最新刊期
卷 48 ， 期 1 ， 2024
- 摘要：The coincidence degree is an important parameter to reflect the number of meshing teeth of gear pairs at the same time. The appropriate coincidence degree of reasonable selection can improve transmission bearing capacity and ensure transmission stability, thereby improving the performance and reliability of the gear transmission system. The analysis of the influence of system parameters on system vibration characteristics under different coincidence degrees is of great significance for optimizing the transmission system performance, improving work efficiency and reducing fault risk. Combining meshing performance and dynamic characteristics of gear teeth, firstly, stiffness excitation and meshing impact excitation of the herringbone gear system are determined, and the lumped parameter method is used to establish the nonlinear dynamic model of the bending-torsion-shaft coupling of herringbone gear pairs under complex excitation source. Then, the nonlinear dynamic equations are subject to elimination of rigid body displacement and dimensionless treatment. Finally, the influence of system parameters on system dynamic characteristics under different coincidence degrees is studied. The research shows that when the coincidence degree changes from 2.72 to 3.08, the root mean square (RMS) value of comprehensive relative vibration acceleration of the gear pair is reduced by about 40%, which shows that increasing the coincidence degree can improve the stability of the gear system. In addition, with the change of system parameters, increasing coincidence degree can eliminate the jump phenomenon in the system and reduce the amplitude of jump and resonance peak.关键词：Coincidence degree;System parameter;Herringbone gear;Nonlinear;Dynamic characteristic
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发布时间：2024-12-13 - 摘要：The spraying construction robot is unable to include information about ground leveling in the map when it is created, and when the robot operates according to the built map, the spraying clamping fixture at the working end of the spraying construction robot can not be parallel to the wall due to the lack of ground information. In order to compensate the posture error of the spraying fixture relative to the wall, a multi-sensor fusion method is proposed based on the unscented Kalman filter to compensate the posture of the spraying fixture.The state equation of the fixture posture is constructed from the data measured by the displacement measurement sensor， the equation of fixture posture measurement is constructed from the data measured by the gyroscope, and the optimal estimation of the fixture posture is obtained by using the unscented Kalman filter algorithm and transferring them to the robot, so as to achieve the purpose of compensating the posture error of the spraying fixture. Finally, the experimental platform is built to verify the feasibility of the error compensation system. The experimental results show that the positional error between the spraying fixture and the wall after error compensation is reduced to 0.005°.关键词：Unscented Kalman filter;Displacement measurement sensor;Gyroscope;Error compensation;Spraying fixture
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发布时间：2024-12-13 - 摘要：Gear skiving process has the advantages of high material removal rate, good forming accuracy and so on, and can realize the efficient machining of gears with special structure such as inner gears. It can effectively improve productivity and reduce cost by advancing the finishing process of gears. However, due to the presence of feed marks on the forming tooth surface, the contact performance of the tooth surface is not clear. In this study, firstly, according to the kinematic principle of gear skiving, a solid model of gears with non-smooth tooth surface is constructed. Then, the contact stress of non-smooth tooth surface is simulated by the finite element method, and the results are compared with the calculation results of the bearing capacity of gears recommended by international standards. Finally, the influences of feed and tooth modification coefficient on gear contact stress are analyzed. The results show that there is a nonlinear positive correlation between the contact stress and the feed. The tooth modification has little effect on the extreme value of contact stress, but has significant effect on the stress distribution area.关键词：Gear skiving;Finite element analysis;Contact stress;Technological parameter
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发布时间：2024-12-13 - 摘要：In order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions, a three-joint articulated robot model is designed, and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the model. In view of the non-repetitive and nonlinear characteristics of the articulated robot system, it is proposed that a high-order internal model iterative learning control algorithm can be applied to the control of the articulated robot system. A reasonable learning gain and a higher internal model order are designed to strictly prove its convergence in theory. The simulation contrast experiment and the trajectory tracking experiment after adding the disturbance are designed. The results show that the high-order internal model iterative learning algorithm converges faster and has good control effect.关键词：Articulated robot;High-order internal model;Iterative learning control;Trajectory tracking
