最新刊期
卷 47 ， 期 10 ， 2023
- 摘要：In order to analyze the lubrication characteristics of the planetary gear transmission of shield main drive reducers, a simulation model of splash lubrication of the single-stage planetary gear train is established using the moving particle semi-implicit (MPS) method. By comparing the distribution of lubricating oil particles, velocity field, pressure field, the number of lubricating oil particles in the meshing area of gear teeth and the churning resistance moment produced by each rotating part during the planetary gear train movement under different working conditions, the influence of input speed, initial oil level height and oil temperature on the system lubrication effect and churning loss power are studied. The results show that the oil particle velocity and pressure increase with the increase of the input speed and oil level, and the low speed and oil level height will lead to the uneven distribution of oil particles in the reducer. The number of particles in the meshing zone between planetary gears, sun gears and inner gear rings decreases with the increase of input speed and oil temperature, and decreases with the decrease of oil level height. The meshing area of sun gears is the risk area of poor lubrication. The power loss of the system is most significantly affected by the input speed, and increases exponentially with the increase of the speed, while the influence of oil level height and oil temperature is relatively small. In each working condition, the churning loss power generated by the three planetary gears takes the largest proportion in the total churning loss power.关键词：Planetary gear train;Splash lubrication;Moving particle semi-implicit method;Churning loss power
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发布时间：2023-10-09 - 摘要：Under the action of alternating load, the initial crack on the gear tooth surface would inevitably initiate and gradually evolve into spalling and other faults. It has a serious impact on the transmission system. More attention is paid to the research when there are apparent faults on the gear tooth surface, and it is difficult to monitor the early faults on the gear tooth surface in real time. Therefore, it is essential to make systematic research on the evolution mechanism of early fault on the gear tooth surface and identify the early fault characteristics of the gear tooth surface in time. According to the improved energy method, a time-varying meshing stiffness model of tooth surface crack initiation and degradation into spalling fault is constructed. Considering the transverse propagation path of the cracks and edge contact effect, the impact of the model on the time-varying meshing stiffness is studied. The results indicate that the impact of surface crack and spalling on the time-varying meshing stiffness is only in a specific area, and the impact of crack length would accelerate the decrease of the meshing stiffness. The spalling width has an impact on the time-varying meshing stiffness, and the spalling length has an impact on the beginning and end of the time-varying meshing stiffness reduction. The spalling edge meshing stiffness would suddenly increase due to the influence of the edge contact.关键词：Tooth surface crack;Spalling;Edge contact effect;Time-varying meshing stiffness
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发布时间：2023-10-09 - 摘要：In the research of nutation magnetic drive, the torque density of gears is an important index to evaluate its performance. Thus, the analysis and optimization of the magnetic torque is particularly important. A radial meshing nutation magnetic gear is presented and its operating principle is analyzed. Based on the magnetic vector potential theory of the constant magnetic field, the magnetic induction intensity model of the radial meshing nutation magnetic gears is established, and the mathematical model of the torque of the radial meshing magnetic gear is deduced. The genetic algorithm is used to optimize the structural parameters of the nutation magnetic gear, and the effectiveness of the optimization results is verified. The results show that the torque density after the optimization can be improved under the condition by limiting the size of magnetic gears and the amount of the magnetic pole material.关键词：Nutation;Genetic algorithm;Magnetic gear;Torque;Optimization
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发布时间：2023-10-09 - 摘要：Aiming at the problems in the path planning of the manipulator by artificial potential field (APF) method, a method combining the APF adaptive variable step size in the joint space and goal-biased rapidly-exploring random tree (RRT) is proposed. The APF obstacle avoidance planning is performed in the joint space to reduce the number of inverse kinematics and the sudden change of joint angles. The collision and target unreachability problems in the path planning are solved by improving the repulsive and gravitational potential field functions. The Cauchy probability distribution is used to change the joint angle step size through the distance between the end point and the obstacle. By adjusting the bias of the RRT algorithm, suitable temporary target points are generated to solve the local minima problem of the APF. The obstacle avoidance simulation of the manipulator is carried out in the presence of local minima of the APF. Adaptive variable-step path planning can generate smooth trajectories and improve the search efficiency. The goal-biased RRT selects the temporary target point and the overall path length becomes smaller. The picking manipulator can effectively meet the requirements of obstacle avoidance picking tasks under the improved algorithm.关键词：Pickup robot;Artificial potential field method;Adaptive variable step size;Rapidly-exploring random tree;Obstacle avoidance planning
