Mechanical Sciences最新文献_第9页

Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system 机器人辅助超声检测系统的变速率自适应混合位置-阻抗控制

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-20 DOI: 10.5194/ms-13-559-2022

Z. Xie, Zheng Yan

{"title":"Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system","authors":"Z. Xie, Zheng Yan","doi":"10.5194/ms-13-559-2022","DOIUrl":"https://doi.org/10.5194/ms-13-559-2022","url":null,"abstract":"Abstract. Robot ultrasound has great potential for reducing the workload of a sonographer, improving the access to nursing care, producing more accurate imaging, and avoiding direct contact with patients. However, in the process of ultrasonic scanning, the traditional manual control scheme of the ultrasonic machine cannot simultaneously consider the problems of instantaneous contact force overshoot and steady-state force-tracking error, which is very important to improve image quality and ensure patient safety. In this paper, we proposed a varying rate adaptive hybrid position–impedance control strategy, which is used for the ultrasonic robot operator to scan the abdomen transversely. In order to ensure the stability of ultrasonic robot in the position subspace with parameter uncertainty and external interference, an adaptive inverse position controller is designed. In the scanning process of force subspace, a variable adaptive impedance control scheme is carefully designed to avoid force overshoot and keep the accuracy of the force tracking. Different from the classical impedance realization, the dynamic update rate is to update the impedance characteristics through force sensor feedback, reduce overshoot, and keep the stability and accuracy of the robot system during the task. Through the comparative study of different adaptive control schemes, the effectiveness of the proposed variable rate adaptive impedance control strategy was discussed. The proposed control scheme was verified in the virtual robot experimental environment, V-rep. Simulation and experimental results show that the proposed variable rate adaptive position impedance hybrid control scheme is more promising and efficient in robot-assisted ultrasound imaging.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46528515","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

Automation creation method for a double planet carrier gear train transplanting mechanism based on functional constraints 基于功能约束的双行星载轮系移栽机构自动化创建方法

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-17 DOI: 10.5194/ms-13-543-2022

Liang Sun, Xuewen Huang, Yadan Xu, Zhizheng Ye, C. Wu

{"title":"Automation creation method for a double planet carrier gear train transplanting mechanism based on functional constraints","authors":"Liang Sun, Xuewen Huang, Yadan Xu, Zhizheng Ye, C. Wu","doi":"10.5194/ms-13-543-2022","DOIUrl":"https://doi.org/10.5194/ms-13-543-2022","url":null,"abstract":"Abstract. In order to satisfy the design requirements of diversified seedling transplanting mechanisms, this paper carried out systematic research on the creation method of planetary gear train mechanisms for transplanting based on the graph theory and the structural and functional characteristics of the transplanting gear train so as to establish a complete configuration atlas of a transplanting gear train. The structure and transmission ratio constraints of the planetary gear train for transplanting are established on the basis of the displacement graph of the planetary gear train. Selection methods for the planetary gear train rack, input, and output components are also proposed. The classification of three types of planetary gear trains is introduced by analysing the motion characteristics of the seedling transplanting mechanism, which realizes the systematic screening and classification of the double planet carrier gear train (DPGT) configuration. A total of 528 DPGTs, which are suitable for transplanting, including 3 five-bar, 13 six-bar, 92 seven-bar, and 420 eight-bar DPGTs are obtained. The problem of the single planet carrier transplanting mechanism not satisfying the requirements of a diversified transplanting trajectory is solved.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45006305","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

The singular value decomposition method of improved incidence matrix for isomorphism identification of epicyclic gear trains 改进关联矩阵奇异值分解法在行星轮系同构辨识中的应用

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-15 DOI: 10.5194/ms-13-535-2022

Min Zhou, Wei Sun, Rong-Lin Wu, Wen-feng Fu

引用次数: 0

Design and kinematic analysis of a multifold rib modular deployable antenna mechanism 多肋模块化可展开天线机构的设计与运动学分析

