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Effect of Manufacturing Errors on static Characteristics of Externally Pressurized Spherical Air Bearings

Chinese Journal of Mechanical Engineering 2009年第6期22卷 896-902页

作者： REN Di WANG Zuwen YANG Qingjun BAO Gang School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China Transportation and Logistics Engineering College Dalian Maritime University Dalian 116026 China

Externally pressurized spherical air bearings are the key component of the three-axis air bearing table, and the manufacturing errors of the bearing affects the performance of the air bearing table. However, the manufacturing errors are unavoidable, and the pursuit to enhance the manufacturing accuracy will increase the cost greatly. In order to provide some theoretical guideline for the tolerance choice in the design of the externally pressurized spherical air bearings with inherent compensation, the effects of several manufacturing errors on the static characteristics of the air bearing are studied. Due to the complex geometry of the computational domain, an unstructured meshing technology is used for mesh generation. A finite-volume method is adopted to discretize the three-dimensional steady-state compressible Navier-Stokes equations. A modified SIMPLE algorithm which is suitable for compressible flows is applied to solve the discretized governing equations. The effects of the dimension error and the roundness error of the ball head and the ball socket on the static characteristics are investigated. The investigation result shows that the positive dimension error and the oblate spheroid-type roundness error of the ball head as well as the negative dimension error and the prolate spheroid-type roundness error of the ball socket can improve the bearing capacity and static stiffness of the air bearings by reducing the mass flow. The calculation method proposed in this paper fits well for the general principle, which can be extended to the characteristics analysis of other air bearings.

关键词： externally pressurized spherical air bearings manufacturing errors bearing capacity static stiffness mass flow

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A novel flexure-based uniaxial force sensor with large range and high resolution

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Science China(Technological Sciences) 2013年第8期56卷 1940-1948页

作者： CHEN WeiHai JIANG Jun CHEN WenJie LIU JingMeng School of Automation Science & Electrical Engineering Beihang University Mechatronics Group Singapore Institute of Manufacturing TechnologySingapore 638075Singapore

High performance force sensors often encounter the conflicting requirements of high resolution and large measurement *** address this problem,this paper presents a conceptual design of a novel uniaxial force sensor with large range and dual-stage force resolutions which enables us to measure forces within a wide range with satisfied *** newly developed force sensor features an aluminum alloy body with a probe to transfer external forces into the sensing *** employs an optical linear encoder to detect the displacement of the sensing *** sensing scheme may immunize outside electromagnetic noises and therefore enhance the performance of the sensor thanks to its digital signal *** this paper,an accurate,analytical model for calculating the static stiffness and dynamics of the system was developed by using pseudo-rigid-body-model(PRBM)*** optimize the design,finite element simulations were *** a prototype sensor was fabricated,preliminary characterization tests were carried out to verify the accuracy of the theoretical model and demonstrate the effectiveness of the *** experiment results indicate that the structure of the new sensor is compact,and it has the ability to measure both micro range and macro range forces within one setup,meanwhile keeps very fine resolutions.

关键词： force sensor compliant mechanism static stiffness bandwidth uncertainty

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Development and testing of a wireless smart toolholder with multi-sensor fusion

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Frontiers of Mechanical Engineering 2023年第4期18卷 131-148页

作者： Jin ZHANG Xinzhen KANG Zhengmao YE Lei LIU Guibao TAO Huajun CAO College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China State Key Laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Aerospace Research Institute of Materials&Processing Technology Beijing 100076China

The smart toolholder is the core component in the development of intelligent and precise *** enables in situ monitoring of cutting data and machining accuracy evolution and has become a focal point in academic research and industrial ***,current table and rotational dynamometers for milling force,vibration,and temperature testing suffer from cumbersome installation and provide only a single acquisition signal,which limits their use in laboratory *** this study,we propose a wireless smart toolholder with multi-sensor fusion for simultaneous sensing of milling force,vibration,and temperature *** select force,vibration,and temperature sensors suitable for smart toolholder fusion to adapt to the cutting ***,structural design,circular runout,dynamic balancing,static stiffness,and dynamic inherent frequency tests are conducted to assess its dynamic and static ***,the smart toolholder is tested for accuracy and repeatability in terms of force,vibration,and *** results demonstrate that the smart toolholder accurately captures machining data with a relative deviation of less than 1.5%compared with existing force gauges and provides high repeatability of milling temperature and vibration ***,it is a smart solution for machining condition monitoring.

