Mechanical Sciences最新文献

Comparison of finite element analysis results with strain gauge measurements of a front axle housing 有限元分析结果与前轴箱体应变计测量结果的比较

Mechanical Sciences Pub Date : 2024-04-23 DOI: 10.5194/ms-15-257-2024

Yılmaz Gür, Gökhan Cen

{"title":"Comparison of finite element analysis results with strain gauge measurements of a front axle housing","authors":"Yılmaz Gür, Gökhan Cen","doi":"10.5194/ms-15-257-2024","DOIUrl":"https://doi.org/10.5194/ms-15-257-2024","url":null,"abstract":"Abstract. The strength of the front axle of tractors used on rough terrain is crucial in countries in which agriculture is widespread. Rough agricultural fields, rugged village roads, and ground irregularities cause unexpected reaction forces on the axles. Thus, it is important to analyze the front axle of a tractor with respect to stress, which eventually leads to cracks and premature failure. In this study, ANSYS 13.0 finite element analysis (FEA) software (ANSYS, 2010) was used to predict the strength of a design under loading conditions. ANSYS 13.0 allows products to be tested in a virtual environment and helps to prevent problems that may arise later and accordingly improve them. This study aims to investigate the stresses that occur on the housing of the front axle of a tractor. The reaction forces acting on the front axle housing can cause cracks near the middle of the housing. The study applies a static load of 30 000 N to both hubs at the end of the front axle housing and uses the FEA method to predict and evaluate the maximum stress areas on the housing. Strain gauges are bonded to these locations to measure the real-life stresses on the axle housing in these areas. The results of the FEA and strain gauge measurements were compared, and a correlation was found with 98 % accuracy.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"4 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140666142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism 2PRU-PUU 并行机制的动态建模和性能分析

Mechanical Sciences Pub Date : 2024-04-18 DOI: 10.5194/ms-15-249-2024

Tianze Sun, Wei Ye, Chao Yang, Fengli Huang

引用次数: 0

Time-varying reliability models for parallel systems consisting of beam structures with crack flaws 由带裂缝缺陷的梁结构组成的并联系统的时变可靠性模型

Mechanical Sciences Pub Date : 2024-04-09 DOI: 10.5194/ms-15-237-2024

Peng Gao, Liyang Xie

引用次数: 0

Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning 利用机器视觉和深度学习开发具有自主跟踪控制能力的柔性内窥镜机器人

Mechanical Sciences Pub Date : 2024-04-02 DOI: 10.5194/ms-15-223-2024

Sen Qian, Jianxi Zhang, Zongkun Pei, Xiantao Sun, Zhe Wu

引用次数: 0

Modeling and control system experiment of a novel series three-axis stable platform 新型串联三轴稳定平台的建模与控制系统实验

Mechanical Sciences Pub Date : 2024-03-22 DOI: 10.5194/ms-15-209-2024

Da Song, Xinlei Xiao, Ji Ma, Lixun Zhang

引用次数: 0

Multi-robot consensus formation based on virtual spring obstacle avoidance 基于虚拟弹簧避障的多机器人共识形成

Mechanical Sciences Pub Date : 2024-03-22 DOI: 10.5194/ms-15-195-2024

Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, Xiaohua Wang

{"title":"Multi-robot consensus formation based on virtual spring obstacle avoidance","authors":"Yushuai Fan, Xun Li, Xin Liu, Shuo Cheng, Xiaohua Wang","doi":"10.5194/ms-15-195-2024","DOIUrl":"https://doi.org/10.5194/ms-15-195-2024","url":null,"abstract":"Abstract. A systematic improvement of the multi-robot formation control algorithm has been developed to address multi-robot formation instability. First, a static obstacle avoidance model based on spring force mapping is proposed, followed by an analysis of the influence of static and dynamic obstacles on the processing of multi-robot cooperative motion. Second, a leader is introduced to the formation to save computational costs. Third, the Velocity Obstacle (VO) algorithm is improved to resolve robot collisions during the dynamic mobility process caused by the increased number of multi-robot formations. Simultaneously, the dynamic speed limit function based on the position error for formation keeping is established. Finally, simulation experiments are carried out. Results show that when 5-robot and 20-robot formations were compared in the environment without dynamic conflict, the average value of the position error of 20-robot formations only increased by 39.47 %, and the average value of the path length did not differ significantly. In the dynamic conflict environment, the maximum position error of 20-robot formations increases by 73.03 % and the path length average value increases by 7.69 %. Our proposed method can control the motion of multiple robots in both conflict-free and conflict-filled environments, resulting in an effective motion planning scheme.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":" 19","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140216335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improved strategies of the Equality Set Projection (ESP) algorithm for computing polytope projection 计算多面体投影的等集投影 (ESP) 算法的改进策略

Mechanical Sciences Pub Date : 2024-03-19 DOI: 10.5194/ms-15-183-2024

Binbin Pei, Wenfeng Xu, Yinghui Li

引用次数: 0

A Lie group variational integrator in a closed-loop vector space without a multiplier 无乘法器闭环矢量空间中的李群变积分器