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-14 DOI: 10.5194/ms-13-519-2022

D. Tian, Haiming Gao, Lu Jin, Rongqiang Liu, Yu Zhang, Chuang Shi, J. Xu

{"title":"Design and kinematic analysis of a multifold rib modular deployable antenna mechanism","authors":"D. Tian, Haiming Gao, Lu Jin, Rongqiang Liu, Yu Zhang, Chuang Shi, J. Xu","doi":"10.5194/ms-13-519-2022","DOIUrl":"https://doi.org/10.5194/ms-13-519-2022","url":null,"abstract":"Abstract. Aiming at the urgent need for the development of space deployable antenna with large aperture and a high storage rate, a new\u0000configuration of a multifold rib modular deployable antenna mechanism is\u0000proposed. The overall structure scheme design of the antenna is carried out, and the structure composition of the module, the principle of structural topology transformation, and the scheme of mechanism deployment and locking are expounded. According to the shape and constraint relationship of the structure deployment and folded state, and based on basic theory of robotics, calculation and the analysis of key structural parameters and the included angle of rib units are carried out, and the parameterized mathematical model is established. The detailed structural design is carried out, and then the complex structures such as the center beam assembly, diagonal beam assembly, and outer beam assembly are introduced in detail. The kinematic simulation of the mechanism is carried out by using ADAMS software, and the variation law of the motion parameters is analyzed. Finally, the prototype of a hexagonal prism single-module principle is developed, and a deployment function test and verification are carried out. The simulation and test results show that the proposed mechanism can realize the motion change from folded to deployed, and no problems such as interference or clamping are observed in deployment, which verifies the correctness and the feasibility of the structural scheme and principle. Moreover, the proposed new configuration scheme not only retains the characteristics of modular structure, such as good universality and easy expansion, but also has a high storage rate and structure efficiency rate. The research results have a high reference value and relevance for basic theoretical research and the engineering application of a space deployable antenna.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":"1 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70629618","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: 3

Adaptive multiswarm particle swarm optimization for tuning the parameter optimization of a three-element dynamic vibration absorber 三元动力减振器参数优化的自适应多温暖粒子群算法

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-13 DOI: 10.5194/ms-13-505-2022

Q. Song, Lin Jing Xiao, Q. Song, Haiyan Jiang, Xiu Jie Liu

{"title":"Adaptive multiswarm particle swarm optimization for tuning the parameter optimization of a three-element dynamic vibration absorber","authors":"Q. Song, Lin Jing Xiao, Q. Song, Haiyan Jiang, Xiu Jie Liu","doi":"10.5194/ms-13-505-2022","DOIUrl":"https://doi.org/10.5194/ms-13-505-2022","url":null,"abstract":"Abstract. A reliable optimization of dynamic vibration absorber (DVA) parameters is extremely important to analyze its dynamic damping characteristics and improve its vibration suppression performance. In this paper, we will discuss a parameter optimization method of the Voigt and three-element DVA models according to the H∞ optimization criterion. The particle swarm optimization method is an effective heuristic\u0000optimization algorithm; however, it is easy to lose diversity and fall into local extremum. To solve this problem, the adaptive multiswarm particle swarm optimization (AM-PSO) is used to search the solution of the DVA models. Particles in AM-PSO are adaptively divided into multiple swarms, and\u0000the variable substitution learning strategy is utilized to reduce their computational complexity and improve the algorithm's global search capability. In addition, the AM-PSO method is employed to optimize the parameters of DVA models and compared with the genetic algorithm and PSO. The simulation results show that the AM-PSO algorithm has superior performance. Also, the adaptive multiswarm numerical design method discussed herein will push the field towards practical applications, including traditional DVA and related complex three-element DVA.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42286755","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

Kinematics and control of a cable-driven snake-like manipulator for underwater application 水下蛇形索驱动机械臂的运动学与控制

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-07 DOI: 10.5194/ms-13-495-2022

