Mechanical Sciences最新文献_第7页

Spring efficiency assessment and efficient use of spring methods of statically balanced planar serial manipulators with revolute joints only 纯回转关节静态平衡平面串联机械手的弹簧效率评估和弹簧方法的有效利用

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-10-07 DOI: 10.5194/ms-13-817-2022

Chia-Wei Juang, Chi-Shiun Jhuang, Dar-Zen Chen

{"title":"Spring efficiency assessment and efficient use of spring methods of statically balanced planar serial manipulators with revolute joints only","authors":"Chia-Wei Juang, Chi-Shiun Jhuang, Dar-Zen Chen","doi":"10.5194/ms-13-817-2022","DOIUrl":"https://doi.org/10.5194/ms-13-817-2022","url":null,"abstract":"Abstract. This paper proposes a spring efficiency assessment of a statically\u0000spring-balanced planar serial manipulator. The admissible spring configurations for the static balancing of planar serial manipulators without auxiliary links have been determined in the past. Gravity is balanced by the spring configuration systematically; however, the\u0000spring configuration also contains counter-effects between springs.\u0000Conceptually, with fewer counter-effects between springs, there is less\u0000burden on the spring system, which means that the springs are used more\u0000efficiently, and accordingly, the system would be safer, and its service life would be longer. In this study, the spring energy is represented in a\u0000quadratic form. The coefficients in a quadratic form represent the change in elastic energy with the relative position between links, which is named\u0000“elastic pseudo-stiffness”. Compared to the quadratic form of gravity\u0000energy, those elastic pseudo-stiffnesses for static balancing are regarded\u0000as positive contributions of a spring, while those that contain counter-effects are seen as negative ones. Spring efficiency is defined as the ratio of the elastic pseudo-stiffnesses, which has positive contributions for balancing to total elastic pseudo-stiffnesses. To use springs efficiently, the counter-effects, which are functions of spring parameters, need to be decreased, including spring stiffness and the attachment location of springs on links. A method to use spring efficiently by adjusting spring parameters is developed. Furthermore, it is found that, for a spring attached between adjacent links, the spring efficiency is 100 %, and the spring efficiency decreases while the number of joints over which the spring spans increases. In a spring manipulator system, the efficiency is negatively correlated to the payload. As an example, an efficiency assessment on a 3 degrees of freedom (DOF) manipulator is shown at the end.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42731602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Milling chatter recognition based on dynamic and wavelet packet decomposition 基于动态和小波包分解的铣削颤振识别

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-10-07 DOI: 10.5194/ms-13-803-2022

M. Xie, Xinli Yu, Ze Ren, Yuqi Li

引用次数: 1

Structural analysis of traditional Chinese blocked-keyhole padlocks 中国传统锁孔锁的结构分析

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-10-06 DOI: 10.5194/ms-13-791-2022

Yang Zhang, Hsin-Te Wang, Jian-Liang Lin, Chin-Fei Huang, K. Hsiao

引用次数: 0

TGA-based solutions map method for four-position synthesis of planar 4R linkage 基于TGA的平面4R连杆机构四位置综合解映射法

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-09-28 DOI: 10.5194/ms-13-771-2022

Yehui Zhao, Lijun Xue, Guangming Wang, Fanglei Zou, Yue Song, Hongjiang Zhang

{"title":"TGA-based solutions map method for four-position synthesis of planar 4R linkage","authors":"Yehui Zhao, Lijun Xue, Guangming Wang, Fanglei Zou, Yue Song, Hongjiang Zhang","doi":"10.5194/ms-13-771-2022","DOIUrl":"https://doi.org/10.5194/ms-13-771-2022","url":null,"abstract":"Abstract. In this study, the authors propose a solutions map based on a telomere genetic algorithm (TGA) to improve the efficiency of 4R-linkage synthesis. First, the points on the center curve are obtained by using projective geometry, and those of the circle curve are obtained by vector elimination. Second, the definition of the linkage type, assessment of linkage performance, and a method to identify defects in the linkage are introduced. Third, the solutions map method is proposed that can map the linkage solutions obtained by all combinations of the points on the center curve to a 3D color-coded surface to represent the distribution of solutions with different attributes of linkages in the solution domain. Fourth, we use the proposed telomere operator and pseudo-histogram method to improve the traditional genetic algorithm, and expand the domain of solutions of the solutions map by using the TGA. Finally, the linkage synthesis software BurLink is developed based on the solutions map method. The results show that the TGA-based solutions map can quickly locate the required 4R-linkage solution in the solution domain, and provides engineers with more candidate solutions than traditional methods.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42125231","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A new sensorless control strategy of the PMLSM based on an ultra-local model velocity control system 基于超局部模型速度控制系统的PMLSM无传感器控制策略

