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Kinematics analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

作者： Zhen YU Chen-yang ZHANG Zhang DANG Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and Technology Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology National Demonstration Center for Experimental Mechanical Education Wuhan University of Science and Technology

After using the bearings（NSK, FAG） of different manufacturers with the same external dimensions for a pendulum reducer bearing for thin steel slab continuous casting and rolling production line of a steelmaking plant, the bearing failure occurs in a short period of time, which seriously affects the safe operation and production efficiency of the equipment. According to the structure of the pendulum shear and its working characteristics, this paper analyzes its load characteristics and conducts on-site measurement of the force parameters of the pendulum shear. And using the classical bearing friction theory such as Hertz law, the contact pressure and the heat rate between the inner ring and the roller of different types of bearings are analytically calculated. Based on field measured force energy parameter data and analytical calculation results, the finite element technique is used to simulate the dynamics of the pendulum shear drive system and the temperature field, and the real reason for the bearing failure is obtained. According to the analysis of the research results, the replacement of the same size bearing（SKF） with better mechanical response performance is a reasonable measure to effectively solve the problem of short-term failure of the bearing.

关键词： Pendulum Shear Bearing failure Stress calculation simulation analysis Force Energy Detection Thermal Stress

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 244-261页

作者： Chaoyu Shen Haibo Qu Sheng Guo Xiao Li Robotics Research Center School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China China Waterborne Transport Research Institute Beijing 100088China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China

The kinematic redundancy is considered as a way to improve the performance of the parallel *** this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are ***,the kinematics model of the PM-KR is *** inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are ***,the influence of redundancy on the PM-KR is *** there exists kinematic redundancy,the PM-KR possesses fault-tolerant *** locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is *** the position of the redundant part is changed,the workspace and singularity will be *** results show that kinematic redundancy can be used to avoid ***,the simulations are performed to prove the theoretical analysis.

关键词： Parallel mechanism Kinematic redundancy Singularity simulation analysis

基于ROS的机场智能驱鸟系统仿生学总线仿真分析

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Development and experiments of low frequency ultrasonic electrostatic atomizing nozzle with double resonators

建模与仿真 2023年第6期12卷 5703-5711页

作者：匡姝静孙磊夏菽兰柳士伟肖鑫蒋冬梅东部战区空军保障部直属保障队，江苏南京盐城工学院电气工程学院，江苏盐城

智能驱鸟系统对实时性要求高，本文研究了基于ROS (Robot Operating System)的机场智能驱鸟系统的设计与实现。其中，关注点集中在仿生学总线的设计与仿真分析上。首先，通过收集和分析现有的驱鸟系统和仿生学总线相关领域的研究，建立... 详细信息

智能驱鸟系统对实时性要求高，本文研究了基于ROS (Robot Operating System)的机场智能驱鸟系统的设计与实现。其中，关注点集中在仿生学总线的设计与仿真分析上。首先，通过收集和分析现有的驱鸟系统和仿生学总线相关领域的研究，建立了机场智能驱鸟系统的基本原理和需求。然后，提出了一种以ROS作为基础的仿生学总线设计方案，并利用仿真工具评估了该设计方案的性能。采用光电、雷达采集机场鸟群的图像信息，声采集传感器采集声音信息，图像信息通过UVC仿生学协议交互，声音信息通过UDP仿生学协议交互，通过仿生学协议在终端计算机之间远程传输并解码的形式完成鸟类信号的图像和声音特征性传输。鸟群目标检测图像和视频数据传输给上位机，上位机软件显示采集的图像，并将图像数据经过存储，通过UVC仿生学协议将采集的图像的参数传输，包括鸟类的体积、大小、出现频率、危险系数以及标定等信息，从而减少图像或视频的识别辨析过程，提高系统快速识别的速率。声音信息通过UDP仿生学协议交互，将南北方鸟类、鸟类攻击性及鸟类其它信息进行传输，并将有针对性的播放目标鸟群的天敌叫声，同类惨叫声、噪声及枪炮声控制指令发送到强声设备，快速有效实现目标鸟群的驱离。

关键词： ROS 仿生学总线仿真分析 ROS Bionic Bus simulation analysis

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International Journal of Agricultural and Biological Engineering 2022年第4期15卷 39-48页

作者： Jianmin Gao Ke Xu Rui He Xiangchao Chen Mazhar Hussain Tunio School of Agricultural Engineering Jiangsu UniversityZhenjiang 212013China