F. Xue, Zhimin Fan

{"title":"Kinematics and control of a cable-driven snake-like manipulator for underwater application","authors":"F. Xue, Zhimin Fan","doi":"10.5194/ms-13-495-2022","DOIUrl":"https://doi.org/10.5194/ms-13-495-2022","url":null,"abstract":"Abstract. In view of the large volume, complex structure, and poor\u0000performance of traditional\u0000underwater manipulators in some complicated underwater scenarios, a cable-driven snake-like manipulator (CDSLM) is\u0000proposed. In this paper, the kinematics model of the proposed CDSLM is\u0000firstly established, which can be decomposed into three parts: motor–cable\u0000kinematics, cable–joint kinematics, and joint–end kinematics. A\u0000tip-following algorithm is then presented to weave through the\u0000confined and hazardous spaces along a defined path with high efficiency. The main merit of the\u0000algorithm is that only the terminal section variables need to be calculated\u0000and recorded, which solves the problem of expensive computational cost for\u0000the inverse kinematics of snake-like manipulators. Finally, evaluation\u0000indexes of the path-following performance are proposed to evaluate the effect of\u0000the tip-following algorithm. Simulations of the path-tracking performance\u0000are carried out using MATLAB. The results demonstrate that the average\u0000computation time is about 1.6 ms, with a deviation of less than 0.8 mm from\u0000the desired path, and the stability and effectiveness of the tip-following\u0000algorithm are verified.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42801334","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

Modelling and predictive investigation on the vibration response of a propeller shaft based on a convolutional neural network 基于卷积神经网络的传动轴振动响应建模与预测研究

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-06-03 DOI: 10.5194/ms-13-485-2022

Xin Shen, Qianwen Huang, Ge Xiong

引用次数: 1

The three-point eccentric magnetorheological polishing technology for hard brittle alumina ceramics 硬脆氧化铝陶瓷三点偏心磁流变抛光技术

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-05-20 DOI: 10.5194/ms-13-473-2022

Cheng Zheng, Bingsan Chen, Xiaoyu Yan, Yongchao Xu, Shangchao Hung

{"title":"The three-point eccentric magnetorheological polishing technology for hard brittle alumina ceramics","authors":"Cheng Zheng, Bingsan Chen, Xiaoyu Yan, Yongchao Xu, Shangchao Hung","doi":"10.5194/ms-13-473-2022","DOIUrl":"https://doi.org/10.5194/ms-13-473-2022","url":null,"abstract":"Abstract. This work presents the design of a pressurised three-point eccentric magnetorheological polishing (MRP) device, for alumina ceramics' hard and brittle characteristics, and a carrier disc magnetic field generator and a single closed-loop uniform magnetic field generator for a\u0000more uniform and increased magnetic field distribution. When compared with the traditional gap type, this device considerably enhances polishing efficiency. This apparatus has also been used to explore the mechanism of MRP. Static magnetic field simulations were conducted, and the fundamentals of the three-point eccentric magnetorheological process were addressed. Alumina ceramics were polished with a three-point eccentric wheel MRP equipment. Polishing tests were conducted to explore the effects of rotational speed, working pressure, abrasive type, abrasive particle size and polishing duration on polishing properties, and optimised polishing parameters were established. The surface roughness (Ra) of the samples was\u0000dramatically reduced from 500 to 22.41 nm using the three-point eccentric MRP device. The pit markings on the alumina ceramics' surface vanished after polishing. Therefore, the approach has considerable polishing potential for hard and brittle materials that can be nanofabricated with minimal surface sub-damage.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47963846","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

Priority flow divider valve and its dynamic analysis using various hydraulic drive systems: a bond graph approach 优先分流阀及其在不同液压驱动系统中的动态分析:键合图法

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-05-19 DOI: 10.5194/ms-13-459-2022