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-09-14 DOI: 10.5194/ms-13-761-2022

Zheng Li, Zihao Zhang, Shengdi Feng, Jinsong Wang, Xiaoqiang Guo, Hexu Sun

{"title":"A new sensorless control strategy of the PMLSM based on an ultra-local model velocity control system","authors":"Zheng Li, Zihao Zhang, Shengdi Feng, Jinsong Wang, Xiaoqiang Guo, Hexu Sun","doi":"10.5194/ms-13-761-2022","DOIUrl":"https://doi.org/10.5194/ms-13-761-2022","url":null,"abstract":"Abstract. To improve the control performance and dynamic response of the permanent magnet linear synchronous motor (PMLSM), a new sensorless control strategy of the PMLSM with the ultra-local model velocity control system is designed in this paper. Firstly, a model-free speed controller (MFSC) is constructed based on the principle of the ultra-local model. Meanwhile, based on the traditional sliding-mode observer (SMO), the back-electromotive force (BEMF) in the SMO is optimized by the model reference adaptive system (MRAS) to improve the observed speed information of the PMLSM. This control strategy improves the dynamic response ability and stability of the PMLSM system. Compared with the traditional motor control strategy, this design gets rid of the dependence on mechanical sensors, improves the dynamic response ability of the PMLSM, and reduces the velocity tracking error. The superiority of the control system is verified by simulation and experiment. Compared with the traditional dual proportional–integral (PI) control system and SMO, the new control strategy can improve the dynamic response performance of the PMLSM, enhance the stability, and track the speed information of the PMLSM with low error to reduce the chatter.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44143888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Dynamic and sliding mode control of space netted pocket system capturing and attitude maneuver non-cooperative target 空间网状口袋系统捕获姿态机动非协同目标的动态和滑模控制

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-08-30 DOI: 10.5194/ms-13-751-2022

Chao Tang, Zhuoran Huang, Cheng Wei, Yang Zhao

{"title":"Dynamic and sliding mode control of space netted pocket system capturing and attitude maneuver non-cooperative target","authors":"Chao Tang, Zhuoran Huang, Cheng Wei, Yang Zhao","doi":"10.5194/ms-13-751-2022","DOIUrl":"https://doi.org/10.5194/ms-13-751-2022","url":null,"abstract":"Abstract. Similar to a space flying net, the capture field of the space\u0000netted pocket system is large and it can be applied to capture space\u0000non-cooperative targets flexibly. To maintain the stability of the space\u0000netted pocket system, eight inflatable rods are used as the supporting\u0000structure of the net surface. In this paper, a space netted pocket system is\u0000designed and modeled. Based on ANCF (absolute nodal coordinate formulation),\u0000a dynamic model of the complex space rope net system is established, and\u0000then an accurate model of closing rope considering the variable length is\u0000derived by introducing mass flow element. A double closed-loop sliding\u0000control method is designed to maintain the stable attitude of the service\u0000spacecraft. An extended observer is applied to estimate and compensate for\u0000the disturbances due to the uncertainty of the contact and flexibility in\u0000the system. Finally, the dynamic model and control method is verified\u0000through the simulation of the virtual prototype. Results show that the\u0000service spacecraft can maintain the attitude stability during target\u0000captured process and can track the desired angle during attitude maneuver.\u0000The flexible deformation and collision cause great disturbance to the\u0000service spacecraft, and the extended observer can improve the control\u0000accuracy from 10−3 to 10−4.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44953893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A comparative study of the unscented Kalman filter and particle filter estimation methods for the measurement of the road adhesion coefficient 无迹卡尔曼滤波器和粒子滤波器估计道路附着系数方法的比较研究

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-08-25 DOI: 10.5194/ms-13-735-2022