Fine droplets with high adhesion can greatly improve the efficiency of atomization ***,the development of a spray nozzle that can produce fine fog droplets with high adhesion is of great significance for *** to piezoelectric ultrasonic atomizer,Hartmann resonator low-frequency ultrasonic electrostatic atomizer has the advantages of large atomization volume and constant liquid chemical structure,but the droplet size is ***-speed gas can generate low-frequency ultrasonic vibration sound waves in Hartmann *** frequency and intensity of sound waves determine the atomization performance of supersonic atomizer ***,very few research literatures can be found on how the structure and operating parameters of Hartmann resonator affect the atomization *** order to improve the atomization performance of ultrasonic atomizer,a two-stage Hartmann resonator low-frequency ultrasonic electrostatic atomizer was *** shrinkage-type Laval tube was designed by fluid mechanics theory,and the design results were verified by fluent *** virtual orthogonal test method was used to optimize the structure parameters of two-stage resonator and spray test was carried *** results showed that when the included angle between the two stage resonators was 80°,the diameter was 4.86 mm,the tube length ratio was 1.0 and the gas pressure was 0.5 MPa,the droplet size could reach 22.05μ***,compared with the traditional Hartmann cavity with 90°included angle,the droplet size was decreased by 63%.The annular electrode was used as the charging electrode,and Comsol Multiphysics software was used to simulate and calculate the deformation and crushing process of electrostatic droplets and the influence of different voltage,surface tension and droplet diameter on the droplet deformation *** results showed that:(1)the optimum charge range of the electrode ring was within 20 mm of the axial distance along the ele

关键词： ultrasonic atomization Laval tube two-stage resonance tube electrostatic spray deformation rupture simulation analysis

analysis of the track system in bumpy unstructured hard road environment by vibration test

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International Journal of Agricultural and Biological Engineering 2022年第4期15卷 163-171页

作者： Mutong Li Junlue Li Lin He Jie He Lian Hu Chengxu Lyu Key Laboratory of Modern Agricultural Intelligent Equipment in South China Ministry of Agriculture and Rural AffairsChina/Guangdong Institute of Modern Agricultural EquipmentGuangzhou 510630China College of Engineering South China Agricultural UniversityGuangzhou 510642China Chinese Academy of Agricultural Mechanization Sciences Beijing 100083China

The complex terrain environment in the hilly land directly affects the operational reliability of agricultural *** order to study the impact of road irregularity on walking chassis vibration,the 3CYLZ-750 remote-controlled weeding machine which is applied to orchards was taken as the object of study,and the rear roller was selected as the object of observation to reveal the rules under which the vibration of the track chassis changes as there is a sudden change in road surface elevation.A column-type test-to-pass method based on unit excitation was proposed in this *** excitation behavior and action process were analyzed by category.A critical acceleration prediction model was built and verified by virtual simulation and hard road surface excitation *** results showed that at the forward velocity of 0-2.5 km/h and exciter height of 20-100 mm,the vertical vibration acceleration of the target roller was significantly affected by Track Contact Point Centrifugal Acceleration(TCPCA).As TCPCA increased,the change rate of vertical vibration acceleration decreased,reaching a minimum of[−13.8,28.8];as TCPCA decreased,the vertical vibration acceleration tended to increase positively at a maximum variation range of[−13.3,42.2].The measured and simulated macroscopic change rules were consistent with the theoretical analysis,further verifying the correctness of variable extraction,and providing a research basis for the accurate modification and improvement of the *** research conclusions can lay a theoretical foundation for analyzing the walking reliability of the track chassis,and provide a design basis and technical support for the development of a tracked agricultural robot chassis for the hilly land in the future.

关键词： track system unstructured road vibration test simulation analysis hilly land agricultural robot

Design and optimization of an automatic hydraulic steer-by-wire system for an agricultural chassis

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International Journal of Agricultural and Biological Engineering 2022年第1期15卷 132-138页

作者： Yinhao Jin Yanwei Yuan Licheng Zhu Decheng Wang Bo Zhao Xianfa Fang College of Engineering China Agricultural UniversityBeijing 100083China State Key Laboratory of Soil-Plant-Machine System Technology Chinese Academy of Agricultural Mechanization SciencesBeijing 100083China

To meet the requirements of fast steering at low vehicle speed and slow steering at high vehicle speed,the automatic steering of agricultural chassis must control both the wheel steering angle and the steering angle’s angular *** study applied hydraulic steer-by-wire technology to the automatic steering control of agricultural ***,the transmission mechanism of the designed steering system was *** to the rule of least squares,aiming at the minimum sum of squares of errors between 10 ideal outer wheel angles and real outer wheel angles,the optimal solution of hole spacing on both sides of the steering hydraulic cylinder piston rod was 925 *** outer wheel angle error of the optimized steering mechanism throughout the steering stroke was less than 0.15°.Additionally,a hydraulic steer-by-wire system was developed,and the parameters of its critical components were ***,the compound control strategy of the steering cylinder piston rod displacement and moving speed was formulated for this automatic steering *** entire control system included a valve control signal calculation model,an initial velocity calculation model,a correction velocity calculation model,and an attenuation velocity calculation model,and the formulae of each model were *** on the optimized parameters and the developed control strategy,a simulation model was built in AMESim,and simulation results showed that the proposed control strategy could achieve simultaneous controls of piston rod displacement and speed at different vehicle speeds and *** horizontal and vertical displacements of the right wheel center were plotted for typical vehicle speeds and steering *** results of this study provided a new idea for the application of hydraulic steer-by-wire technology in the automatic steering of agricultural chassis.