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发布时间：2023-10-09 -
Nonlinear Dynamics Analysis of the Wind Turbine Gear Transmission System Considering Friction Effect
摘要：A torsional nonlinear dynamics model of the wind turbine gear transmission system is established, with the friction effect taken into account. The time-varying meshing stiffness and meshing error are analyzed and introduced, and the influence of nonlinear factors such as backlash and friction torque is considered. After nondimensionalization, the dynamics differential equations are obtained. Runge-Kutta methods are adopted to solve equations and the nonlinear dynamic response of the wind turbine gear transmission system is acquired. The bifurcation diagram of the system changing with meshing frequency is plotted when the friction coefficients are 0 and 0.07. The nonlinear dynamic characteristics of the system are studied by qualitative and quantitative methods such as the Poincare section, power spectrum and correlation dimension. The results show that there are many subharmonic components in the periodic response of the system under friction excitation. Friction excitation induces more frequency components than when the friction is not introduced. Friction excitation reduces the chaotic interval of the low frequency region and makes it enter the periodic or quasi-periodic motion state more quickly. Friction excitation which makes the system motion more complicated can also reduce the period interval of the high frequency region and lengthen the quasi-period interval and chaotic interval. The theoretical guidance is provided for the fault mechanism research, structure design and optimal working condition selection of the wind turbine gear transmission system.关键词：Wind turbine gear transmission system;Nonlinear dynamics;Friction;Bifurcation;Chaos- 32
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发布时间：2023-10-09 - 摘要：Aiming at the transmission characteristics of the second harmonic of a single crank connecting rod mechanism, a composite crank connecting rod mechanism with output precise sinusoidal velocity-time characteristics is innovatively proposed. The output characteristics of the new mechanism are demonstrated through analytical analysis, and its velocity formulas are deduced. Considering the error existing in adjusting the lengths of the two cranks, the influence of the length difference on the output error is analyzed. The Adams software is used to simulate the mechanism. When the difference between the lengths of the two cranks is 0.5 mm, the error between the speed output law and the standard sine curve is small. The research results show that the mechanism reduces the velocity-time errors of a single crank-link mechanism from 25% to less than 1%, which can meet the requirements of low cost in the initial test of products such as tidal energy power generation devices and automobile suspension vibrations. It also meets the requirements for rapid experimentation.关键词：Precise sine law;Compound crank connecting rod mechanism;Error analysis;Suspension vibration test;Tidal energy power generation test
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发布时间：2023-10-09
Theory·Research
- 摘要：Large pipelines with long term transport of oil and gas resources need to be tested in petrochemical industry nowadays. In this case, a robot which adopts a six-wheel rocker-bogie mobile mechanism with the permanent magnet wheel is proposed to realize the function of the stability to walk on the outer wall and good ability to climb over the obstacle, in order to replace manual inspection of pipelines in a safer and more efficient way when it is equipped with the testing equipment. To determine the driving force required, the minimum magnetic force meeting the force balance condition of stable adsorption of the robot needs to be calculated first; the size of the permanent magnet wheel is designed and determined based on the magnetic force analysis model of the permanent magnet wheel established by Maxwell. Kinematics simulation of the robot based on Adams software is carried out and the ability to climb over the obstacle is verified.关键词：Permanent magnetic;Wheeled robot;Mechanical analysis;Obstacle climbing ability
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发布时间：2023-10-09 - 摘要：In order to improve the design efficiency of different types of rollers globoidal cam deceleration mechanism and standardize the design system, a parametric design method based on NX secondary development is proposed, and the design system is developed. According to the theory of space geometry and the principle of conjugate surface, the working profile equations of five typical types of rollers, including cylindrical roller, conical roller, ball-cone roller, drum roller and ball roller, and globoidal cam are deduced. The key design parameters are extracted, and the human-machine interaction design menus and dialogs are developed by using the NX secondary development tool. Combined with NX Open C/C++ API and Visual Studio compilation environment, the parametric design system of different types of rollers globoidal cam deceleration mechanism is developed. And according to the assembly constraint relationship between the components in the mechanism, the automatic assembly function is developed. The application shows that the whole system developed can meet the user's personalized design requirements, help to realize the normalization and standardization of the design process of different types of rollers globoidal cam deceleration mechanism, achieve the rapid design and modification, and shorten the design cycle.关键词：Globoidal cam deceleration mechanism;Different types of rollers;Parametric design;NX secondary development;Automatic assembly
