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Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

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Science China(Technological Sciences) 2024年第6期67卷 1783-1797页

作者： LUO WenLong TANG XiaoWei MA Tao GUO QiuShuang XU YanYan YUAN Xing ZHANG Lei MAO XinYong School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430074China state key laboratory of smart manufacturing for special vehicles and transmission system Baotou014030China Wuhan Heavy Duty Machine Tool Group Corporation Wuhan430205China

Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process ***,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion *** accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification *** the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize *** address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF *** to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different *** the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.

关键词： milling robot structural dynamics frequency response function automatic identification modal regularization factor high-dimensional workspace

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FFT-Based Numerical Method for Nonlinear Elastic

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 266-279页

作者： Fei Guo Fan Wu Xinyong Li Yijie Huang Zhuo Wang state key laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Joint Research Center for Rubber and Plastic Seals Tsinghua UniversityBeijing 100084China state key laboratory of smart manufacturing for special vehicles and transmission system Baotou 014030China

In theoretical research pertaining to sealing, a contact model must be used to obtain the leakage channel. However, for elastoplastic contact, current numerical methods require a long calculation time. Hyperelastic contact is typically simplifed to a linear elastic contact problem, which must be improved in terms of calculation accuracy. Based on the fast Fourier transform, a numerical method suitable for elastoplastic and hyperelastic frictionless contact that can be used for solving two-dimensional and three-dimensional (3D) contact problems is proposed herein. The nonlinear elastic contact problem is converted into a linear elastic contact problem considering residual deformation (or the equivalent residual deformation). Results from numerical simulations for elastic, elastoplastic, and hyperelastic contact between a hemisphere and a rigid plane are compared with those obtained using the fnite element method to verify the accuracy of the numerical method. Compared with the existing elastoplastic contact numerical methods, the proposed method achieves a higher calculation efciency while ensuring a certain calculation accuracy (i.e., the pressure error does not exceed 15%, whereas the calculation time does not exceed 10 min in a 64 × 64 grid). For hyperelastic contact, the proposed method reduces the dependence of the approximation result on the load, as in a linear elastic approximation. Finally, using the sealing application as an example, the contact and leakage rates between complicated 3D rough surfaces are calculated. Despite a certain error, the simplifed numerical method yields a better approximation result than the linear elastic contact approximation. Additionally, the result can be used as fast solutions in engineering applications.

关键词： Numerical method Elastoplastic contact Hyperelastic contact FEM FFT

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Dynamic response of ultralight all-metallic sandwich panel with 3D tube cellular core to shallow-buried explosives

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Science China(Technological Sciences) 2021年第7期64卷 1371-1388页

作者： ZHANG DuJiang ZHAO Zhen Yu DU ShaoFeng CHEN WeiJie YANG Fan NI ChangYe YANG ZhiKun LU TianJian state key laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China MIIT key laboratory of Multifunctional Lightweight Materials and Structures(MLMS) Nanjing University of Aeronautics and AstronauticsNanjing210016China state key laboratory of smart manufacturing for special vehicles and transmission system Baotou014030China state key laboratory for Strength and Vibration of Mechanical Structures Xi’an Jiaotong UniversityXi’an710049China

The underbody of a vehicle system, either military or civil, is typically made of a relatively thin metallic plate, thus vulnerable to mine blast attacks. To improve the blast resistance, a multitude of protective structures have been proposed as attachments to the thin plate. In the present study, a novel ultralight all-metallic sandwich panel with three-dimensional(3D) tube cellular cores mounted to the vehicle underbody was envisioned as such a protective system. A metallic substrate(mimicking vehicle bottom)was placed above the proposed sandwich panel to construct a sandwich-substrate combinative structure. A series of sandwich panels having 3D tube cellular cores were fabricated via argon protected welding and laser welding. Mechanical responses of the combinative structure subjected to the denotation of 6 kg TNT explosives shallow-buried in dry sand were experimentally measured. Full numerical simulations with the method of finite elements(FE) were subsequently carried out to explore the physical mechanisms underlying the observed dynamic performance and quantify the effects of key geometrical parameters and connection conditions of the protective system. The performance of the proposed sandwich panel under shallow-buried explosives was also compared with competing sandwich constructions having equal mass. Finally, a preliminary optimal design of the 3D tube cellular core was carried out.

