kinematic simulation of the non-circular gears before and after modification is carried out using the dynamic simulation software. It is obtained that the impact vibration phenomenon of the modified non-circular gear in the transmission process is significantly weakened， which verifies the correctness of the modification method. It can reduce the tooth surface wear and increase the service life of the gear tooth， providing an important theoretical research method and design basis for the practical application and development of the non-circular gear.关键词：Non-circular gears;Generating method;Tooth profile modification;Tooth surface wear
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发布时间：2022-09-23 - 摘要：Aiming at the problem that most of the teeth root of straight bevel gears adopt fixed radius fillet transition with 0.3 times of modulus， which tends to to cause large bending stress on the tooth root and reduce the service life of bevel gears， a design method of variable radius tooth root fillet bevel gears is proposed. The general equation of the variable radius tooth root fillet under the standard tooth root bevel is established. Based on the fixed-radius non-standard planetary gear of an electric vehicle differential， the general equation of tooth root variable-radius fillet under different tooth root cones is derived， and the variable-radius non-standard planetary gear is optimally designed. Through finite element dynamics and fatigue life simulation analysis， it is concluded that the average tooth root bending stress of the bevel gear is reduced by 10.8% and the fatigue damage is reduced by 6.6% for the variable radius tooth root fillet compared with the fixed radius fillet with the largest radius. Therefore， the proposed design method improves the mechanical performance and fatigue life of the bevel gear.关键词：Variable radius tooth root fillet;Straight bevel gears;Spherical involute;Bending stress;Fatigue life
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发布时间：2022-09-23 - 摘要：Cycloidal pin wheel is the main component of RV reducer. In order to further improve the load capacity of RV reducer， a multi-objective optimization design method based on cycloid pinwheel contact stress and meshing stiffness is proposed. In order to optimize its load capacity， an optimization mathematical model with the minimum contact stress and the maximum meshing stiffness is constructed by taking the pin tooth distribution circle radius， short amplitude coefficient， pin diameter coefficient and cycloidal wheel width as design variables. Matlab is used to call the genetic algorithm in its optimization toolbox for solution. Compared with the original structure， the optimized structure reduces the contact stress， increases the meshing stiffness and improves the bearing performance， which provides a new method for the design of RV reducer.关键词：Cycloidal pin wheel;Contact stress;Meshing stiffness;Optimal design
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发布时间：2022-09-23 - 摘要：Aiming at the machining of complex curved surface parts with parallel machine tools， a novel partially decoupled parallel manipulator （PM） is proposed. The degree of freedom and the decoupling performance of the mechanism are analyzed. The formula for the kinematic relationship between the driving branches and the moving platform is deduced by the vector method. The motion of each component in the parallel manipulator is analyzed. Considering the gravity， inertia force and moment of inertia of the components in the mechanism， a dynamic model of the parallel manipulator is established. The kinematic and dynamic equation of the PM is verified based on advanced CAD software. The singularity of the PM is analyzed， which provides theoretical and technical foundations for its application.关键词：Parallel Manipulator;Decoupled;Dynamics;Singularity
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发布时间：2022-09-23 - 摘要：The topological graph of planetary gear mechanism is established. Some topological graphs of two and three DOF planetary gear mechanism are synthesized. The procedures of isomorphism identification and rigid subchain detection are particularly presented. According to the transformation rules， topological graphs of planetary gear mechanism are converted into standard topological graphs and kinematic diagrams. Some transmission schemes of two planetary rows and three planetary rows are obtained.关键词：Automatic transmission;Planetary gear mechanism;Schematic design;Isomorphism identification;Rigid subchain detection
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发布时间：2022-09-23 - 摘要：Aiming at the side slip problem of the wheeled mobile robot in the steering process， a pure rolling steering system is designed to avoid tire wear caused by wheel side slip. Based on this pure rolling steering system， a dual-power differential drive axle is developed， three special motion modes including ackerman steering， crab motion and in-situ steering are established， and the kinematic characteristics of the three modes are analyzed. The adopted H-type balance suspension structure can be adjusted adaptively according to the undulations of the road surface， which improves the mobile robot's ability to overcome obstacles. The feasibility of the structure is tested by setting up an experimental platform. Finally， based on the established steering motion control strategy and the kinematics model， and using the inversion method， the trajectory tracking control law is derived， and the effectiveness of the control law is verified by Simuink simulation.关键词：Pure rolling;Dual-power drive axle;Omni-directional movement;Trajectory tracking
