查看更多>>摘要：The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investi-gates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic charac-teristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.
查看更多>>摘要：The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical struc-ture of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the require-ments of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion require-ments of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.
查看更多>>摘要：Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet metal.However,there are different BHFs maintaining the best forming effect in different stages of deep drawing.The variable blank holder force(VBHF)varying with the drawing stage can overcome this problem at an extent.The optimization of VBHF is to determine the optimal BHF in every deep drawing stage.In this paper,a new heuristic optimization algorithm named Jaya is introduced to solve the optimization efficiently.An improved"Quasi-opposi-tional"strategy is added to Jaya algorithm for improving population diversity.Meanwhile,an innovated stop criterion is added for better convergence.Firstly,the quality evaluation criteria for wrinkling and tearing are built.Secondly,the Kriging models are developed to approximate and quantify the relation between VBHF and forming defects under random sampling.Finally,the optimization models are established and solved by the improved QO-Jaya algorithm.A VBHF optimization example of component with complicated shape and thin wall is studied to prove the effectiveness of the improved Jaya algorithm.The optimization results are compared with that obtained by other algorithms based on the TOPSIS method.
查看更多>>摘要：Improvement of fabrication efficiency and part performance was the main challenge for the large-scale powder bed fusion(PBF)process.In this study,a dynamic monitoring and feedback system of powder bed temperature field using an infrared thermal imager has been established and integrated into a four-laser PBF equipment with a working area of 2000 mm × 2000 mm.The heat-affected zone(HAZ)temperature field has been controlled by adjusting the scan-ning speed dynamically.Simultaneously,the relationship among spot size,HAZ temperature,and part performance has been established.The fluctuation of the HAZ temperature in four-laser scanning areas was decreased from 30.85 ℃ to 17.41 ℃.Thus,the consistency of the sintering performance of the produced large component has been improved.Based on the controllable temperature field,a dynamically adjusting strategy for laser spot size was pro-posed,by which the fabrication efficiency was improved up to 65.38％.The current research results were of great significance to the further industrial applications of large-scale PBF equipment.
查看更多>>摘要：On-site and real-time non-destructive measurement of elastic constants for materials of a component in a in-service structure is a challenge due to structural complexities,such as ambiguous boundary,variable thickness,nonuniform material properties.This work develops for the first time a method that uses ultrasound echo groups and artificial neural network(ANN)for reliable on-site real-time identification of material parameters.The use of echo groups allows the use of lower frequencies,and hence more accommodative to structural complexity.To train the ANNs,a numerical model is established that is capable of computing the waveform of ultrasonic echo groups for any given set of material properties of a given structure.The waveform of an ultrasonic echo groups at an interest loca-tion on the surface the structure with material parameters varying in a predefined range are then computed using the numerical model.This results in a set of dataset for training the ANN model.Once the ANN is trained,the mate-rial parameters can be identified simultaneously using the actual measured echo waveform as input to the ANN.Intensive tests have been conducted both numerically and experimentally to evaluate the effectiveness and accuracy of the currently proposed method.The results show that the maximum identification error of numerical example is less than 2％,and the maximum identification error of experimental test is less than 7％.Compared with currently prevailing methods and equipment,the proposefy the density and thickness,in addition to the elastic constants.Moreover,the reliability and accuracy of inverse prediction is significantly improved.Thus,it has broad applications and enables real-time field measurements,which has not been fulfilled by any other available methods or equipment.
查看更多>>摘要：Predictive maintenance has emerged as an effective tool for curbing maintenance costs,yet prevailing research predominantly concentrates on the abnormal phases.Within the ostensibly stable healthy phase,the reliance on anomaly detection to preempt equipment malfunctions faces the challenge of sudden anomaly discernment.To address this challenge,this paper proposes a dual-task learning approach for bearing anomaly detection and state evaluation of safe regions.The proposed method transforms the execution of the two tasks into an optimiza-tion issue of the hypersphere center.By leveraging the monotonicity and distinguishability pertinent to the tasks as the foundation for optimization,it reconstructs the SVDD model to ensure equilibrium in the model's performance across the two tasks.Subsequent experiments verify the proposed method's effectiveness,which is interpreted from the perspectives of parameter adjustment and enveloping trade-offs.In the meantime,experimental results also show two deficiencies in anomaly detection accuracy and state evaluation metrics.Their theoretical analysis inspires us to focus on feature extraction and data collection to achieve improvements.The proposed method lays the foundation for realizing predictive maintenance in a healthy stage by improving condition awareness in safe regions.
