最新刊期
卷 48 ， 期 3 ， 2024
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Dynamic Analysis of Point Contact Gears with Circular-parabola Configuration Based on Adams Software
摘要：Taking the point contact gear with circular-parabola configuration as the research object, based on the Adams dynamic analysis software, dynamic characteristics and the variable law of tooth surfaces are studied in this study. Firstly, according to space meshing theory, tooth surfaces equation of the point contact gear with circular-parabola configuration is derived, and three-dimensional solid models of gear pairs are established by the given design parameters. Secondly, the virtual prototype of point contact gears with circular-parabola configuration is established utilizing Adams software. Through simulation process, variation law of normal contact force, circumferential force, radial force and axial force of the gear are discussed. Change law of normal contact force under the same parameters and working conditions are analyzed between the point contact gear with circular-parabola configuration and general involute helical gears. Influences of meshing stiffness on normal contact force of the gear are also discussed. Research results show that the dynamic performance of point contact gears with circular-parabola configuration is better than that of general involute helical gears under the same parameters and working conditions. Meshing stiffness has a certain influence on the dynamic performance of tooth surfaces. For a reasonable variable range, the transmission process will be more stable with the increase of the meshing stiffness. The study can provide a basis for the design of point contact gears with circular-parabola configuration.关键词：Point contact;Gear with circular-parabola configuration;Dynamic;Contact stress;Virtual prototype- 56
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发布时间：2024-04-09 - 摘要：In response to the problem that the error value is usually set as a constant value in the tooth contact analysis (TCA) model of cycloidal needle tooth transmission, which makes the calculation results unreasonable, and the calculation does not converge in the calculation process, an analysis model of cycloidal pinwheel transmission error including multi-factors such as shaping modification and processing error is established. After analyzing the vector equation of the meshing point, a method to solve the problem of numerical non-convergence is proposed, that is, to find the meshing point with equal normal vector in the obtained point with equal ordinate and abscissa on the cycloid wheel and the needle tooth. After analyzing the form of the rotary body error, a method to solve the unreasonable calculation results is proposed, that is, the cycloid circumferential joint error, the cycloid tooth profile radial runout error and the needle tooth center circle radius error change periodically in the tolerance band. RV-80E reducer is taken as the test object, and the correctness of the theoretical model is verified by comparing the test results. The influence of each error on the transmission error is studied, and the sensitivity analysis of each error is carried out. The results show that the needle tooth radius error and the normal clearance under the comprehensive action of the needle tooth and the needle tooth shell gap are the important factors affecting the transmission error.关键词：Tooth contact analysis;Geometric contact;Normal gap;Sensitivity
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发布时间：2024-04-09 - 摘要：Asymmetric gears are a new type of involute gears with different pressure angles on each side of a gear tooth. Gear tooth profile parameters have a great influence on the performance of a gear pair, such as its tooth profile shape, motion characteristics, bearing capacity, transmission efficiency, dynamic characteristics and so on. Asymmetric tooth geometry formulas based upon a rack-type tool are derived following Litvin's vector approach. Then a precise calculation model for meshing stiffness of asymmetric gear is proposed and validated to be effective by comparing with a finite element model separately. Further, the influence of cutting tool tip fillet radius, gear pressure angle and contact ratio on gear meshing stiffness is quantified parametrically. The research results indicate that gear meshing stiffness can be improved effectively with the increase of pressure angle and cutting tool fillet radius. The influence of the pressure angle is relatively greater. With the increase of the pressure angle, not only will the thickness of tooth root increase, which is beneficial to improve the bearing capacity of the gear, but also the thickness of tooth tip and contact ratio will decrease, which is prone to evoke tooth tip fractures. In asymmetric tooth profile design, it is suggesting that the involute pressure angles are set according to actual working conditions.关键词：Involute gear;Asymmetric gear;Meshing stiffness;Rack cutter shape