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发布时间：2022-09-23
Design· Calculation
- 摘要：In the field of precision processing technology of spiral bevel gears， the processing technology of ultrasonic lapping gears has been closely followed and studied by many scholars. A vibration system of ultrasonic lapping gear is designed. Under the same conditions concerning the attribute settings， grid partition， and modal analysis settings of the material， the influences of the number， width， length and position on the resonance frequency， vibration mode， displacement node and gear deformation are analyzed by Ansys Workbench； a method for controlling the coupled vibration produced by grooving the transmitted cylinder is established， which can further enrich and improve the existing design theory of the processing vibration system for ultrasonic lapping gears.关键词：Ultrasonic lapping gear;Spiral bevel gear;Lapping gear vibration system;Grooving parameters;Vibration characteristics
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发布时间：2022-09-23 - 摘要：In order to explore the stress distribution of steel wire in the strand when the curved steel rope is in contact with continuous and discontinuous grooves， taking the 6×19+IWS right cross-twisted steel rope as the research object， the finite element models of contact between steel ropes and continuous and discontinuous grooves are established respectively， and the stress distribution of the steel wire in continuous and discontinuous contact is analyzed. The results show that under the condition of continuous and discontinuous contact， the equivalent stress value of the outer steel rope in contact with the rope groove is the largest， followed by the steel rope at the contact between the strand and the strand， and the equivalent force value of the steel rope at other positions is the smallest under the same axial load. The change range of equivalent stress produced by steel rope in discontinuous contact is higher than that in continuous contact. The surface contact stress of discontinuous rope grooves is 39.5% larger than that of continuous rope grooves， and the maximum contact stress of surface steel rope in discontinuous contact is 5.08% higher than that in continuous contact. The wear test of steel rope under continuous and discontinuous contact shows that the average length and width of steel rope wear scar in discontinuous contact are 25.5% and 13.5% higher than those in continuous contact， respectively， which are consistent with the simulation results.关键词：Steel rope ring CVT;Discontinuous contact;Stress and deformation;Wear scar
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发布时间：2022-09-23 - 摘要：The temperature rise characteristics of grease lubricated angular contact ball bearings under complex working conditions have an important influence on the safe operation of bearings. The temperature rise characteristics of the grease lubricated thrust angular contact ball bearings under complex working conditions are studied； a mathematical model of friction heating rate of thrust angular contact ball bearings is established； based on heat transfer theory， the heat transfer mode of spindle-bearing-bearing block system is analyzed， the temperature rise model of bearing is established and the rationality of the model is verified by experiments. Based on the temperature rise model of bearings， the influence of bearing operating working parameters and structural parameters on the temperature rise characteristics of bearing outer ring is analyzed. The results show that the established model can predict the temperature rise of bearing outer ring under complex working conditions well； the maximum error between the simulation results and the test results is 8.3%； the temperature rise rate of the outer ring of the bearing is faster within 20 minutes after the start of the bearing operation； the load， speed and ambient temperature increased will increase the temperature rise of the outer ring of the bearing； the number of steel balls and groove curvature radius coefficient increased will decrease the temperature rise of bearing outer ring. The research results provide a theoretical basis for optimal design of thrust angular contact ball bearings with grease lubrication.关键词：Thrust angular contact ball bearings;Heating rate;Heat transfer;Temperature rise model
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发布时间：2022-09-23 - 摘要：The ability of bearings to resist oil interruption directly affects the reliability of aero engines. In order to explore the dry operation performance of a novel cageless angular contact ball bearing， an oil break test scheme under the bearing ring is designed， and a test platform and an operation program are constructed. The changes of bearing appearance， temperature， speed and current after oil cut off are analyzed. The results show that the dry running time of the new type of bearings is 51 min under high rotation speed and high axial load. It proves that the new type of bearings has good anti-oil interruption ability， and can be widely used in industry.关键词：Cageless bearings;Ball bearings;Interruption test;Aero engines;Dry running capacity