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发布时间：2024-12-13 - 摘要：The omni-directional mobile manipulator robot (OMMR) is a class of a new robot with activating operating capability, which is composed of one or more manipulators mounted on a mobile platform. However, after the manipulator is installed on the mobile platform, the coupling effect between the manipulator and the mobile platform will significantly increase the complexity of the dynamic behavior of the whole system, involving the dynamic interaction between the ground and the mobile platform, the mobile platform and the manipulator, the manipulator and the operating environment, which brings great difficulties to the modeling of the system. Based on establishing the kinematics and statics models of OMMR, this study presents a simplified modeling approach of OMMR system dynamics. Based on this dynamic model, the vehicle-manipulator interaction model is established, and its interaction is analyzed. Simulation and experiments verify the correctness of the vehicle-manipulator interaction model, indirectly prove the rationality and effectiveness of the proposed OMMR system dynamics modeling approach, and provide model data for motion planning and control of robots.关键词：Omni-directional mobile manipulating robots;Mobile platform;Manipulator;System manipulator;Transactional analysis
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发布时间：2024-12-13 - 摘要：In order to solve the limitation and randomness in determining the collaborative assembly position of dual robotic arms by the traditional manual demonstration method, and taking the coordinated assembly of dual robotic arms axle holes as the engineering background, this study uses the particle swarm algorithm to perform multiple searches for the optimal assembly position for the overall global flexibility in the collaborative assembly process and carries out multi-objective trajectory optimization based on the optimal position, with respect to the overall motion flexibility and trajectory planning of the robotic arm. Firstly, the motion constraint relationship in the coordinated assembly process of double robotic arms is analyzed, the operability degree is used as the flexibility evaluation index, the operability evaluation method of dual robotic arms collaborative assembly system is proposed, the optimization objective function is constructed, and the particle swarm algorithm is used to find the assembly position with the optimal global operability degree of the system in the collaborative space of double robotic arms. Finally, based on the optimal position of flexibility, the multi-objective particle swarm algorithm is used to optimize the trajectory with the objectives of time, energy consumption and impact; by performing simulation analysis in the Matlab robot simulation platform, the results show that, by applying the flexibility index to the trajectory planning, it can improve the operation efficiency of the robotic arm, while reducing energy consumption and impact loss, and maintain a high degree of operability during the whole motion process, effectively avoiding the randomness of the traditional manual teaching method, thus realizing the optimal flexible trajectory planning for collaborative assembly of dual robotic arms.关键词：Collaborative assembly of bores and shafts;Optimal assembly position;Operability;Trajectory optimization
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发布时间：2024-12-13
Theory·Research
- 摘要：In this research, the mathematical and physical model of the air-gap magnetic field for the triple-shaft ring-plate magnet gear (TRMG) is obtained by means of the scalar magnetic potential method, and the air-gap magnetic field between inner and outer permanent magnet rings and its corresponding electromagnetic torque model are established according to the principle of the magnetic field superposition. Since all calculations are based on the TRMG plane magnetic field, the accuracy between the model and the two-dimensional finite element results is relatively high (error≤5%). The calculation speed of the model is much faster than that of the three-dimensional finite element method, and it has good agreement and trend with the two-dimensional and three-dimensional finite element analysis, which verifies the correctness of the model. It can be used in magnetic field analysis and structural dynamics calculation of multishaft ring-plate magnet gears with three or more shafts.关键词：Triple-shaft ring-plate magnet gear;Scalar magnetic potential method;Air-gap magnetic field;Electromagnetic torque
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发布时间：2024-12-13 - 摘要：For co-rotating twin-screw gear transmissions, due to the complexity of the design process, multiple parameters as well as model iterations, cumbersome process and manifold work are needed. It is essential to develop a design and analysis software to improve the designing effect and efficiency. In this work a design and optimization model for co-rotating twin-screw gear transmission is established to develop a professional design and analysis software. The software development is based on the C++ programing language and the Qt application framework. Combining engineering practice cases, the operability, effect of optimization, and reliability of the developed software have been verified. The results show that the mass of the gear transmission is reduced by 7.98% compared to engineering applications. Optimization results can achieve stable convergence with a convergence accuracy of 99.02%, and the gear safety factor can be controlled within 8%. The developed software is expected to promote the transformation and upgrading of industrial design methods.关键词：Co-rotating twin-screw gear transmissions;Design and analysis;Structural parameters optimization;Software development