关键词： shallow-buried explosive sand blast test 3D tube cellular core sandwich panel numerical simulation

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一种装配式球形滚刀加工面齿轮精密展成滚齿方法（英文）

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Journal of Central South University 2019年第10期26卷 2704-2716页

作者：王延忠初晓孟赵文军王卓苏国营黄一展 School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China state key laboratory of smart manufacturing for special vehicles and transmission system Baotou 014030China

为了提高面齿轮加工精度和缩短滚齿加工周期,本文提出了一种装配式球形滚刀加工面齿轮精密展成滚齿方法。第一,分析了圆柱齿轮至球形滚刀基蜗杆演变机理,设计了球形滚刀基蜗杆,建立了球形滚刀基蜗杆和螺旋线方程。第二,基于已有的滚刀... 详细信息

为了提高面齿轮加工精度和缩短滚齿加工周期,本文提出了一种装配式球形滚刀加工面齿轮精密展成滚齿方法。第一,分析了圆柱齿轮至球形滚刀基蜗杆演变机理,设计了球形滚刀基蜗杆,建立了球形滚刀基蜗杆和螺旋线方程。第二,基于已有的滚刀设计方法,分析了装配式球形滚刀研制方法,设计了装配式球形滚刀刀齿和基体,完成了整体装配。第三,基于面齿轮滚齿加工的需求,开发了滚齿加工数控机床,建立了面齿轮齿面方程。第四,为了减少由等效安装误差引起的面齿轮加工误差,建立了误差分析模型,分析了各误差对面齿轮齿面的影响。最后,完成了球形滚刀装配和面齿轮滚齿试验。根据测量结果,调整面齿轮滚齿加工参数,齿面偏差得到显著降低。

关键词：面齿轮球形滚刀基蜗杆装配式球形滚刀误差分析滚齿加工

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Discerning Weld Seam Pro les from Strong Arc Background for the Robotic Automated Welding Process via Visual Attention Features

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Chinese Journal of Mechanical Engineering 2020年第1期33卷 170-181页

作者： Yinshui He Zhuohua Yu Jian Li Lesheng Yu Guohong Ma School of Environment and Chemical Engineering Nanchang UniversityNanchang 330031China School of Mechanical Engineering Key Laboratory of Lightweight and High Strength Structural Materials of Jiangxi ProvinceNanchang UniversityNanchang 330031China Institute of Technology.East China Jiao Tong University Nanchang 330100China

In the robotic welding process with thick steel plates,laser vision sensors are widely used to profile the weld seam to implement automatic seam *** weld seam profile extraction(WSPE)result is a crucial step for identifying the feature points of the extracted profile to guide the welding torch in real *** visual information processing system may collapse when interference data points in the image survive during the phase of feature point identification,which results in low tracking accuracy and poor welding *** paper presents a visual attention featurebased method to extract the weld seam profile(WSP)from the strong arc background using clustering ***,a binary image is obtained through the preprocessing ***,all data points with a gray value 255 are clustered with the nearest neighborhood clustering ***,a strategy is developed to discern one cluster belonging to the WSP from the appointed candidate clusters in each loop,and a scheme is proposed to extract the entire WSP using visual *** with the previous methods the proposed method in this paper can extract more useful details of the WSP and has better stability in terms of removing the interference *** WSPE tests with butt joints and T-joints show the anti-interference ability of the proposed method,which contributes to smoothing the welding process and shows its practical value in robotic automated welding with thick steel plates.

关键词： Weld seam profile extraction Visual attention features Clustering Robotic welding

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