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发布时间：2022-09-23 - 摘要：In order to adapt to various environmental requirements， a new multi-mode mechanism with series-parallel switching function is proposed. The mechanism can change its structural constraints according to the actual working conditions to form different modes to improve the motion adaptability of the mechanism. The screw theory is used to analyze the degree of freedom of the mechanism and describe the switching strategy of each mode. The gait of each mode of the mechanism is analyzed， and a simulation experiment of the mechanism gait is carried out using Adams software to verify the feasibility of gait. Finally， the entity modeling of the mechanism and the practicability of the mechanism are discussed.关键词：Multi-mode institutions;Screw theory;Degree of freedom;Gait analysis;Simulation
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发布时间：2022-09-23 - 摘要：The elasto-plastic deformation of planetary roller screw pair under short-term high overload will reduce the transmission accuracy and increase the friction torque，which will affect the service life. Moreover，the radial load and pitch error have immense influence on the contact load of all threads. Therefore，the calculation model of elasto-plastic contact and accuracy loss of planetary roller screw pair is established. The residual plastic deformation is calculated by the finite element method. The effects of radial load，pitch error，thread number，contact angle and helix angle on the residual plastic deformation are analyzed. The residual plastic deformation decreases with the increase of thread number and thread rising angle，and increases with the increase of contact angle. When the contact angle is 36°~40° and helix angle is 1°~5°，the accuracy loss is small. The increment of axial load aggravates the accuracy loss of planetary roller screw pair. Although the radial load is beneficial to reduce the accuracy loss，it will aggravate the uneven distribution of plastic deformation between rollers.关键词：Planetary roller screw;Elasto-plastic deformation;Residual plastic deformation;Accuracy loss;Radial load
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发布时间：2022-09-23 - 摘要：Aiming at the problems of single function of upper limb exoskeleton rehabilitation robots， low degree of anthropomorphism and inconvenient interchange of contralateral sides， and based on human anatomy， a ten-degree-of-freedom （10-DOF） exoskeleton rehabilitation robot is modularly designed. Based on six active degrees of freedom， the addition of four passive degrees of freedom not only satisfies the multi-joint combination training but also improves its flexibility and universality. Firstly， the structure and characteristics of a 10-DOF exoskeleton upper limb rehabilitation robot are introduced； secondly， the D-H method is used to establish the kinematic equations， and the Robotics Toolbox is applied to verify the correctness of the motion equations； then， the step function is used in Adams to obtain the continuous and stable motion trajectory of the end centroid； finally， the Monte Carlo method is used to compare the obtained workspace cloud image with the motion range of the end of the human arm to verify the rationality of its working range. Simulation research shows that the structural design scheme and mathematical model of the exoskeleton rehabilitation robot are feasible and correct.关键词：Upper limb rehabilitation robot;Structural design;Exoskeleton;Kinematics;Monte Carlo method
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发布时间：2022-09-23 - 摘要：To explore the influence of eccentricity errors on the dynamic characteristics of gear transmissions，a six-degree-of-freedom bending-torsional coupling vibration model of a spur gear pair with eccentricity error excitations is established by using the dynamics software Adams. The gear meshing stiffness and bearing support stiffness are theoretically calculated，and the numerical solution characterizing the meshing behavior and dynamic response of the system is obtained by GSTIFF integration method. The results show that the meshing related parameters such as gear pair center distance，meshing angle，contact ratio，backlash，transmission error and transmission ratio show time-varying characteristics under the influence of eccentricity errors，which increases the amplitude of vibration and dynamic loads of the gear system. And the modulation phenomenon appears with a series of sidebands related to eccentricity errors appearing near the meshing frequency. In addition，the existence of eccentricity errors changes the system vibration status，and makes the system vibration alter from single periodic response to quasi periodic response.关键词：Gear transmission;Eccentricity errors;Meshing behavior;Nonlinear vibration
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发布时间：2022-09-23
Test·Analysis
- 摘要：Based on an improved variational mode decomposition（VMD） algorithm，a novel gear fitting fault diagnosis method is proposed to overcome the difficulties in extracting the features of gear surface faults. The number of components for VMD is determined by the energy ratios of the components in empirical mode decomposition（EMD）. The penalty factor is established with a genetic algorithm（GA） via a fitness function between the permutation entropy and minimum value of VMD components，which determines penalty factors of the VMD. The improved VMD algorithm is used to process the gear surface fault signal. We screen the intrinsic mode function（IMF） for envelope adjustment and analyze the characteristic information of the gear pitting fault through the envelope spectrum. Compared with the current methods，the result of the gear pitting signal we analyze shows the improved VMD algorithm can identify the gear pitting faults more accurately and provide practical application value in the fault diagnosis of transmission systems.关键词：Gear fault;Variational modal decomposition;Energy ratio;Permutation entropy;Feature extraction