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发布时间：2023-10-09 - 摘要：A verification and evaluation method for the top-down design of sprag clutches is proposed for the prediction of the clutch performance. The research targets are associated with sprag, inner and outer shafts, so four mathematic verification models are derived from von Mises stress, contact stress, gripping angle, and percent of sprag rise, which are refined from the comprehensive performance. Taking the clutch of model J8331 as an example, the feasibility of the method and strategy proposed in this study is compared and verified through theoretical analysis and finite element simulation. Based on this, a dynamic law of nonlinear positive correlation between load and the above indicators is obtained.关键词：Sprag clutch;Stress of von Mises;Contact stress;Gripping angle;Sprag rise;Top-down design;Evaluation
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发布时间：2023-10-09 - 摘要：Large complex components are the core structural components of equipment in the fields of aerospace, energy, ships, etc. Such components have large sizes, complex shapes, and high processing accuracy requirements. Nowadays, robotized processing systems can overcome the shortcomings of high cost, poor flexibility of the gantry equipment, which have become a powerful tool for processing large complex components. However, the ontology performance of the existing robotized processing system still has problems such as small workspace and weak load capacity, so a hybrid mechanism that can be used as the core ontology of a large complex component processing robot is proposed in this study. The hybrid mechanism consists of a series of manipulators for processing tasks and a 6-UPS parallel mechanism. The 6-UPS parallel mechanism, driven by six drive rods, is used to support the series manipulator and regulate its position and pose on the one hand, and drive the robot to travel with the hybrid mechanism as the ontology on the other hand. The kinematics modeling and workspace solutions of the serial manipulator, 6-UPS parallel mechanism and the whole hybrid mechanism are completed in this study and it is proved that the workspace of the whole hybrid mechanism is significantly larger than that of the serial manipulator and the 6-UPS parallel mechanism. The virtual prototype of the robot is designed with the proposed hybrid mechanism as the robot ontology. By realizing the gait walking of the virtual prototype in a three-dimensional software, it is proved that the designed robot can further expand the workspace using a walking function.关键词：Large complex component;Processing robot;Ontology design;Workspace
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发布时间：2023-10-09 - 摘要：The steering trapezoid of automobiles can be seen as a link mechanism. It controls the motions of the tyres and influences on the steering Ackermann rate, steering gear ratio, rack force, and so on. A list of steering trapezoid's design parameters based on the benchmark data is given in the study. Front steering trapezoid can be replaced of rear steering trapezoid in the same front suspension system that is proved in this study. The steering trapezoid of a hybrid power automobile is designed taking advantages of Catia V5 parameterized model and front suspension motion model based on Adams. Low cost and low design risk come true through the design method of the steering trapezoid.关键词：Steering trapezoid;Ackermann rate;Steering gear ratio;Steering rack force;Catia V5 & Adams software
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发布时间：2023-10-09 - 摘要：Aiming at the defects of the traditional feeding mechanism, such as complex structure, low adjustment accuracy and poor flexibility, a flexible hybrid drive feeding mechanism is proposed. In this study, the closed vector method is used to analyze the kinematics of the hybrid drive feeding mechanism, and the functional relationship between the tooth trajectory and the rotation angles of the drive motors is derived. The rotation angles of the drive motor are planned by functions, and the influence of each coefficient in the rotation angle functions on the tooth trajectory is analyzed in detail. The optimization strategies of flexible adjustment of tooth trajectory are also proposed for several practical sewing scenarios. What's more, the load on the tooth is analyzed during the feeding process, as well as the dynamic characteristics of the drive motors under the extreme working conditions by establishing the dynamic simulation model of the hybrid drive feeding mechanism. By using high-speed video equipment and graphic recognition analysis software, the tooth trajectory of the hybrid drive feeding mechanism is tracked and calibrated, and the test results are consistent with the theoretical calculation results. The hybrid drive feeding mechanism has the advantages of simple structure, reliable operation and flexible adjustment, which deeply meets the current production needs of less people, automation and intelligence.关键词：Industrial sewing machine;Feeding mechanism;Hybrid drive;Kinematics analysis;Tooth trajectory