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发布时间：2024-04-09 - 摘要：Gear shifting mechanism is one of the most critical components in the shifting transmission system, and its performance directly affects the power performance and stability of the transmission system. In this study, the dynamic equations of the gear shifting mechanism of the two-stage planetary gear transmission system are established, and the influence of the external excitation frequency on the complex dynamic characteristics of the transmission system is studied. Through bifurcation diagram, time domain response diagram, phase diagram, Poincare section diagram and spectrum diagram, the chaotic vibration characteristics of the two-stage planetary gear transmission system are learned, and the stable vibration range of the external excitation frequency is obtained. The proportional differential control method is used to control the chaotic vibration of the gear shifting mechanism, and the chaotic vibration is adjusted to a stable single period vibration. The research results lay a foundation for improving the stability of the shift planetary transmission system.关键词：Shifting mechanism;Planet gear;Chaotic vibration;Chaos control
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发布时间：2024-04-09 - 摘要：By processing the rigid-body poses by the spherical four-bar rigid-body guidance mechanism in the standard installation position, it is found that the pose feature curves, which are generated by taking the processing to the output curves of the mechanism, lie on circles. The formation mechanism of pose feature curves is analyzed, and the internal relationship between the center angle of the adjacent feature points on the pose feature circles and the coupler angle of the spherical four-bar mechanism is revealed. An input angles determination method is proposed for the spherical four-bar rigid body guidance mechanism in the standard installation position. Then, the method is extended to the spherical four-bar rigid-body guidance mechanism in a general installation position. By optimizing the installation angle parameters of the two-dimensional mechanism and the relative input angle of the two-dimensional mechanism to realize the input angles supplement of the spherical four-bar rigid-body guidance mechanism at the general installation position. Use numerical atlas method to solve the motion generation of the spherical four-bar mechanism without prescribed input angles. Finally, the feasibility and effectiveness of the proposed method are demonstrated by examples.关键词：Spherical four-bar mechanism;Position and pose characteristic circle;Without prescribed timing;Rigid-body guidance synthesis
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发布时间：2024-04-09 - 摘要：To improve the carrying capacity of the robot, reduce the energy consumption of the driving motor and make the wheel-leg mode switching smooth and efficient, a reconfigurable decoupled parallel mobile robot configuration is proposed, and the configuration synthesis research and decoupling and singularity analysis are carried out. According to the expected degree of freedom of the robot's mechanical leg, four main motion limbs are synthesized. The 58 constraint limbs are synthesized based on the de-constraint method of the screw theory. Based on the virtual chain method of the screw theory, the 3R spherical parallel mechanism is synthesized as the bearing limb of the mechanical leg. Then two robot examples are given. Taking one of the robots as an example, the input-output equation is established, and the decoupling of the mechanical leg is analyzed. The singular configuration of the reconfigurable unit is verified by the reduction to absurdity, and the singular type is judged based on Grassmann line geometry. Finally, the influence of the singularity of the bearing limb on the motion output of the mechanical leg is analyzed. The mechanical leg of the robot adopts a parallel limb chain configuration, which has strong bearing capacity. The robot realizes wheel-leg switching based on constraint singularity, which makes the switching action more stable. The configurability of the mechanical leg reduces the energy consumption of the drive motor. Each drive of the mechanical leg is decoupled from the other, which reduces the control difficulty and makes the wheel-leg mode switching of the mechanical leg more efficient.关键词：Parallel mobile robot;Configuration synthesis;Screw theory;Configurability;Decoupling
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发布时间：2024-04-09
Theory·Research
- 摘要：Quadruped robots based on the bionic principle are the hot topic of many scholars at home and abroad. In order to satisfy the stationary motion requirements of quadruped robots, a non-impact foot trajectory form combining the improved constant velocity motion law in the vertical direction and the bionic motion law in the forward direction is proposed, and its piecewise function expression is derived. In order to solve the problems of multiple drives and weak leg stiffness of quadruped robots, a new leg mechanism with single degree of freedom is proposed, which is composed of two crank-rocker mechanisms, a synchronous belt drive and an external meshing cylindrical gear drive. The kinematics model of the mechanism is established and the coordinates of the foot end are derived. The optimal motion size and initial position of each component of the mechanism are optimized by using the genetic algorithm and the general nonlinear optimization method with the approximation degree of non-impact foot trajectory as the objective. A 3D modeling software is used to build a simplified virtual prototype model, which is imported into Adams software for Trot gait simulation test, and the motion effect reaches the expected design. The proposed non-impact trajectory can be used as reference for foot trajectory planning of other legged robots. The optimal design method of the multi-link leg mechanism composed of two crank-rocker mechanisms provides a basis and innovative ideas for the leg design of legged robots.关键词：Quadruped robot;Leg mechanism;Optimization design;Non-impact trajectory planning;Simulation
