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2nd International Symposium on Application of Materials science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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Comfort degree of patients' rehabilitation training based on DSmT theory 2

Comfort degree of patients' rehabilitation training based on...

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2nd International Symposium on Application of Materials science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Niu, Baoshan Wang, Xincheng Li, Yafeng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling. © Published under licence by IOP Publishing Ltd.

关键词： Patient rehabilitation

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Finite element simulation and experimental test of the wear behavior for self-lubricating spherical plain bearings

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Friction 2018年第3期6卷 297-306页

作者： Yahong XUE Jigang CHEN Sumin GUO Qingliang MENG Junting LUO School of Mechanical Engineering Yanshan University Aviation Key Laboratory of Science and Technology on Generic Technology of Self-Lubricating Spherical Plain Bearing Yanshan University Education Ministry Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University

In this study, based on the classical Archard adhesion wear theory, a three-dimensional finite element model was established, with the aim of simulating the failure process of self-lubricating spherical plain bearings in the swinging wear condition. The results show that the self-lubricating spherical plain bearings go through two different stages during the wear process, namely, initial wear stage and stable wear stage. Because the large contact points wear out during the initial wear stage, the maximum contact pressure decreases as the test period increases. The relatively larger wear depth region shows elliptical distribution, and the maximum distribution appears in the central contact area. The wear depth reaches 0.974 mm after swinging 25,000 times. PTFE fibers, which possess a good friction performance but poor abrasion resistance, abundantly exist on the friction surfaces of the fabric liner. Consequently, the friction torque during the initial wear stage is slightly smaller than the friction torque during the stable wear stage; however, the wear rate during the initial wear stage is high. The reliability and effectiveness of the finite element model are verified by experiment. The developed finite element model can be used for the analysis of the wear mechanisms of bearings and the prediction of the service life of bearings.

关键词： spherical plain bearing wear mechanisms wear depth contact pressure simulation

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Higher-Order Kinematics Modeling of 3-RRS Parallel Mechanism Based on CGA

Research Square

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Research Square 2020年

作者： Wang, Chang Zhao, Tie-Shi Li, Er-Wei Zhao, Yan-Zhi Bian, Hui Geng, Ming-Chao Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Hebei University of Architecture Zhangjiakou075000 China

Higher-order kinematics of mechanisms has been applied in servo motor control, human-robot interaction and machinery life design fields, etc. The representations of acceleration and jerk by screws have been fully developed by researchers with the methods of the differential of the matrix representation of SE(3) group. Clifford algebra, which is tighter and with higher computational efficiency than the matrix method, is another representation of the motions of rigid bodies. It has been used in position kinematics, grub task motion planning, and robot vision for its convenience of geometric representations and calculations. As far as we know, the work of higher-order kinematics of mechanisms based on Clifford algebra is rare. First, after recalling the based theory of motion representation in conformal geometric algebra (CGA), the mathematical relationships between flag and motor are built. Second, a method for the higher-order kinematics modeling of serial chain mechanisms is proposed. Finally, the higher-order kinematics of the 3-RRS parallel mechanism is built to prove the correctness of the algorithm. This work further enriches the application of CGA for the higher-order kinematics modeling of parallel mechanisms. © 2020, CC BY.

关键词： Kinematics

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Study on relationship of intellectualization between hydraulic mobile machinery and hydraulic components 7

Study on relationship of intellectualization between hydraul...

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7th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019

作者： Xu, Yangzeng Liu, Siyuan Shanghai Hydraulics Pneumatics and Seal Industry Association Shanghai200000 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Hebei.Qinhuangdao066004 China MOE Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University China

ISBN: (纸本)9781728139050

This paper analyses the current situation of insufficient intellectualization of hydraulic system and component in the process of intellectualization of Engineering robots, and puts forward the way to develop hydraulic intelligent components. At the present the hydraulic intelligent components are still in the initiation period, the main requirements and means of product development are put forward in this paper. Emphasis is laid on the feasibility of implicit state space method as the core theory of hydraulic intelligent components, and a control algorithm of hydraulic components based on implicit state equation is proposed, which can realize the function of autonomous control. A parameter identification method based on the inverse operation of the above control algorithm is proposed, which can be used to construct a model-based intelligent fault diagnosis system for grey box identification, and for future use in the hydraulic technology. Fault diagnosis of hydraulic system and components are prospected. Hydraulic intelligent components are to be an agent. It continues to develop in application in intelligent construction machinery, and will inevitably open up a new practical application market in the development of digital twin technology. © 2019 IEEE.