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发布时间：2023-10-09
Design· Calculation
- 摘要：In this study, a generalized gripper with multiple modes is designed so that it can grasp various sheet parts. The gripper lies in two sets of fingers and two sets of compact force transmission mechanisms. Firstly, a kinematic model of the hybrid spatial multi-linkage mechanism of gripper is established by means of the D-H method. Multi-objective optimization is performed to maximize workspace, mechanical gain, and structural stiffness; three groups of gripper structure parameters are obtained to construct the virtual prototype; by comparing the results of the optimization process with those of the virtual prototype, the results indicate that the proposed optimization procedure can acquire a larger workspace and greater mechanical gain. Finally, according to the optimized parameters, a generalized gripper is manufactured. Three different grasping mode experiments are carried out to verify the feasibility of the gripper.关键词：Generalized gripper;Multiple grasping modes;Spatial linkage mechanism;Multi-objective optimization
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发布时间：2023-10-09 - 摘要：Aiming at the problem of energy consumption caused by the asymmetric hub bearing friction and in order to more accurately analyze the influence of structural parameters on the friction torque, an improved analysis model of friction torque of asymmetric hub bearing considering pretightening force is established and verified by experiments, by using the coordinate transformation method. Assuming that the structural parameters of the right row of asymmetric hub bearings remain unchanged, the influence of the structural parameters of the left row (main bearing row) on the bearing friction torque is studied. The results show that there is an optimal overturning moment to minimize the friction moment of asymmetric hub bearings. With the increase of center distance, when the overturning moment is less than the optimal overturning moment, the friction moment of asymmetric hub bearings increases, and when the overturning moment is greater than the optimal overturning moment, the friction torque of asymmetrical hub bearings decreases. The friction torque of asymmetrical hub bearings decreases when the curvature radius coefficient of left row groove and the number of steel balls of left row are appropriately increased. The friction torque of asymmetrical hub bearings increases when the diameter of the left row of pitch circle and the diameter of the left row of steel ball of asymmetrical hub bearings increase. When overturning moment M1 is equal to 30 000 N·mm, the influence weights of left row structural parameters of asymmetric hub bearings on friction torque are as follows: curvature radius coefficient of the left row groove is greater than the number of steel balls in the left row; the number of steel balls in the left row is greater than the diameter of the pitch circle in the left row; the diameter of the pitch circle in the left row is greater than the diameter of steel balls in left row; the diameter of steel balls in left row is greater than the center distance.关键词：Asymmetrical hub bearing;Pretightening force;Friction torque;Main load train;Structure parameter
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发布时间：2023-10-09 - 摘要：Electric vehicle reducer gears have a wide range of torque speed when working, and transmission errors of gear pairs are different under different speed and torque conditions. In order to optimize the noise,vibration and harshness (NVH) performance of the reducer, the transfer error is optimized and improved for the common speed segment and common torque segment of electric vehicles. Firstly, Abaqus and Masta software are used to model and analyze the transmission error under different speed and torque conditions. Then, the gear is modified based on the data of common speed and torque conditions, and the transmission error after modification is analyzed. Finally, the modification effect is obtained by comparing the vibration and noise test of the reducer. The results show that the reducer runs at the usual speed and torque most of the time, the noise of the reducer is reduced by about 5 dB（A） and the NVH performance of the reducer is optimized by modification based on the transmission error data in this working condition.关键词：Electric vehicle reducer;Common torque speed;Transmission error;NVH performance;Gear modification
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发布时间：2023-10-09 - 摘要：For patients with lower limb motor hemiplegia, a 1R2T-1R type rope-driven lower limb rehabilitation robot is proposed and its complete model is built based on human lower limb movement patterns. The kinematic forward and inverse solution analysis is carried out for this robot and its correctness is verified. Based on the Monte Carlo method, the controllable workspace and the actual workspace of this robot under the premise of force closure are solved in the Matlab environment and compared. The results show that the rehabilitation robot has a reasonable configuration and its working range can meet the needs of patients' rehabilitation training, which provides some reference for subsequent parameter optimization and trajectory planning.关键词：Rope drive;Rehabilitation robot;Kinesiology;Workspace