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发布时间：2024-04-09 - 摘要：In order to accurately calculate the meshing efficiency of the new internal S-gears, a time-varying friction model of the elastohydrodynamic lubrication is established considering the surface sliding of the gear tooth, lubricating oil condition and load. The lubrication mechanism of the meshing tooth surface is analyzed, and the sliding friction coefficient and friction loss power are calculated by tooth contact analysis (TCA) and loaded tooth contact analysis. On this basis, instantaneous meshing efficiency and average meshing efficiency of internal S-gears within one meshing cycle are obtained. The results show that the new internal S-gears have higher meshing efficiency than the involute gears under the same design parameters. The meshing efficiency of the new internal S-gears is improved after the tooth direction modification and increases positively with the tooth direction modification.关键词：New internal S-gears;Tooth contact analysis;Loaded tooth contact analysis;Meshing efficiency
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发布时间：2024-04-09 - 摘要：In order to reduce the drag torque under high speed conditions, the equivalent radius is introduced into the traditional low speed torque model of a wet clutch with track vehicle, and the calculation model of the drag torque with radial groove is derived. An optimization design model is established with 3 working condition parameters of the clutch and 5 structural parameters of the friction plate as design variables, and the minimum drag torque as the optimization objective. The objective function is solved based on the whale optimization algorithm (WOA) , and the drag torque is reduced by 35.6% after optimization. The dynamic response model of the objective function is established by Simulink software, and the optimization results are verified. The results show that the optimization method is effective and can provide some reference for structural design and parameter optimization of wet clutches.关键词：Wet clutch;Drag torque;Whale optimization algorithm;Parameter optimization
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发布时间：2024-04-09 - 摘要：In order to solve the problem of high complexity and large amount of computation for kinematics of industrial robots, conformal geometric algebra (CGA) is introduced to the construction of kinematics model of industrial robots. In the forward kinematics solving process, the motion expressions of each joint are obtained by using the translation and rotation operators in CGA, and then the pose of the end-effector of the robot is obtained. In the process of solving the inverse kinematics, cross product of the constructed basic geometry is carried out to obtain the position of each joint node, the lines and planes through the joint node are constructed, the inner product is made in the CGA frame to obtain the cosine expression of all joint angles, and then all the solutions of the robot's inverse kinematics are solved. Finally, the MOTOMAN-HP20D 6-DOF industrial robot is used for example calculation, and the accuracy and effectiveness of the algorithm is verified by Matlab/Simulink software, which lays the foundation for the subsequent motion control of the robot.关键词：Conformal geometric algebra;Kinematic analysis;Industrial robot;Basic geometry
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发布时间：2024-04-09 - 摘要：Considering the fact that ships at sea will be affected by waves, sea breeze and air currents, which usually results in serious interference of equipment that needs to work in a stable environment, such as lifting platforms, radar signal capture, etc. In response to the above problems, the S-RPS-SPS parallel mechanism is established to stabilize the platform. It can realize the roll angle of the rotation around the X axis and the pitch angle of rotation around the Y axis; it can also indirectly eliminate the rotation of the hull on these two axes. Model this parallel mechanism in Solidworks software and verify the degrees of freedom. The relation between the length of two driving rods and the pose angle of the moving platform is calculated by the method of inverse pose solution. Two sets of data are obtained by inputting different angles in the range of the rotating angle of the moving platform and the expansion length of the driving rod. The calculation formula, rotation angle range and coordinates are simulated by algorithms in Matlab software, and the correctness of the moving platform pose is verified. The simulation results show that the accuracy and reliability of this mechanism in terms of kinematics are well guaranteed.关键词：Parallel mechanism;Stable platform;Inverse pose solution;MATLAB simulation
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发布时间：2024-04-09 -
Research on Calculation Method of Gear Tooth Thermal Deformation Based on the Equivalent Gear Method
