A multi-body dynamics calculation model for air suspension guide mechanism of car is established, which analyses the motion model and its application of guide mechanism on car double wishbone independent suspension by...
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ISBN:
(纸本)9783037857106
A multi-body dynamics calculation model for air suspension guide mechanism of car is established, which analyses the motion model and its application of guide mechanism on car double wishbone independent suspension by using the basic theory of rigid body motion, and then carries out kinematics analysis to make the design work rational, simple and accurate. The establishment and optimized analysis of the structure parametric design model, which is used for the objective function of minimum variation of the caster angle, kingpin inclination angle, wheel camber, wheel toe-in angle and wheel tread, gets the reasonable and optimization design scheme of structureparameters for air suspension guide mechanism, and provides a theoretical basis for further improvement of this automobile suspension system.
Most bioinspired cable-driven continuum robots (CDCRs) usually employ a flexible backbone to realize the continuous deflection. For the CDCR to merely produce bending motions, its flexible backbone has to be designed ...
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Most bioinspired cable-driven continuum robots (CDCRs) usually employ a flexible backbone to realize the continuous deflection. For the CDCR to merely produce bending motions, its flexible backbone has to be designed with low bending stiffness but high tensile and torsion stiffness. In this article, a pattern-based design approach is employed for the flexible backbone, which adopts rectangle-shaped patterns inspired by elastic couplings. As it is rather difficult to derive accurate analytical stiffness models for such a pattern-based backbone structure with large nonlinear deflections, a novel data-driven stiffness modeling approach is proposed. The Gaussian process regression method is employed to train the stiffness model with respect to structureparameters of the backbone, while the dataset is generated through a commercial finite element analysis software package. To narrow the distribution of the training data and make the predicated stiffness values always positive, the natural logarithm transformation is utilized for data preprocessing, which significantly increases the accuracy of prediction results. The average errors of the bending, tensile, and torsion stiffness between simulation results and predicted results converge to 1.88%, 2.33%, and 2.11%, respectively. The particle swarm optimization algorithm is employed for the structure parameter optimization based on the data-driven stiffness model. The stiffness errors of the optimized flexible backbone between simulation results and experimental results are 5.19%, 19.09%, and 5.38%, respectively. Experimental results show that the average position repeatability and orientation repeatability of a CDCR are 0.8822 mm and 0.0046 rad and the CDCR can carry the 500 g payload.
The integration of redundant structures into robotic systems enhances the degrees of freedom (DOFs), flexibility, and capability to perform complex tasks. This study evaluates the mechanical performance of a 9-DOF ser...
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The integration of redundant structures into robotic systems enhances the degrees of freedom (DOFs), flexibility, and capability to perform complex tasks. This study evaluates the mechanical performance of a 9-DOF series-parallel hybrid redundant device designed for rehabilitation training of patients with balance disorders. The redundant structural design improves the robot's movement flexibility, optimizes load distribution, and mitigates stress concentration in local joints or components. To optimize the robot's overall structural parameters and reduce joint driving forces, a genetic algorithm (GA) was employed. A custom dataset was created by collecting motion-related data, including foot posture and position. The robot's mechanical characteristics were comprehensively analyzed, followed by simulation experiments. The results demonstrate that incorporating the redundant structure, along with the optimization of structural parameters, significantly enhances the robot's mechanical performance. This study provides a solid foundation for the functional development and control system design of rehabilitation robots, extending the capabilities of existing systems and offering a novel, reliable, and efficient therapeutic tool for patients with balance disorders.
It is well-known that nonsynchronous harmonics of a RF field can focus particles. In order to focus ultra-low energy beam particles, a spatially periodic electrostatic. field can be used, too. In this case the transve...
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It is well-known that nonsynchronous harmonics of a RF field can focus particles. In order to focus ultra-low energy beam particles, a spatially periodic electrostatic. field can be used, too. In this case the transverse focusing is provided by a periodic array of electrostatic lenses. This article is dedicated to questions of two high-current low-energy beam focusing types used in an injector-buncher of an ion linear accelerator, an application of a spatially periodic electrostatic focusing being examined for the. first time. A two-dimensional nonlinear motion equation is derived in the Hamiltonian form in a smooth approximation. It allows us to study a correlation between the longitudinal and transverse ion beam dynamics at low energies. An investigation of the phase and transverse beam dynamics stability conditions in the initial part of the linac are given consideration. Conditions of the beam dynamics stability are found and analyzed. An approach to the. field optimization problem is described. A method of the geometric parameter choice is worked out for a realization of the required. field distributions in each structure. To verify the results of the beam dynamics stability analysis and optimized structureparameter choice, numerical simulations of low-energy heavy-ion beams are carried out.
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