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发布时间：2023-10-09 - 摘要：In this study, a variable cross-sectional flexible pin of a megawatt wind turbine gearbox is taken as the research object, and the deflection curve equation of the variable cross-sectional flexible pin considering the influence of shear deformation is established. The deflection equation and slope-deflection equation of the variable cross-sectional flexible pin are obtained by using the Green's function method. The effectiveness of this method is verified by comparing with the calculation results of the engineering algorithm and the finite element method. The simulation model of the wind power gearbox is established using Romax software, and it is verified that the deformation characteristics of the variable cross-sectional flexible pin can improve the load distribution and load sharing coefficient. The influence of the supporting stiffness of the pin and gear mesh misalignment on the load sharing performance is investigated. The research results provide a theoretical basis for improving the load sharing performance of the wind turbine gearbox and the design optimization of the variable cross-sectional flexible pin.关键词：Variable cross-sectional flexible pin;Deflection calculation;Shear deformation;Green's function method;Romax simulation
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发布时间：2023-10-09 - 摘要：Considering the complex operating environment of offshore large megawatt wind turbines, a connecting rod coupling with metal elastic joints and parallel shaft holes is developed. The strength of its key components is checked, the overall finite element model of the connecting rod coupling is established, and the stress magnitude and distribution characteristics of each key component under rated (maximum) torque are analyzed.Based on the torque load sequence, combined with the coupling material S/N curve, and using finite element analysis software, the coupling fatigue life is obtained. Through stiffness tests, static and dynamic performance tests and dynamic balance tests, the overall axial, angular, and torsional stiffness are obtained, the slip torque is calibrated, and the torque transmission efficiency and dynamic balance level are given. The results show that the structural strength and life of the coupling meet the design requirements, and can achieve the expected slip torque effect; at the same time, the torque transmission efficiency can reach more than 99.93%, the dynamic balance level does not exceed G1.0, and the coupling performance can meet the requirements of large offshore wind turbines.关键词：Wind turbine;Coupling;Domestic development;Finite element analysis;Test verification
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发布时间：2023-10-09
Test·Analysis
- 摘要：Based on the analysis of the inspection environment and requirements for nuclear power plant rectangular variable cross-section pipes, this study proposes a new design scheme of the film placing robot, introduces the structure and operating principle of the robot, analyzes the mechanical relationship between the output force of the robot supporting mechanism and the total weight, makes a prototype, and carries out the relevant experimental verification. The results show that the robot has strong adaptability to rectangular variable cross-section pipes, high positioning accuracy, and can meet the requirements of film placing in radiographic inspection.关键词：Variable cross-section pipe;Film placing;Robot
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发布时间：2023-10-09 - 摘要：In order to simulate the flapping flight with variable angles of attack in nature, a flapping aircraft with variable angles of attack based on a RC/RRU parallel mechanism is proposed. Firstly, the model of the RC/RRU parallel mechanism is established to analyze the number of degrees of freedom and its properties, based on the screw theory. Secondly, the overall structure model of the flapping aircraft is established based on the RC/RRU parallel mechanism, and the functional relationships among the flapping angle, the angle of attack and the input angle are derived through kinematic analysis. Thus, the movement law of the flapping wing in a flapping cycle is obtained. Then, the flapping aircraft is imported into XFlow software for aerodynamic simulation for the purpose of comparing the lift and thrust performance of airfoils with different aspect ratios, so as to provide reference for airfoil design. The simulation results show that the net lift produced by the flapping aircraft is greater than the weight of the aircraft, and the lift and thrust of the airfoil with large aspect ratio are also larger. Finally, the lift and thrust test on a simple prototype is used to verify the proposed concept, and the results show that the flapping aircraft with variable angles of attack can produce effective net lift and thrust in a flapping cycle.关键词：Flapping aircraft;Parallel mechanism;Variable angle of attack;Kinematics;XFlow software