关键词： wireless smart toolholder multi-sensor fusion circular runout dynamic balancing static stiffness dynamic inherent frequency

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stiffness Analysis of Spherical Parallel Mechanism U_(P+R) with 2-DOF

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Journal of Harbin Institute of Technology(New Series) 2013年第4期20卷 41-47页

作者： Yu-Lin Zhou Long Yang Bo Li Da-Xing Zeng Feng Gao School of Mechanical Engineering Yanshan University XCMG Xuzhou Truck-Mounted Crane Co. Ltd. State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University

As one of the typical less-mobility parallel mechanisms, the spherical parallel mechanism Up.s with two degrees of freedom （2-DOF） possess high order overconstraints, and the calculation of its stiffness is partly different with general parallel mechanisms owing to the bars in each branch are assumed to be arc-shaped. By means of small deformation superposition principle, the relationship between the angle displacement and line displacement of moving platform and the forces acted on the branches were derived out. Based on the results of static analysis, the relationship between the applied force, the line displacement and the angle displacement of the mechanism was set up. And then the stiffness matrix was obtained. The six principal stiffness of the mechanism and the corresponding directions were achieved by the orthogonal transformation. The numerical calculation was performed and the results showed that the principal stiffness and directions are varied with the pose-position of the mechanism, and the principal stiffness is gradually enlarged when it is far away from the anigin. In addition, the torsion stiffness is much greater and the line deformation stiffness is smaller, the difference between the two parts is huge. The research content of this paper supplies the theoretical foundation for the further engineering design and application of the spherical parallel mechanism.

关键词： spherical parallel mechanism static stiffness orthogonal transformation line displacement angle

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Research on static bearing characteristics of magnetic-liquid double suspension bearing

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High Technology Letters 2019年第4期25卷 434-442页

作者： Zhao Jianhua Wang Qiang Zhang Bin Chen Tao Gao Dianrong ebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004P.R.China Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment Zhenjiang 212003P.R.China

Due to low viscosity of seawater,it is difficult to form a seawater-lubricated *** is easy to cause the overload and burning phenomenon of seawater-lubrication sliding bearing,and then the operation stability and service life can be shortened ***,the paper introduces an electromagnetic suspension theory into the seawater lubricated sliding *** a novel magnetic-liquid double suspension bearing can be formed,which can enhance bearing capacity and stiffness ***,the structural characteristics,support-adjustment mechanism of magnetic-liquid double suspension bearing is ***,based on force balance equation,electromagnetic equation and flow equation,the transfer functions of single DOF bearing system of magnetic-liquid double suspension bearing under constant-flow supply model are *** bearing capacity,static stiffness and total power loss are selected as static performance *** influence rule of operaton and structural parameters on the static performance of single DOF bearing system will be *** results show that bearing capacity decreases with the increase of liquid film thickness and width of edge seals,bias current and coil turns *** stiffness decreases with the increase of liquid film thickness,edge seals width,bias current and coil *** power loss decreases with the increase of liquid film thickness,edge seals width,bias current and coil turns *** static performance indexes can not be affected by liquid *** proposed research provides some theoretical and experimental basis for the parameter design of magnetic-liquid double suspension bearing.

关键词： magnetic-liquid double suspension bearing static performance index bearing capacity static stiffness total power loss

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Impedance Control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control static stiffness

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stiffness ANALYSIS OF THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR

STIFFNESS ANALYSIS OF THREE DEGREE OF FREEDOM PARALLEL MANIP...

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The Second International Symposium on Advanced Technology of Vibration and Sound

作者： Peidong WU School of Mech.S&T Huazhong University of Science and Technology 1037 Luoyu Road Wuhan P.R.China Changlin WU School of Mech.S&T Huazhong University of Science and Technology 1037 Luoyu Road Wuhan P.R.China

＜正＞This paper presents a simple approach that enables the stiffness of 3-DOF parallel machine to be quickly *** method includes two steps,firstly,the parallel machine is decomposed into two substructures associated with machine frame and transmission *** frame stiffness and transmission system stiffness is estimated by virtual work principle and perturbation theory,***,parallel machine stiffness is estimated by using virtual work principle.

关键词： static stiffness Virtual Work Principle perturbation theory

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