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NEW APPROACHES FOR COMPUTING DYNAMIC LOAD-CARRYING CAPACITY OF MULTIPLE COOPERATING ROBOTIC MANIPULATORS

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Chinese Journal of Mechanical Engineering 1998年第2期11卷 67-72页

作者： Yang Yulin Lu Ling Zhao Yongsheng Zhou Yulin yanshan university yanshan univ China

A novel unified method for computing the dynamic load carrying capacity(DLCC) of multiple cooperating robotic manipulators is *** this method,the kinematic constraints and the governing dynamic equations of the multiple robot system are formulated in the joint space by using the method of transference of dependence from one set of generalized coordinates to another,and the virtual work principle,which includes the readily available dynamics and joint torques of individual manipulators,and the dynamic of *** on this dynamic model,the upper limit of the DLCC at any points on a given trajectory is obtained by solving a small size linear programming *** method is conceptually straightforward,and it is applicable also to the cases of multi fingered robot hands and multi legged walking machines.

关键词： Robotic manipulators Cooperating Dynamics Load carrying capacity

NUMERICAL SIMULATION FOR SHAPE OF COLD ROLLING ALUMINUM STRIP ON 4-HIGH MILL WITH ROLL SHIFTED

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中国有色金属学会会刊：英文版 1998年第3期8卷 30-36页

作者： Hongxu, Wang Jianjun, Liu Jiachuang, Lian Junbo, Liu yanshan univ Qinhuangdao China

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关键词： mill with roll shifted least square and collocation method variation method shape

DESIGN OF 6-AXIS FORCE/TORQUE SENSOR BASED ON STEWART PLATFORM RELATED TO ISOTROPY

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Chinese Journal of Mechanical Engineering 1998年第3期11卷 54-59页

作者： Wang, Hongrui Gao, Feng Huang, Zhen yanshan univ China

A model of the solution space for all the sensor mechanisms based on the Stewart platform is established, which is a novel and useful tool for investigation of the optimal sensor design. A kind of performance evaluation atlases are plotted within the model of the solution space, which clearly show relationships between the condition number of Jacobjan matrix and parameters of all the sensor mechanisms. By using the performance atlases, an optimal design for the sensor mechanism can be achieved. Because the elastic joints are proposed for replacing the spherical joints, the Stewart platform based sensor can be designed as small as possible.

关键词： Steward platform Sensor Isotropy

DEVELOPMENT OF DC MILL——WITH WORK ROLLS DEVIATED AND CROSSED

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Chinese Journal of Mechanical Engineering 1998年第4期11卷 47-52页

作者： Liu Yuli Jin Xiaoguang Lian Jiachuang Kong Xiangdong (yanshan university) yanshan univ China

A new type of 4 high strip mill is developed, in which gauge and shape are combinatively controlled by work roll deviating and crossing. The neewly developed 300 mm 4 h mill and its control system are introduced. Both static and dynamic experiments as well as theoretical study are carried out to verify the advantages and the combined shape and gauge control function of this new mill.

关键词： DC mill Shape Control

EXPERIMENT STUDY ON CONSOLIDATING EFFECT OF LOOSE STRUCTURE IN HEAVY INGOT

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Chinese Journal of Mechanical Engineering 1998年第1期11卷 24-29页

作者： Li, Weimin Qin, Siji Xu, Jisheng yanshan univ China

Experiments on consolidating process and mechanism of internal loose structures in heavy ingots are studied by taking stretching technology as example Considering various detecting indexes,the equivalent relationships of forging ratios which are required by different forging processes with parameters are *** experimental methods and basis can be provided for the studying the of forging heavy ingots

关键词： Consolidation of loose structure Ingot Simulation experiment

THREE DIMENSIONAL ELASTO-PLASTIC CONTACT BOUNDARY ELEMENT ANALYSIS FOR ROLLING WITH CONSIDERATION OF FRICTION

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Chinese Journal of Mechanical Engineering 1998年第1期11卷 63-69页

作者： Xiao, Hong Chen, Yiming Shen, Guangxian Aizawa, Tatsuhiko Kihara, Junji yanshan univ China

The boundary element method in framework is given to evaluate three dimensional frictional contact problems. Elasto plastic material behavior is taken into account by mean of an initial stress formulation and Von Mises yield criterion. The amount of tangential traction at contact surface is limited by Coulomb's friction law and constant shear rule. From some numerical results of a plate rolling problem, it is demonstrated here that the BEM can be used to efficiently and accurately analyze this class of forming problems.

关键词： Strip Rolling Boundary element method Elasto plasticity Contact Friction

FINITE ELEMENT ANALYSIS OF TRASINENT TWO DIMENSIONAL CHANNEL FLOW WITH A SUDDEN EXPANSION

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Chinese Journal of Mechanical Engineering 1999年第4期12卷 270-275页

作者： Gao Dianrong Zhao Yongkai Wang Yiqun (yanshan university) yanshan univ China

The finite element method is employed to simulate incompressible viscous unsteady flow in two dimensional channel with a sudden expansion. The streamline patterns and the velocity vector plots are presented at different expansion ratios and at different moment. The results obtained have certain significance to analyze the formation of eddies and energy loss in a sudden expansion channel flow and other complex channel flow.

关键词： Sudden expansion channel Finite element method Streamline Velocity Energy loss

Effects of Ni-Cr Based Alloys on the Fiber MetallurgyCharacteristics of Short Cast Iron Fibers

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Journal of Materials Science & Technology 1995年第4期11卷 287-290页

作者： HE, JL YU, DL ZHANG, M TIAN, YG CHEN, SZ LI, DC yanshan univ Qinhuangdao China

The liquid sintering characteristics have been studied in the sintered compacts of short cast iron fibers added with Ni-Cr based alloy powder at the sintering temperature of 1100 degrees C. With the increase of Ni-Cr based alloy content, the microstructure of sintered compact of short cast iron fibers transformed from pearlite + ferrite to martensite + austenite, meanwhile volume expansion appeared in the sintered compact, leading to more pores. The proper addition of P-Fe powder could restrain the expansion of the sintered compact and increase the strength and hardness of the sintered compact.

关键词： Synthetic fibers

EXPERIMENTAL STUDY ON INFLUENCE OF SUPPLIED PRESSURE FLUCTUATION ON OUTPUT ARACTERISTIC OF PRESSURE CONTROL SYSTEM OF ROLLING MILL

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Chinese Journal of Mechanical Engineering 1998年第2期11卷 73-79页

作者： Zhao Jingyi Li Jiutong Wang Yiqun yanshan university yanshan univ China

The infulence of supplied pressure fluctuation on output accuracy for the electro hydraulic pressure control system of the rolling mill is *** on the bond graph theory and experimental study,the relationship between the variation of system output pressure and the supplied pressure fluctuation and the influence of the system bandwidth on system output pressure are provided.A theoretical base for determining the allowable fluctuation range of pressure and accurate design of constant pressure source system is obtained.

关键词： Pressure fluctuation Pressure control system Bond graph