摘要：Based on the calculation method of thermal deformation of spur gears, a calculation and analysis model of thermal deformation with equivalent spur gears as the object is formed. According to the difference between different types of gears and equivalent spur gears, the calculation methods of thermal deformation of helical cylindrical gears and straight bevel gears are deduced. The proposed methods are compared and verified by finite element simulation. Finally, the method is extended to the calculation of thermal deformation of spiral bevel gears. The results show that the thermal deformation of the tooth surface calculated by the proposed method is in good agreement with the finite element simulation results, which can truly reflect the deformation degree of the tooth surface after heating. The numerical difference at the maximum thermal deformation is less than 8%. This method provides a new idea for the calculation of thermal deformation of gears with complex tooth surfaces.关键词：Equivalent gear;Thermal deformation;Temperature field;Finite element simulation- 11
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发布时间：2024-04-09 - 摘要：In order to solve the problem of waste lithium-ion battery recycling, a robot end-effector is designed to carry the battery weight and adapt to different sizes in the process of sorting. In this study, each mechanism of the end-effector is introduced. The kinematic model of the six-bar mechanism is established by further checking the toe-bar six-bar mechanism. The rod length and position parameters of six-bar mechanism are optimized by genetic algorithm-BFGS （GA-BFGS） quasi-Newton method and particle swarm optimization-BFGS (PSO-BFGS) quasi-Newton method, and the dynamics model of the six-bar mechanism is established. The driving force required by no load and the radial force in the handling process under the limit condition are calculated and simulated. This study provides a new idea of the six-bar drive mechanism, and provides reference for the research and development of the waste lithium-ion battery sorting equipment.关键词：End effector;Six-bar mechanism;Quasi Newton method;Dynamics simulation
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发布时间：2024-04-09
Design· Calculation
- 摘要：Aiming at the problem of parameter design of marine wedge gear propeller shaft clutches, the design and research of marine wedge gear propeller shaft clutches are carried out. The variation of the critical friction coefficient required for the self-locking of the marine wedge gear propeller shaft clutch with the pressure angle and wedge angle of the wedge gear is theoretically analyzed and verified by the simulation. The multi-body dynamic model of marine wedge gear propeller shaft clutches is established, and the engagement process with the tooth error is studied. The results show that the marine wedge gear propeller shaft clutch reduces the accuracy requirement of the tooth alignment process. When there is an error within 0.4° in the engagement process, the engagement can be completed under its own guidance. The formula of self-locking critical friction coefficient derived in this study can be used to guide the design of marine wedge gear propeller shaft clutches.关键词：Wedge gear;Propeller shaft clutch;Backlash-free;Engagement process;Self-locking
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发布时间：2024-04-09 - 摘要：As a key component of the integrated transmission device of tracked armored vehicles, the confluence planetary row has the advantages of high transmission efficiency, high load capacity and compact space structure, but its working condition is very complex and variable, and the vibration characteristics under the extreme high and low temperature environment directly affect the service performance of the integrated transmission device. In this study, a comprehensive test rig for the vibration of the confluence planetary row is designed and built, and the dynamic characteristics tests of the confluence planetary row gear system are carried out under normal temperature conditions and temperature rise conditions. The results show that under normal temperature conditions, the rotational speed and load power have a greater influence on the system vibration amplitude; and under temperature rise conditions, when the temperature is constant, the load power has a greater influence on the system vibration amplitude in the low frequency band, and the rotational speed plays a dominant role in the high frequency band. When the speed and load power are certain, the influence of temperature on the low frequency region is more obvious, and the higher the temperature, the more obvious the influence will be. The research results have theoretical and application values for condition monitoring and health maintenance of the confluence planetary row under complex working conditions.关键词：Confluence planetary row;Load;Temperature rise condition;Low frequency vibration