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发布时间：2024-12-13 - 摘要：Aiming at the rehabilitation training of patients with lower extremity damage and stroke, a multi-degree-of-freedom adjustable lower extremity rehabilitation exoskeleton is designed. The screw mechanism is used to replace the traditional leg structure, and there is a rotation module at the waist, which can better realize the human-machine collaboration. The lower extremity exoskeleton dynamics model is established by the Lagrangian method, and the theoretical torque is calculated; the lower extremity rehabilitation exoskeleton model is constructed, and the finite element simulation and exoskeleton kinematics/dynamics simulation are carried out using Ansys and Adams software, respectively. The results verify the rationality of the structural design, and provide a basis for the subsequent lower limb exoskeleton manufacturing and motor selection.关键词：Exoskeleton;Structural design;Dynamics modeling;Simulation analysis
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发布时间：2024-12-13 - 摘要：As the key equipment of data acquisition in oil and gas exploration, the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency, but the structure rigidity is weak and the motion ability is poor, so the structure optimization and lightweight design are carried out to improve the structure rigidity and motion ability. Based on the screw theory, the forward kinematics equation of the manipulator with node placement is established, the global static stiffness index and the global velocity index considering the direction of the task are proposed, and the mathematical model of the size optimization of the node-placing manipulator is established. Based on the multi-objective particle swarm algorithm and the variable density method, the size optimization and lightweight design of the node-distributed manipulator arm are carried out. The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8% and 8.8% respectively, and the lightweight design of the upper arm reduces the mass by 14.7%, which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration.关键词：Robotic arm;Node;Performance index analysis;Size optimization;Multi-objective particle swarm algorithm;Lightweight design
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发布时间：2024-12-13 - 摘要：With the rapid development of modern robotics and medical industry, the use of rehabilitation robots for the treatment of patients with lower limb sports injuries has become one of the research hotspots at home and abroad. In order to achieve better rehabilitation treatment effect, trajectory planning of a three-degree-of-freedom lower limb rehabilitation robot is studied, and the motion law of healthy ankle joint is simulated to optimize the trajectory design of the lower limb rehabilitation robot. Based on the rehabilitation, injury mechanism, and motion form of the ankle joint, a comparative analysis of several low degree of freedom planar symmetric parallel mechanisms is conducted, and a design prototype using a 2UU-UPU mechanism as the rehabilitation actuator is determined; research on trajectory planning for lower limb rehabilitation training of lower limb rehabilitation robots, trajectory planning motion formulas for cycloidal motion laws and superimposed cycloidal motion laws are derived, and the rationality of trajectory under different rehabilitation training conditions is verified. In order to further explore a more reasonable rehabilitation trajectory, the optical motion capture system is used to collect the ankle joint movement trajectory in the sitting position, establish the rehabilitation trajectory constraints, improve the similarity between the planned trajectory and the human movement, and achieve better rehabilitation effect.关键词：Rehabilitation robot;Trajectory planning;Motion capture
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发布时间：2024-12-13
Design· Calculation
- 摘要：As the key structure of industrial reducers, the planetary gear system will be subject to cyclic load and impact load during the operation, which will cause metal fatigue peeling off the surface of gears and form pitting fault. When the system is subject to the impact load, the severe fluctuation of vibration signal will disturb the fault identification of the system. To solve this problem, a diagnostic index is developed based on the dynamic characteristics analysis of the planetary gear system with pitting fault under impact conditions. Firstly, the contact stiffness model of gear pairs is established based on the analytic geometry method and the Hertz contact theory. Secondly, the impact load is introduced, and the contact force between sun gears and planet gears is solved by the impact function method. Finally, based on the spectrum distribution of the system dynamic response signal, the energy index of the sideband centroid is proposed, which realizes the accurate identification of the fault impact and the load impact.关键词：Impact load;Planetary gear;Dynamic response;Pitting failure;Damage estimation