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发布时间：2023-10-09 - 摘要：In order to replace workers in the bag inserting operation during cement pouring, and solve the problems of bag damage or omission, low production efficiency, poor working environment and so on, an automatic bag inserting manipulator for cement pouring is designed and developed. Based on the introduction of the working principle and structural function of the bag inserting manipulator, this study uses the D-H method to establish the kinematics equation of its mechanical structure, deduces the motion curve of the manipulator, further analyzes the combination relationship between the manipulator and the trajectory of the feed opening of the cement packaging machine, and then simulates and analyzes the kinematics model of the manipulator through the Robotics Toolbox in Matlab software to verify the correctness of the theoretical analysis results. Finally, the design of experiment (DOE) verification experiment shows that the cement filling automatic bag inserting manipulator can accurately grasp the bag body and insert bags, which verifies the rationality of its body structure and conflicts with the limitations and low accuracy of the existing bag inserting equipment.关键词：Bag inserting manipulator;D-H method;Matlab;Kinematics analysis and simulation
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发布时间：2023-10-09 - 摘要：A torsional stiffness test bench for vertical cylindrical couplings is developed and a compensation model for the test bench is investigated. The study illustrates the superiority of the vertical structure by analyzing the causes of errors between horizontal and vertical test benches. In this experiment, the steel bar is mounted on a torsional stiffness test bench for error analysis and compensation. The vertical torsional stiffness test bench is found to have the characteristics of high stiffness and easy compensation through experiment, and a time-domain compensation model is established based on these characteristics. The torque and angle are linearized at the same moment using the misalignment of the time-domain signal, and the torque and angular displacement data are fitted by the least squares method. It is experimentally verified that by compensating the test data through the time-domain compensation model, the test bench can achieve high testing accuracy and meet the requirements of coupling torsional stiffness testing.关键词：Error compensation;Torsional stiffness test;Coupling test bench;Parallel data acquisition
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发布时间：2023-10-09 - 摘要：Aiming at the problem that the initial fault signal of rolling bearings is weak and the fault characteristic is difficult to extract, this study proposes a rolling bearing fault diagnosis method based on variational modal decomposition (VMD) for adaptive parameter optimization based on the improved sparrow search algorithm (SSA) and the extreme learning machine (ELM) with multi-layer feature vector fusion. Firstly, the optimization step size of SSA is adaptively changed according to the fittness function value and the number of iterations. Secondly, the improved SSA optimizes the important parameters (decomposition number K and penalty factor α) of the VMD algorithm, and the fittness function adopts the minimum envelope entropy. Thirdly, the intrinsic mode function (IMF) component with the smallest envelope spectral entropy after SSA-VMD decomposition is extracted as the optimal component, and its eigenvalue is calculated. Finally, through the screening of coefficients of the variation method, the root mean square value and peak value are constructed as the two-dimensional eigenvalue vector of the first layer, and the sample entropy, kurtosis and root mean square are constructed as the three-dimensional eigenvalue vector of the second layer, which are respectively sent to the limit learning machine ELM for the training and classification of rolling bearing faults.The experiment results show that the proposed algorithm has good fault diagnosis performance,ultimately achieving a classification accuracy of 98.25% and an actual diagnostic accuracy of 93.36%.关键词：Rolling bearing;Early fault diagnosis;Variational mode decomposition;Improved sparrow search algorithm;Coefficient of variation method;Extreme learning machine
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发布时间：2023-10-09
Development·Application
- 摘要：The distribution of the load on the tooth surface greatly affects the performance of the power split of the planetary transmission system. This study mainly studies the load sharing characteristics of the planetary gear transmission system and summarizes the current research status of this problem. The basic problems related to load sharing are expounded. Then, the analysis methods and calculation models of load sharing characteristics in planetary transmission are compared and analyzed. The methods and mechanisms of load-sharing which are commonly used at present are reviewed. It can be found that error is the root cause of uneven load distribution, and the most effective way to improve the uniform load is to reduce the sensitivity of the system to error. At present, dynamic analysis and the influence of nonlinear factors are the focus of research on uniform load problems. Floating parts and flexible parts are still commonly used uniform load methods.关键词：Planetary gear;Uniform load characteristic analysis;Uniform load method;Uniform load mechanism
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发布时间：2023-10-09
Review
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