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发布时间：2024-04-09 - 摘要：Tunnel boring machine (TBM) reducers are important components of TBM's cutter-head drive system. In order to reveal the dynamic characteristics of the two-stage planetary gear transmission system of the TBM reducer, the influence factors such as tooth surface friction, the time-varying meshing stiffness, the backlash and meshing error of the two-stage planetary gear transmission system of the TBM reducer are considered. The torsional dynamics model of the two-stage planetary gear transmission system of the TBM reducer is established by the lumped parameter method, and its dynamic characteristics are solved and analyzed. The inherent characteristic analysis results show three vibration modes of the planetary gear train: rigid body vibration mode, torsional vibration mode and the planetary gear vibration mode; the vibration displacement of each gear and the dynamic meshing force between the gear pairs are obtained from the dynamic response analysis. The result lays the foundation for the dynamic optimization design of planetary gear trains.关键词：TBM;Two-stage planetary gear train;Dynamics;Dynamic response;Inherent characteristic
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发布时间：2024-04-09 - 摘要：Considering the effects of time-varying load, time-varying excitation, longitudinal stiffness, radial stiffness and bending stiffness of each pulley, the dynamic analysis model of the inner and outer engine front-end accessory drive system is established by Simdrive software. The static characteristics of the system are evaluated. Galerkin method is used to discretize the system space, the implicit multi-step method is used to solve the dynamic characteristics of the system under acceleration conditions, and the influencing factors of the accessory pulley speed fluctuation, tension fluctuation and belt-pulley slip characteristics are obtained. Based on the analysis results, an improvement plan is proposed to appropriately increase the initial tension and the crankshaft wheel wrap angle, and add an automatic tensioner at the No.2 idler gear. The comparison analysis shows that the dynamic characteristics of the engine front-end accessory drive system are improved effectively when adding automatic tensioner.关键词：Multi-wedge belt;Belt drive system;Galerkin method;Implicit multi-step method;Dynamic characteristics
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发布时间：2024-04-09 - 摘要：Due to the complex marine environment, ship engines are under the harsh working conditions of high humidity and high salinity for a long time, which seriously aggravates the frictional wear of engine chains and thus affects the working stability and the fatigue life of engines. Based on this, this study designs the surface textures on the chain pin in three shapes—square, sine and circular. Combining experiments and simulations, the influence of texture shape, area occupancy and depth on the friction and wear resistance is studied in order to provide new ideas and theoretical basis for solving the long-term engine chain wear problem. The results show that the presence of the texture reduces the elemental Cr content of the surface after wear and thus improves the surface wear resistance compared to a smooth no-texture surface. Among the three texture shapes, the sinusoidal texture exhibites the best friction reduction and wear resistance performance, and the highest friction reduction rate of about 31. 9% is achieved under high speed and light load conditions. The sinusoidal texture has the shallowest surface wear marks, and the wear process is mainly micro-motion wear, accompanied by slight adhesive wear.关键词：Engine chain;Pin;Surface texture;Friction reduction and wear resistance
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发布时间：2024-04-09
Test·Analysis
- 摘要：Gear modification is an important technology in improving the meshing state, transmission accuracy and efficiency. However the existing modification methods and instrumental softwares are difficult to ensure the geometric quality and efficiency of gear modification. Therefore, a new gear modification method based on spatial lattice is proposed in this study. Firstly, according to the requirements of modification accuracy, the gear surface is discretized into regular spatial lattice, and the modification amount is mapped to the corresponding spatial point. The adjusted spatial lattice is then constructed into regular quadratic B-spline curves. Then, the modified gear surface is obtained by optimizing the mesh curve, and the new gear surface of the whole gear 3D model is updated adaptively. Finally, the method is seamlessly integrated into the 3D design software NX platform, and a gear accurate modification design system is developed. The result of the example shows that the method realizes the precise modification of the gear surface through the dual control of the modification position and the modification amount, and the high-quality gear profile surface is obtained, which improves the efficiency and practicality of the gear modification while ensuring the accuracy.关键词：Gear modification;Spatial lattice;Spline curve;Mesh surface
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发布时间：2024-04-09 - 摘要：In order to reduce the movement energy consumption of the hydraulic excavator and realize the reasonable and effective operation of each joint, a joint interpolation method based on a T-type velocity curve is proposed to realize the optimal energy consumption trajectory planning of the hydraulic excavator. In this method, the speed of each joint is set as uniform acceleration, constant velocity, and uniform deceleration to ensure the stability of the hydraulic excavator in the operation process. Under the constraint conditions of the joint angle, angular velocity, and angular acceleration, the improved adaptive genetic algorithm is used to optimize the uniform acceleration (deceleration) and constant velocity motion time of each joint, obtain the optimal motion curve of each joint, and realize the optimal energy consumption trajectory planning of the hydraulic excavator. The interpolation programming method based on the T-type velocity curve is simulated and compared with the interpolation results of the quartic polynomial under the same conditions. The experimental results show that the trajectory planned by this method has low energy consumption, avoids unnecessary movement of each joint, effectively reduces friction loss, and makes the excavator complete the operation smoothly and with low energy consumption.关键词：Hydraulic excavator;T-type velocity curve;Trajectory planning;Optimal energy consumption