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发布时间：2024-12-13 - 摘要：For the force problem of the flexible thin-walled bearing in harmonic reducers, the inadequacy of the previous single-factor analysis of the bearing is analyzed； and in order to explore the influence of other components on the bearing force of the shaft, theoretical analysis is conducted through the whole machine model, the deformation of the flexible wheel and the coordination process of the raceway roller deformation are explored, and the force state of the thin-walled flexible bearing is obtained as a whole. By verifying the stress and deformation of the whole machine model by Workbench software, the results show that the force state of the bearing simulation is consistent with the theoretical calculation.关键词：Force;Bearing;Whole machine;Deformation
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发布时间：2024-12-13 - 摘要：The remanent magnetism hollowing of large permanent magnets has been one of the main obstacles to improve the performance of the permanent magnet transmission with high power and high speed ratio. Compared with the traditional preparation process, blocking magnetization technology can significantly improve the performance of large permanent magnets. A 3D model is constructed to complete the magneto-thermal simulation analysis adopting the difference permanent magnets. The results show that the blocking magnetization process can effectively suppress the hollowing of the magnetic field, significantly improve the remanence of the large-size permanent magnet, and enhance the magnetic density in the permanent magnet gear, resulting in the maximum output torque increase of the permanent magnet gear. The difference between the circumferential arc length, axial length and penetration depth of magnetic field can be reduced obviously by the insulation between blocking magnetizing permanent magnets, and the eddy current loss of the permanent magnet.关键词：Permanent magnet;Blocking magnetization;Magnetic density distributions;Eddy current loss;Magnetic field modulation
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发布时间：2024-12-13 - 摘要：With technological innovation and social development, the reliability of planetary gear reducers is required to be higher and higher. However, the reliability of planetary gear reducers changes due to fatigue factors in its operation. To solve this problem, firstly, according to the stress-strength interference theory, the time-varying reliability model of planetary gear reducers under fatigue failure (mainly tooth surface contact fatigue failure and tooth root bending fatigue failure) is constructed. Secondly, combined with the monotone theorem, the time-varying reliability model is simplified, and the reliability of planetary gear reducers is solved by Matlab programming. The sensitivity of each variable of the time-varying reliability model is analyzed. Finally, taking PM90 precision planetary gear reducer as an example, the reliability and sensitivity of each variable based on fatigue failure are obtained respectively, and the time-varying law of reliability under contact fatigue failure and bending fatigue failure is expounded, which lays the foundation for the time-varying reliability analysis of planetary gear reducers.关键词：Planetary gear reducer;Fatigue failure;Time-varying reliability;Sensitivity analysis
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发布时间：2024-12-13 - 摘要：With the gradual increasing of wind turbine power, the advantages of journal bearings in wind turbine gearboxes are gradually prominent. When the lubrication system is blocked or the oil supply is insufficient, the journal bearing will be in the starved lubrication for a long time. In order to study the starved lubrication characteristics of journal bearings, based on the Reynolds equation and Reynolds boundary conditions, considering the elastic deformation of sleeves, the calculation model of journal bearings in the starved lubrication is established. The lubrication properties of journal bearings with and without elastic deformation are compared, and the influence of elastic modulus and oil supply on journal bearing properties under the starved lubrication is analyzed. The results of analysis indicate that the minimum oil film thickness considering the elastic deformation is on both sides of the bearing bush, which is more in line with the actual situation. With the increasing of elastic modulus of sleeves, the eccentricity of journals decreases, the maximum oil film pressure increases, and the minimum oil film thickness increases. With the increasing of oil supply, the eccentricity of journals decreases gradually, the maximum oil film pressure decreases, and the minimum oil film thickness increases gradually.关键词：Reynolds equation;Starved lubrication;Journal bearing;Elasto-hydrodynamic lubrication