关键词： optimal design steering mechanism automatic steering simulation analysis

analysis of cooperation equilibrium of participants in power battery recycling chains considering information barrier

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Chinese Journal of Population,Resources and Environment 2022年第2期20卷 159-167页

作者： Yanhong Gao Youdi Liu Zhixiong Tan Zhendong Li School of Economics and Management Chongqing Normal UniversityChongqing401331China School of Public Policy and Administration Chongqing UniversityChongqing400044China

In the era of large-scale retirement of power batteries,there are information barriers and high recovery costs in their *** view of this,in this study we constructed a tripartite evolutionary game model of the cooperation between power battery production and recycling enterprises and government *** analyzed the strategic choice of the three parties in the process of power battery recycling and simulated the influence of participants'willingness and information barriers on the strategic choices of the *** results showed that power battery production and recycling enterprises,and the government are affected by each other's willingness to participate at different *** willingness of power battery manufacturers and recycling enterprises to cooperate with each other decreased with increases in information *** analyzing the impact of information barrier on power battery recycling,some suggestions are put forward to provide decision-making reference for promoting the sustainable development of power battery industry.

关键词： Power battery recycling Information barrier Tripartite evolutionary game simulation analysis

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某轿车盘式制动器零部件约束模态仿真分析

Performance Development Target Setting of Passenger Car Diesel Engine

建模与仿真 2023年第6期12卷 5038-5045页

作者：石梦成上海理工大学机械工程学院，上海

本文基于ANSYS软件对某轿车盘式制动器零部件进行模态仿真分析。首先将建立的盘式制动器零部件的三维模型导入Ansys-Workbench中；然后对模型进行网格划分，确保模型准确描述结构特征和边界条件；最后采用模态分析方法，对盘式制动器进... 详细信息

本文基于ANSYS软件对某轿车盘式制动器零部件进行模态仿真分析。首先将建立的盘式制动器零部件的三维模型导入Ansys-Workbench中；然后对模型进行网格划分，确保模型准确描述结构特征和边界条件；最后采用模态分析方法，对盘式制动器进行固有频率和振型分析。仿真结果表明，制动器主要零件的固有频率随模态阶数的增加呈递增趋势。并且，从第一阶模态开始，各部件的固有频率存在显著差异，表明制动盘和摩擦片的模型设计和材料选择较为合理，能够有效避免共振问题的产生，对于盘式制动器的设计和性能优化具有重要的指导意义，可为制动系统的安全和可靠性提供理论依据。

关键词：盘式制动器零部件约束模态仿真分析 Disc Brake Components and Parts Constraint Modes simulation analysis

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Chinese Journal of Mechanical Engineering 2013年第3期26卷 512-517页

作者： ZHENG Guangyong YU Xiumin LIU Jiangwei SONG Tao LI Wenxiang State Key Lab of Automotive Dynamic simulation Jilin University Research and Development Center FAW Group Corporation

Setting engine emission targets to meet diesel car requirements is particularly important in engine performance development phase. Many researches are focused on associating vehicle performance with engine targets, but most work is done by testing, which is time and cost consuming, furthermore, the relationship of vehicle and engine will change when either engine or vehicle changes. A GT-Drive model to simulate New European Driving Cycle (NEDC) for passenger car is developed and calibrated by testing data, model precision is controlled within 5%. Time distribution of engine operating conditions when car running NEDC cycle has been analyzed, 10 critical major engine operating points are summarized according to running time proportion. Emission of NOx and smoke control regions containing these 10 points for target engine are set. Vehicle emissions are simulated and evaluated during engine development after engine performance test data are got, and engine combustion system layout and calibration are adjusted until vehicle targets are met. Vehicle is tested in chassis dynamometer finally, the testing results show a good agreement with the simulated results with an error of less than 5%, which proves that the emission value exchange of vehicle and engine is reliable. Performance target decomposition method for passenger car diesel presented can greatly shorten the development cycle and save costs.

关键词： passenger car diesel engine emission target New European Driving Cycle simulation analysis