Mechanical Sciences Pub Date : 2024-03-12 DOI: 10.5194/ms-15-169-2024

Long Bai, Lili Xia, Xinsheng Ge

{"title":"A Lie group variational integrator in a closed-loop vector space without a multiplier","authors":"Long Bai, Lili Xia, Xinsheng Ge","doi":"10.5194/ms-15-169-2024","DOIUrl":"https://doi.org/10.5194/ms-15-169-2024","url":null,"abstract":"Abstract. As a non-tree multi-body system, the dynamics model of four-bar mechanism is a differential algebraic equation. The constraints breach problem leads to many problems for computation accuracy and efficiency. With the traditional method, constructing an ODE-type dynamics equation for it is difficult or impossible. In this exploration, the dynamics model is built with geometry mechanic theory. The kinematic constraint variation relation of a closed-loop system is built in matrix and vector space with Lie group and Lie algebra theory respectively. The results indicate that the attitude variation between the driven body and the follower body has a linear recursion relation, which is the basis for dynamics modelling. With the Lie group variational integrator method, the closed-loop system Lagrangian dynamics model is built in vector space, with Legendre transformation. The dynamics model is reduced to be the Hamilton type. The kinematic model and dynamics model are solved using Newton iteration and the Runge–Kutta method respectively. As a special case of a crank and rocker mechanism, the dynamics character of a parallelogram mechanism is presented to verify the good structure conservation character of the closed-loop geometry dynamics model.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"53 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140248489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and analysis of a dual-rope crawler rope-climbing robot 双绳履带式爬绳机器人的设计与分析

Mechanical Sciences Pub Date : 2024-01-23 DOI: 10.5194/ms-15-31-2024

Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, Juan Huang

{"title":"Design and analysis of a dual-rope crawler rope-climbing robot","authors":"Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, Juan Huang","doi":"10.5194/ms-15-31-2024","DOIUrl":"https://doi.org/10.5194/ms-15-31-2024","url":null,"abstract":"Abstract. A rope-climbing robot (RCR) can reciprocate on a rope. To address the problems of poor load capacity and adaptability of the existing RCR, this study designs a dual-rope crawler type RCR, which can be used as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. Innovatively applying the parabolic theory of overhead rope to kinematically analyze the rope-climbing robot system, the robot motion trajectory model and the tilt angle equation are established. To establish the safe working interval of the rope-climbing robot, the influence of machine load and rope span on robot tilt angle is compared. Furthermore, research on the dynamic characteristics of the rope-climbing robot is carried out, establishing a time-varying system model of the dynamic tension of the rope in the rope-climbing robot system and analyzing the effects of speed and load on the dynamic tension of the rope and system stability. Finally, the prototype test results show that the RCR operates stably and has good load capacity and barrier-crossing capability.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"103 22","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139605837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models 基于马尔可夫模型和社会力模型融合的行人防撞策略开发

Mechanical Sciences Pub Date : 2024-01-18 DOI: 10.5194/ms-15-17-2024

Bin Tang, Zhengying Yang, Haobin Jiang, Zi-ying Hu

{"title":"Development of pedestrian collision avoidance strategy based on the fusion of Markov and social force models","authors":"Bin Tang, Zhengying Yang, Haobin Jiang, Zi-ying Hu","doi":"10.5194/ms-15-17-2024","DOIUrl":"https://doi.org/10.5194/ms-15-17-2024","url":null,"abstract":"Abstract. In urban traffic, accurate prediction of pedestrian trajectory and advanced collision avoidance strategy can effectively reduce the collision risk between intelligent vehicles and pedestrians. In order to improve the prediction accuracy of pedestrian trajectory and the safety of collision avoidance, a longitudinal and lateral intelligent collision avoidance strategy based on pedestrian trajectory prediction is proposed. Firstly, the process of a pedestrian crossing the road is considered as a combination of free motion described by first-order Markov model and the constrained motion presented by improved social force model. The predicted pedestrian trajectory is obtained by weighted fusion of the trajectories of the two models with a multiple linear regression algorithm. Secondly, according to the predicted pedestrian trajectory and time to collision (TTC) the longitudinal and lateral collision avoidance strategy is designed. The improved artificial potential field method is used to plan the lateral collision avoidance path in real time based on the predicted pedestrian position, and a fuzzy controller is constructed to obtain the desired deceleration of the vehicle. Finally, the pedestrian motion fusion model and the longitudinal and lateral collision avoidance strategy are verified by Prescan and Simulink co-simulation. The results show that the average displacement error (ADE) and final displacement error (FDE) of pedestrian trajectory based on pedestrian motion fusion model are smaller compared with a Markov model and improved social force model, and the proposed pedestrian collision avoidance strategy can effectively achieve longitudinal and lateral collision avoidance.\u0000","PeriodicalId":502917,"journal":{"name":"Mechanical Sciences","volume":"124 51","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139615188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0