关键词： State space methods

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Hydraulic bulging process with axial feedings and strain field of U-shaped metal bellows

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Journal of Central South University 2018年第11期25卷 2712-2721页

作者： HAO Zeng-liang XI Chen-yang HUANG Zhi-heng ZHANG Chun-xiang LUO Jun-ting Education Ministry Key Laboratory of Advanced Forging&Stamping Technology and Science Yanshan UniversityQinhuangdao 066004China State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao 066004China

Based on the traditional hydraulic bulging process,an improved hydraulic bulging process with axial feeding in the bulging process was *** finite element simulation and experiment of bellows formed by the traditional and improved hydraulic bulging processes were *** grid strain measurement system analysis results of strain and wall thickness distribution of the metal bellows,obtained from simulation and experiment,show that the maximum thinning rates of the wall thickness under the traditional and improved processes were 15%and 10%,*** the wall thickness distribution of the metal bellows formed with improved process was more *** strain values from the root to crown of the waveform increased ***,the strain values were smaller than those of traditional process due to the axial feeding of the improved process in bulging process.

关键词： hydraulic bulging process finite element simulation thinning rate of wall thickness grid strain measurement system

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Optimization design and application of material transfer device based on DEM 7

Optimization design and application of material transfer dev...

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7th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019

作者： Xu, Yangsheng Zhang, Chunhui Zhao, Jingyi Li, Wenlei Qin, Yalu Lin, Jishen Port Machinery Co. Ltd. Hebei Port Group Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9781728139050

Aimed at the problems of plugging material, off-load of the boom belt, scattering material and wear of equipment, the model of material transfer process is analyzed theoretically, providing theoretical basis for the design of the head hopper and the curve chute in the material transfer device. The optimization design of traditional transfer device is carried out through 3D modeling and discrete element method (DEM) simulation analysis. The results show that the optimized transfer device has a good field application effect and effectively solves transfer point common problems of such as plugging material, scattering material and off-load of the boom belt, providing reference for the design and application of similar products? © 2019 IEEE.

关键词： 3D modeling

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Mobility Analysis of Novel Deployable Mechanism Based on Tetrahedral Element

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第12期55卷 9-18页

作者： Guo, Jinwei Xu, Yundou Liu, Wenlan Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The DOF (degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism. © 2019 Journal of Mechanical Engineering.

关键词： Degrees of freedom (mechanics)

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Evolution analysis of key mechanical properties during the forming process of JCOE and JCOC pipes and its influence on collapse failure

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Ocean Engineering 2025年 335卷

作者： Shaocong Qi Guoyi Shen Xihai Liu Wanlin Cheng Ruixue Zhai Qingdang Meng Jun Zhao Gaochao Yu Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China Hebei Huayang Steel Pipe Co. Ltd Cangzhou 061403 China Hebei Yadu Pipeline Equipment Co. Ltd Cangzhou 061300 China Department of Mechanical Engineering Imperial College London London SW7 2AZ UK

The LSAW pipes are main trunk pipes for offshore oil and gas energy development. Enhancing the buckling resistance performance of submarine pipes and accurately evaluating its collapse pressure are research priorities. This study analyzes for the first time the evolution of residual stress and compressive strength during the full-process forming of JCOE and JCOC pipes, and reveals the influence mechanism of mechanical properties on collapse. The yield plateau phenomenon and variable elastic modulus behavior of X65 steel were described by modifying Chaboche model. A theoretical model for the evolution of mechanical properties during JCO forming, expansion, and compression processes were established. The full-process forming and collapse simulations were conducted. The experimental and theoretical yield stresses have good consistency. The calibration ratio and t / D ratio are key factors affecting the yield stress and residual stress. Compared with JCOE pipes, JCOC pipes have lower residual stress but higher compressive strength. Within calibration ratio range of ±0.4 % to ±1.0 %, residual stress is the main factor affecting collapse. As the calibration ratio increases, residual stress improves and compressive yield stress becomes a key factor. This study is of great significance for the forming and buckling analysis of pipelines.

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Teeth profile parameter design and transmission property analysis of external generating wave movable teeth transmission

Teeth profile parameter design and transmission property ana...

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19th International Conference of Fluid Power and Mechatronic Control Engineering 2018

作者： Yi, Yali Gao, Yunfei Wei, Rui Jin, Herong College of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China

A highly efficient integrated transmission unit - external generating wave movable teeth transmission − was proposed and two kinds of typical transmission types were researched. Fixed and moving coordinate systems were established based on movable teeth transmission theory. On the basis of the profile of a wave generator, the teeth profile equations of ring gear were deduced by using the transform matrix and profile enveloping principle. The effects of the teeth number of the ring gear, generating wave coefficient, and tooth profile coefficient on the profile of the ring gear were investigated. The formula for calculating curvature radius of the ring gear was given. The pressure angle formulas were deduced, and the change rule of the pressure angle extremum was researched to obtain a continuous transmission condition. The relationship between design parameters and performance effect was analysed based on the analysis of the curvature and pressure angle. The results show that the transmission precision reached 97.67%, and the proper design parameters could guarantee transmission performance. Those researches lay a theoretical foundation for the design and application of an external generating wave movable teeth title. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Gear teeth

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