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发布时间：2022-09-23 - 摘要：Aiming at the same batch of spiral bevel gears with the same gear material， NC milling method and heat treatment specification， a bootstrap resampling is carried out on a small number of tooth surface deviation sample data based on the bootstrap method， a large number of sample data are obtained and a bootstrap statistical model of batch spiral bevel gear tooth surface deviation is established； the probability characteristic value of the sequential points of tooth surface measurement is calculated， and whether they conform to the normal distribution is tested by k-s； the estimated true value， estimated interval and other parameters are selected to describe their statistical laws and results； through the cubic NURBS surface fitting method， the variation law of the tooth surface deviation of the whole batch is obtained， and the effective evaluation of the tooth surface accuracy of the whole batch is realized. The bootstrap statistical model provides a theoretical basis for guiding the modification of tooth surface processing parameters and efficient and stable production.关键词：Spiral bevel gears;Heat treatment distortion;Tooth surface deviation;Bootstrap statistical model
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发布时间：2022-09-23 - 摘要：Parallel pinching is an important grasping mode of robot hands. However，because the end phalange moves along the arc track，the robot hand needs the manipulator to cooperate with the lifting when pinching objects on the desktop，which increases the difficulty of grasping objects of different sizes. To solve this problem，a linear parallel pinching mode is introduced in which the end phalange is translational in a linear trajectory. Based on this model，a SHKL finger，for linear parallel pinching and adaptive grasping based on springs and Hoeckens linkage is proposed. The SHKL finger uses Hoeckens linkage to realize the linear movement of the end joint，uses double parallel four-bar linkage with the same direction and speed to realize the attitude fixation of the end phalange relative to the palm，and uses elastic joints，springs and limits to realize the self-adaptive grasping. The theoretical analysis and experimental results show that the SHKL hand has the functions of linear parallel pinching and self-adaptive grasping. Its grasping is stable and its control is easy.关键词：Robot hand;Underactuated finger;Linear parallel pinching;Self-adaptive grasping;Hoeckens linkage
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发布时间：2022-09-23 - 摘要：Rolling finishing cut is a new kind of micro machining technology. It can remove the traces on the material surface， reduce the roughness of the tooth surface and reduce the meshing noise of the gear. An experimental study on finishing cut of aviation spiral bevel gears is carried out using parallel spindle rolling finishing technology. The machining mechanism of this finishing technology is described， and the relative movement between finishing abrasive and gear surface is studied. According to the cutting formula of abrasive at the outer circle of gears， the influence law of various factors is analyzed. The experimental results show that: the surface finishing of spiral bevel gears can be significantly improved by this kind of rolling finishing technology； the roughness Ra value of cone shaft tooth surface decreases from 0.8 to 0.4； the roughness Ra value of cone disk decreases from 0.8 to 0.3； the consistency of tooth surface texture is obviously improved. These lay a foundation for further research on vibration and noise characteristics of spiral bevel gears.关键词：Spiral bevel gears;Parallel spindle rolling finishing process;Surface roughness;Surface topography
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发布时间：2022-09-23 - 摘要：In order to provide a feasible lubrication means under starved condition， the gear transmission effect and the optimal oil-air parameters using oil-air lubrication are explored. Through the design of a five-level orthogonal test， the lubrication influence degree and tooth surface temperature， which are caused by oil supply， air supply and nozzle height， are analyzed under different speeds and load conditions. Then the optimal level setting and optimal solution of oil-gas parameters are obtained. These parameters are used in a comparative test between oil-air lubrication and splash lubrication. The results show that the air supply has the greatest influence on the oil-air lubrication effect， and there is an optimal air supply quantity； the influence of oil supply is the second. An appropriate increase is conducive to lubrication， but the improvement of lubrication effect is limited after exceeding a certain value； the nozzle height has the least influence； however， the height has the optimal value. To ensure safety， it should be put away from the gear properly. Oil-air lubrication has good cooling effect， and the transmission efficiency is better than splash lubrication under the same load condition. This research could provide technical guidance for the application of oil-air lubrication in gear transmission.关键词：Gear transmission;Oil-air lubrication;Parameter setting;Orthogonal test
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发布时间：2022-09-23
Development·Application
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