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发布时间：2024-12-13 - 摘要：In order to study the air gap magnetic field distribution and torque of axial-flux solid magnetic couplers with 9 pairs of permanent magnets, a layer model is firstly introduced, which divides the couplers into conductive and non-conductive areas. The two-dimensional magnetic scalar potential method is derived to solve the magnetic field strength in conductive areas and the magnetic scalar potential in non-conductive areas. Carter coefficient is introduced to correct the 3D end effects, and the formula of air gap flux density and torque is derived. Then， the distribution of 3D air gap magnetic field, eddy current and the influence of different working parameters on the characteristics of the torque are obtained by the finite element simulation software. Finally, a measure system of three-dimensional magnetic field and the magnetic drive experimental platform are built to measure the 3D air gap magnetic field and the torque. The experimental results are in good agreement with the results of theoretical calculation and the simulation analysis, which shows that the formula of the air gap flux density and the torque have high accuracy and can be used as a reference for further research on the transmission characteristics of eddy-current magnetic couplers.关键词：Axial-flux solid magnetic coupler;Air gap magnetic field;Torque;Two-dimensional magnetic scalar potential method;Eddy current
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发布时间：2024-12-13 - 摘要：In this study, the joint simulation flow of Adams and AMESim on the kinematics and contact dynamics of the marine high-power hydraulic drive gear clutch is studied, and the joint simulation interactive operation interface is developed. With the given parameters, the visual calculation results can be output. The simulation results show that the dynamic characteristics and impact load of the gear clutch during the axial engagement are affected by the torsional stiffness of the active end and the end face structure of the gear. The maximum opening pressure of the pressure reducing valve is 2.5 MPa, and the maximum thrust under this pressure is 1.884×105 N. When the inner and outer rings collide, the oil pressure will rise rapidly. If the flow of the pressure reducing valve is insufficient, the oil inlet will leak. After multiple joint simulations, it is found that the clutch engagement and disengagement process can be completed around 4 s when the inlet pressure is between 0.008 MPa and 0.01 MPa.关键词：Hydraulic drive;Gear clutch;Joint simulation;Engagement and detachment characteristics
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发布时间：2024-12-13
Test·Analysis
- 摘要：To meet the requirement of mobile robots to achieve high mobility and strong obstacle-crossing in complex and variable environment, a design scheme of passive transformable wheel-legged obstacle-crossing robot is proposed. The transformable wheel conversion process of the robot is obtained by external force operation, so no additional driver is required, which reduces the complexity of the mechanism. Firstly, based on the three-dimensional modeling of the whole robot, the structure, principle and force of the transformable wheel are analyzed, and then the structure optimization is carried out by taking the ratio of the triggering torque during the transformation process and radius before and after unfolding as the index. Afterwards, the force condition during the transformable stage of the robot is analyzed and the relevant parameters of the robot platform are adjusted to achieve stable obstacle crossing. Finally, kinematics simulation of transformation and obstacle-crossing process of the robot is carried out by using the Adams software, physical prototype is made and rationality of the structure design of the whole machine is verified by experiment.关键词：Mobile robot;Passive transformation;Wheel-legged obstacle crossing;Adams simulation
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发布时间：2024-12-13 - 摘要：A method for modeling performance degradation with multiple dimensional scale (MDS) transformation and genetic algorithm optimized support vector regression (GA-SVR) is proposed to improve the prediction accuracy of electric vehicle reducers by fully exploiting the performance degradation information. The features of vibration signals are extracted by using time domain, frequency domain, and time-frequency domain signal analyzing methods, and then the comprehensive degradation feature indicators are established by using the MDS algorithm. All the above-mentioned indicators are used as the data set for training and prediction. The optimal penalty parameter C and kernel parameter g are determined by using the genetic algorithm. A performance degradation model with high-precision is established based on the GA-SVR model by analyzing the testing data. The experiment results show that the prediction accuracy by using the proposed method is much higher than the results using PSO-SVR, GS-SVR and back propagation (BP) neural network. The RMSE values are reduced by 50.63%, 75.16% and 84.73%, and the R2 values are increased respectively by 3.93%, 6.51% and 9.51%, which proves the superiority of the proposed method.关键词：Electric vehicle reducer;Multiple dimensional scaling;Genetic algorithm;Support vector regression;Degradation trend prediction