Gengxin Qi, Xiao-bin Fan, Hao Li

{"title":"A comparative study of the unscented Kalman filter and particle filter estimation methods for the measurement of the road adhesion coefficient","authors":"Gengxin Qi, Xiao-bin Fan, Hao Li","doi":"10.5194/ms-13-735-2022","DOIUrl":"https://doi.org/10.5194/ms-13-735-2022","url":null,"abstract":"Abstract. The measurement of the road adhesion coefficient is of great\u0000significance for the vehicle active safety control system and is one of the key\u0000technologies for future autonomous driving. With a focus on the problems of\u0000interference uncertainty and system nonlinearity in the estimation of the road\u0000adhesion coefficient, this work adopts a vehicle\u0000model with 7 degrees of freedom (7-DOF) and the Dugoff tire model and uses these models to estimate the road adhesion\u0000coefficient in real time based on the particle filter (PF) algorithm. The\u0000estimations using the PF algorithm are verified by selecting typical\u0000working conditions, and they are compared with estimations using the unscented\u0000Kalman filter (UKF) algorithm. Simulation results show that the road adhesion\u0000coefficient estimator error based on the UKF algorithm is less than 7 %, whereas the road adhesion coefficient estimator error based on the PF algorithm is\u0000less than 0.1 %. Thus, compared with the UKF algorithm, the\u0000PF algorithm has a higher accuracy and control effect with respect to\u0000estimating the road adhesion coefficient under different road conditions. In order to\u0000verify the robustness of the road adhesion coefficient estimator, an\u0000automobile test platform based on a four-wheel-hub-motor car is built.\u0000According to the experimental results, the estimator based on the PF algorithm\u0000can realize the road surface identification with an error of less than 1 %,\u0000which verifies the feasibility and effectiveness of the algorithm with respect to\u0000estimating the road adhesion coefficient and shows good robustness.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42182944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Structural optimization of a pipe-climbing robot based on ANSYS 基于ANSYS的爬管机器人结构优化

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-08-09 DOI: 10.5194/ms-13-725-2022

Yi-bin Zheng, Ming Liu, Baoshun Li, Guoqing Ma, M. Xiao

{"title":"Structural optimization of a pipe-climbing robot based on ANSYS","authors":"Yi-bin Zheng, Ming Liu, Baoshun Li, Guoqing Ma, M. Xiao","doi":"10.5194/ms-13-725-2022","DOIUrl":"https://doi.org/10.5194/ms-13-725-2022","url":null,"abstract":"Abstract. In order to improve the structural performance of the\u0000out-of-pipe pipe-climbing robot, the out-of-pipe pipe-climbing robot is\u0000optimized. First, MATLAB software was used to optimize the structure and\u0000size of the robot according to the mathematical model of robot mechanics and\u0000size constraints. Then, SolidWorks software was used to establish a\u0000three-dimensional model of the robot which was then imported into ANSYS\u0000Workbench software. Static and modal analyses were then performed on key\u0000robot components under different working conditions and the topology\u0000optimization module in ANSYS Workbench was used to perform the topology\u0000optimization of the key components. Finally, the optimized components were\u0000statically analysed. By comparing the performance of the components before\u0000and after optimization, it was found the weights of the optimized frame and\u0000clamping arm were respectively reduced by 24 % and 20 %, and the maximum\u0000stress was respectively reduced by 46 % and 20 %. Ultimately, it was\u0000found that the stiffness and strength of the robot were improved and a\u0000lighter weight was achieved via optimization; thus, this work provides a\u0000reference for future research on pipe-climbing robots.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44332801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Autonomous vehicle trajectory tracking lateral control based on the terminal sliding mode control with radial basis function neural network and fuzzy logic algorithm 基于径向基函数神经网络和模糊逻辑算法的终端滑模控制的自动驾驶汽车轨迹跟踪横向控制

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-08-08 DOI: 10.5194/ms-13-713-2022

Binyu Wang, Y. Lei, Yao Fu, Xiao-hui Geng

{"title":"Autonomous vehicle trajectory tracking lateral control based on the terminal sliding mode control with radial basis function neural network and fuzzy logic algorithm","authors":"Binyu Wang, Y. Lei, Yao Fu, Xiao-hui Geng","doi":"10.5194/ms-13-713-2022","DOIUrl":"https://doi.org/10.5194/ms-13-713-2022","url":null,"abstract":"Abstract. This paper will study a trajectory tracking control algorithm for electric vehicles based on a terminal sliding mode controller. First, a 3 degrees of freedom nonlinear vehicle model and a controller-oriented 2 degrees of freedom vehicle model are established. The preview time is adaptively adjusted based on the preview model. Then, the vehicle trajectory tracking controller, which uses the terminal sliding mode algorithm, is designed. The radial basis function (RBF) neural network algorithm is used to approximate the system variable parameters in the control model online. At the same time, fuzzy logic is used to control the gain parameters of the controller to reduce the chattering of the control system. Finally, the designed controller is verified by simulation. The maximum deviation of path tracking under different speeds is 0.6 m, and the target path can also be well followed under different road friction coefficients. The simulation results show that the controller designed in this paper can effectively carry out the vehicle trajectory tracking and lateral control and reduce the chattering to a certain extent.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42415713","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

An innovative device for enlarging the allowable misalignment for screwing tasks 一种创新装置，用于扩大螺纹任务的允许偏差

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-08-08 DOI: 10.5194/ms-13-701-2022

Hao Ku, Yu-Hsun Chen

引用次数: 0