查看更多>>摘要：This paper proposes a modified iterative learning control(MILC)periodical feedback-feedforward algorithm to reduce the vibration of a rotor caused by coupled unbalance and parallel misalignment.The control of the vibration of the rotor is provided by an active magnetic actuator(AMA).The iterative gain of the MILC algorithm here presented has a self-adjustment based on the magnitude of the vibration.Notch filters are adopted to extract the synchronous(1×Ω)and twice rotational frequency(2×Ω)components of the rotor vibration.Both the notch frequency of the filter and the size of feedforward storage used during the experiment have a real-time adaptation to the rotational speed.The method proposed in this work can provide effective suppression of the vibration of the rotor in case of sudden changes or fluctuations of the rotor speed.Simulations and experiments using the MILC algorithm proposed here are carried out and give evidence to the feasibility and robustness of the technique proposed.
查看更多>>摘要：The current research of Charpy impact mainly focuses on obtaining the ductile brittle transition temperature of mate-rials by experiments.Compared with experiments,numerical simulation can study many problems with harsh conditions.However,there are still few studies on the influence of geometric factors such as side grooves.In this paper,the geometry of standard Charpy impact test is designed.Specimens with different widths and side grooves are tested.The finite element model of Charpy impact was established by ABAQUS software.Use test results and simulation results to verify each other.The effects of sample width,side groove depth and side groove bot-tom fillet on the impact fracture resistance of the sample were studied.The results show that the specimen width is positively correlated with the impact toughness of the specimen.The side groove greatly reduces the impact toughness of the material;the toughness of side groove decreases with the increase of depth;the fracture toughness of side groove decreases with the increase of fillet at the bottom of side groove.The proportion of toughness energy to impact energy of samples was analyzed.The results show that the toughness energy accounts for about 70％of the impact energy of the sample,which has little to do with the geometric characteristics of the sample.This study presents a reliable method for studying Charpy impact tests.The influence of geometric parameters is obtained,which provides a reference method for the study of impact toughness of high toughness materials.
查看更多>>摘要：For dissimilar metal welds(DMWs)involving nickel-based weld metal(WM)and ferritic heat resistant steel base metal(BM)in power plants,there must be an interface between WM and BM,and this interface suffers mechani-cal and microstructure mismatches and is often the rupture location of premature failure.In this study,a new form ofWM/BM interface form,namely double Y-type interface was designed for the DMWs.Creep behaviors and life of DMWs containing double Y-type interface and conventional l-type interface were compared by finite element analysis and creep tests,and creep failure mechanisms were investigated by stress-strain analysis and microstructure characterization.By applying double Y-type interface instead of conventional l-type interface,failure location of DMW could be shifted from the WM/ferritic heat-affected zone(HAZ)interface into the ferritic HAZ or even the ferritic BM,and the failure mode change improved the creep life of DMW.The interface premature failure of Ⅰ-type interface DMW was related to the coupling effect of microstructure degradation,stress and strain concentrations,and oxide notch on the WM/HAZ interface.The creep failure of double Y-type interface DMW was the result of Type Ⅳ fracture due to the creep voids and micro-cracks on fine-grain boundaries in HAZ,which was a result of the matrix soften-ing of HAZ and lack of precipitate pinning at fine-grain boundaries.The double Y-type interface form separated the stress and strain concentrations in DMW from the WM/HAZ interface,preventing the trigger effect of oxide notch on interface failure and inhibiting the interfacial microstructure cracking.It is a novel scheme to prolong creep life and enhance reliability of DMW,by means of optimizing the interface form,decoupling the damage factors from WM/HAZ interface,and then changing the failure mechanism and shifting the failure location.
查看更多>>摘要：Non-penetration laser welding of lap joints in austenitic stainless steel sheets is commonly preferred in fields where the surface quality is of utmost importance.However,the application of non-penetration welded austenitic stainless steel parts is limited owing to the micro bulging distortion that occurs on the back surface of the partial penetration side.In this paper,non-penetration lap laser welding experiments,were conducted on galvanized and SUS304 austenitic stainless steel plates using a fiber laser,to investigate the mechanism of bulging distor-tion.A comparative experiment of DC01 galvanized steel-Q235 carbon steel lap laser welding was carried out,and the deflection and distortion profile of partially penetrated side of the sheets were measured using a non-contact laser interferometer.In addition,the cold-rolled SUS304 was subjected to heat holding at different tempera-tures and water quenching after bending to characterize its microstructure under tensile and compressive stress.The results show that,during the heating stage of the thermal cycle of laser lap welding,the partial penetration side of the SUS304 steel sheet generates compressive stress,which extrudes the material in the heat-affected zone to the outside of the back of the SUS304 steel sheet,thereby forming a bulge.The findings of these experiments can be of great value for controlling the distortion of the partial penetrated side of austenitic stainless steel sheet dur-ing laser non-penetration lap welding.
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