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发布时间：2024-04-09 - 摘要：Nonlinear transmission by special mechanism has been applied in the mechanical flight control system. Through approximate fitting of transmission requirements, the design parameters of the mechanism can be solved. The mechanism designed by this method cannot accurately fulfill the transmission constraint condition, so it has not been applied in the mechanical aircraft engine control system. Based on the characteristic of the mechanical aircraft engine control system, the four-bar mechanism is substituted by the five-bar mechanism to realize nonlinear transmission. The mechanism design parameters are divided into optimization decision parameters and transmission control parameters by analyzing the principle of five-bar mechanism design parameters, the mechanism solving method and optimization design method are built to directly solve the mechanism design parameters and make the transmission characteristic fulfill the constraint condition precisely. Then the maximum transmission ratio and mechanism wear factor are used as the objective function to optimize the mechanism design to improve system performance and service life. Furthermore, it is proved by the engine control system design example and ground test that this method is reasonable and practicable with practical value in engineering.关键词：Aircraft engine control system;Nonlinear transmission;Five-bar mechanism
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发布时间：2024-04-09 - 摘要：Tooth surface twisting is a kind of processing error generated when the spiral herringbone gear is formed and grinded. In order to reduce the tooth surface distortion and improve the grinding accuracy, a gear reverse twisting processing calculation method is proposed based on reverse thinking to reduce the processing error caused by the tooth surface distortion. According to the meshing coordinate system of the shaping and grinding herringbone gear space, the contact line at multiple positions of the standard gear tooth surface, tooth surface twisting and tooth surface anti-twisting is solved, and the reverse distortion model of the tooth surface of the herringbone gear is established by calculating the curvature of the tooth surface method and the amount of spiral modification. The contact line optimization of the gears before and after the shaping is combined with the Monte Carlo method; and the transmission error of the tooth surface anti-twisting and the tooth surface twisting; and also the tooth surface contact stress are analyzed by the finite element method. Finally, the dynamic characteristics of the tooth surface twist and the tooth surface anti-twist after the shape are compared. The results show that the tooth surface anti-twisting machining can effectively reduce the error of the tooth surface processing principle of the herringbone gear and improve the grinding accuracy of the herringbone gear.关键词：Form grinding;Herringbone gear;Tooth surface twisting;Tooth surface counter-twist;Monte Carlo method
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发布时间：2024-04-09 - 摘要：For traditional machine learning algorithms, visual recognition algorithms have low recognition accuracy and slow running time. This research studies the scene of the robot doing housework in the family scene, and uses the RGB image information as input to complete the grasping pose estimation of the target object. Based on the object detection model YOLOv5s, the network architecture is built by combining data enhancement and transfer learning with its advantages of lightweight and fast speed. After building a family scene data set to enhance the data of a small number of training samples, the model is trained on the target data set using transfer learning, and the parameters are fine-tuned at the same time. The positioning information of the target object is transformed into the grasping pose of the robotic arm through coordinate transformation, and the robotic arm is controlled to finally complete the grasping task with a fixed grasping posture. Finally, the effectiveness of the algorithm is verified by building an experimental platform and manipulating the UR5 robotic arm to carry out actual grasping experiments. The proposed method based on target detection is fast, has high real-time performance, and has a false/missed recognition rate of less than 2%. The application in the robotic arm can efficiently complete the task.关键词：YOLOv5s;Robotic arm;Pose estimation;Target detection;Transfer learning
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发布时间：2024-04-09
Development·Application
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