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发布时间：2024-12-13 - 摘要：Wear is the main failure form in the gear transmission process. The increased wear will increase the non-linear backlash of the gear teeth, reduce the transmission accuracy and increase the impact force of the tooth surface, which will lead to aggravated vibration of the gear transmission system, and impose great impact on the gear transmission performance and the stable operation of the equipment. In order to solve the above problems, a method for predicting the wear amount in the gear transmission process under complex working conditions is proposed. The gear wear state is identified and determined based on the formal wear index. Through in-depth analysis of the gear wear mechanism, a typical gear wear process curve is drawn based on this, the gear transmission friction torque value is calculated, and a mathematical model of the gear wear amount is built; then the known gear state values are input into the construction model, the predicted gear wear amount is obtained, and the prediction of gear wear amount is realized. The experimental results show that under three complex working conditions, the prediction simulation data proposed in this study is closer to the actual parameters, which fully verifies that the prediction accuracy of the wear amount is higher.关键词：Complex working conditions;Gear transmission;State identification;Wear amount;Calculation and prediction;Prediction accuracy
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发布时间：2024-12-13 - 摘要：In order to solve the problem of polishing three-layer high strength epoxy paint on the surface of large spherical tank pressure vessels, a large spherical tank wall paint removal robot is designed, and the experimental research on it is carried out. The robot mainly includes a wall climbing and adsorption system and an adaptive grinding system. By studying the permanent magnet of Halbach array, the relation between the adsorption force of the permanent magnet of track structure and the working clearance is simulated and analyzed, and a wall climbing adsorption system with stable adsorption and superior obstacle climbing performance is developed. According to the grinding condition of the curved wall, an adaptive grinding system based on current feedback is designed, and various steel wire grinding rollers are developed by analyzing the mechanical model of the steel wire grinding roller. The robot is tested, and the polishing effect is good. The robot can polish the epoxy paint and show the metallic luster, and its efficiency is 3-10 times that of the manual grinding. A new polishing tool is proposed for ball tank high-strength epoxy paint polishing, which ensures the polishing quality and improves the polishing efficiency.关键词：Wall-climbing robot;Permanent magnet absorption;Magnetic force simulation;Three layers of epoxy paint polishing;Grinding effect
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发布时间：2024-12-13 - 摘要：In view of the impact and fatigue failure caused by the chain transmission system of a bending machine, the dynamic characteristics of the chain drive and the modification of the sprocket are analyzed and studied. First of all, the operation characteristics of the chain drive are analyzed theoretically.Then the simulation model of the bending machine chain drive system is established by using the RecurDyn software, and the dynamic simulation analysis and gear tooth static strength analysis are carried out. Finally, by using the method of tooth tip circle modification, the simulation models of short-modification and long-modification are established, and the variation curves of force, meshing force, transmission error and static strength of sprocket teeth are obtained. The research results show that the short-modification effectively reduces the meshing impact force in the meshing process of the bending machine chain transmission, the peak meshing force between the sprocket chains is reduced by 43.64%, and the maximum equivalent stress of the gear teeth is reduced by 14.69%. It effectively improves the tooth surface strength, increases the service life of the sprocket, and is more suitable for the chain transmission system of the bending machine than the long-modification.关键词：Chain drive;Dynamics simulation;Static strength analysis;Sprocket;Tooth tip circle modification
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发布时间：2024-12-13 - 摘要：In view of the demand for quick releasing of the side door latch of an automobile in an emergency, an emergency quick releasing mechanism based on spring linkage is proposed. Based on the singular configurations, the contact states of ratchet and pawl and the limit contact states, the variable topology and multiple motion modes of the emergency releasing branch chain under different working conditions are studied. The necessary conditions for emergency releasing are obtained by the static analysis. The feasibility of quick releasing of emergency releasing branch chain in door latch is verified by the Adams software simulation. The control variable method is used to study the releasing time and the consistency of the releasing time of the emergency branch chain. When the stiffness of the main spring is within 5-7 N/mm and the preload is within 75-85 N, the maximum energy storage position of the main spring has a small offset, which meets the consistency of the releasing time. The emergency quick releasing mechanism based on the spring linkage is embedded in the side door lock of the car, meeting the requirements of small releasing force, high priority and releasing time, and providing important theoretical basis and practical value for the design and performance optimization of emergency quick releasing branch chain.关键词：Vehicle door latch;Emergency quick releasing mechanism;Main spring of the mechanism;Singular configuration;Maximum energy storage position
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发布时间：2024-12-13
Development·Application
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