Dharmendra Kumar, Anil C. Mahato, O. Prakash, K. Kumar

{"title":"Priority flow divider valve and its dynamic analysis using various hydraulic drive systems: a bond graph approach","authors":"Dharmendra Kumar, Anil C. Mahato, O. Prakash, K. Kumar","doi":"10.5194/ms-13-459-2022","DOIUrl":"https://doi.org/10.5194/ms-13-459-2022","url":null,"abstract":"Abstract. The priority flow divider valve (PFDV) is used in power\u0000hydraulic system to split the supply flow in dual paths, i.e., primary path and secondary path. The flow ratio in each path is either predetermined or can be adjustable as per the loading conditions. The stated properties of the valve can be applied in a steering mechanism in automobile and a hydrostatic power transmission unit in a wind turbine. In a steering mechanism, it helps the system to perform two different functions against two different loads simultaneously, whereas, in a wind turbine, it can be used in hydrostatic power transmission unit to reduce the power fluctuation obtained from it. The hydrostatic power transmission system with PFDV (SMHPTSPFDV) used in a steering mechanism and the hydrostatic power transmission system with PFDV (WTHPTSPFDV) used in a wind turbine are modeled using the bond graph technique, and simulated in SYMBOLS Shakti software to analyze the steady\u0000and dynamic performance of the PFDV. The user-defined rectangular and sinusoidal variable pump speed has been used as inputs for system performance analysis. It is found that the PFDV may handle dual loads simultaneously, and it eliminates the use of multiple control valves to operate the same dual\u0000loads. Hence, it not only improves the system stability but also reduces the maintenance cost of the system. Moreover, the power and energy loss through the PFDV have been analyzed for both applications. It has been found that the power loss through the PFDV is higher when it is connected with SMHPTSPFDV. Also, the influences on the power and energy loss through PFDV are analyzed under various loading conditions.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43358942","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

Optimization and active control of internal gearing power honing process parameters for better gear precision 为提高齿轮精度，对内啮合动力珩磨工艺参数进行优化和主动控制

IF 1.4 4区工程技术

Mechanical Sciences Pub Date : 2022-05-13 DOI: 10.5194/ms-13-449-2022

Bin Yuan, Jiang Han, Xiaoqing Tian, L. Xia

{"title":"Optimization and active control of internal gearing power honing process parameters for better gear precision","authors":"Bin Yuan, Jiang Han, Xiaoqing Tian, L. Xia","doi":"10.5194/ms-13-449-2022","DOIUrl":"https://doi.org/10.5194/ms-13-449-2022","url":null,"abstract":"Abstract. Optimization and active control of internal gearing power\u0000honing (IGPH) process parameters for excellent and stable gear precision\u0000were carried out using the engagement theory of a conjugate curved face, the\u0000Box–Behnken design of experiments method, and the artificial immune clone\u0000selection algorithm (AICSA). Optimization and active control were carried\u0000out in four stages. In the first stage, the second-order models of tooth\u0000profile deviations were developed considering the nonlinear influence of\u0000IGPH process parameters on tooth profile deviations based on the Box–Behnken\u0000design. In the second stage, a method for solving the multi-objective\u0000optimization of the IGPH process was presented based on building the\u0000synthetic tooth profile deviation model, which considered the different\u0000weighting factors of different tooth profile deviation indexes. In the third\u0000stage, excellent gear precision was obtained by importing the ranges of\u0000synthetic tooth profile deviation and parameters into the AICSA. In the\u0000fourth stage, based on the optimized process parameters, the active control\u0000of IGPH process parameters was realized based on the constant cutting speed\u0000on the fixed position of the gear tooth surface. The total gear profile\u0000error reached a minimum value at the optimal parameters of 1270.4 rpm for spindle speed,\u000060 mm min−1 for axis\u0000feed velocity, 2.4 µm per oscillation for radial feed velocity, and 2.4 spark-out times. The\u0000gear accuracy test results show that the total gear profile error value from\u0000the above active control method is more stable and lower than that without\u0000active control, indicating that the proposed method is effective.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48428280","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