This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force...
This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.
Rolling deformation results in the transformation of a lath martensite structure to a lamellar structure characteristic to that of IF steel cold-rolled to medium and high strains. The structural transition takes place...
Rolling deformation results in the transformation of a lath martensite structure to a lamellar structure characteristic to that of IF steel cold-rolled to medium and high strains. The structural transition takes place from low to medium strain, and electron backscatter diffraction analysis shows that the frequency of medium angle boundaries with misorientation angles of 5-10° decreases with increasing strain, while the frequencies of boundaries with angles in the ranges of 1-5° and 10-25° increase, resulting in the evolution of a bimodal misorientation angle distribution. The microstructural evolution and the strength are characterized for lath martensite rolled to a thickness reduction of 30%, showing that large changes in the misorientation take place, while the strain hardening rate is low.
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 mec...
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.
The complex castings used in major equipment in industries such as aerospace, automotive, rail transportation, and engineering machinery are prone to defects such as porosity, deformations, and inclusions due to the c...
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The complex castings used in major equipment in industries such as aerospace, automotive, rail transportation, and engineering machinery are prone to defects such as porosity, deformations, and inclusions due to the coupling effects and fluctuations of key process parameters. This leads to common problems such as "key quality points exceeding standards" and large quality fluctuations, seriously affecting the reliability and stability of major equipment manufacturing products. In this paper, a systematic study on the model-method-technology of typical defect quality big data was conducted. Firstly, relevant models were constructed, such as the single piece quality tracing model, the multi-source heterogeneous information fusion model, the model of production parameters and intrinsic relationship of typical defects, and the model of comprehensive element time-varying disturbance and defect evolution mapping. Then, five key technologies were developed, including high-precision and efficient online monitoring and prediction of typical defects, tracing the causes of quality problems in multiple links, and quality control based on the relationship between production fluctuations and metallurgical defect evolution. Based on the above research, data collection, cleaning, mining, sensitivity analysis, and relationship modeling algorithms were established for the casting production process. Special core algorithms for predicting defects such as shrinkage, looseness, and gas entrapment were proposed, achieving high-precision prediction of typical defects. A "1+N" quality big data analysis software and hardware integrated platform was developed. After applying the integrated platform to the five major industries of aerospace, automotive, rail transportation, engineering machinery, and aerospace industries, the results showed an accuracy of quality prediction of ≥80% and a reduction in defects of ≥ 30%, leading to the formulation of solutions and key demonstrations in these indu
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....
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.
To predict the flow behavior and identify the optimal hot processing window for A100 steel, a constitutive model and a hot processing map were established using true stress-strain data extracted from isothermal compre...
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The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The ...
The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The seven pass hot rolling process of stainless steel clad plate was simulated by numerical simulation. By contrasting the vertical stress and the deformation resistance of cladding layer, the rolling reduction rate satisfying interface bonding was obtained. The grain distribution at the center of the substrate layer was analyzed and reasonable hot rolling reduction rates were selected considering their effects on the recrystallization volume percent and the grain size. The results show that the grain size decreases with the increase of reduction rate. However, too much reduction rate will decrease the rate of recrystallization volume percent and the refining effect of grain is not obvious. To ensure uniform grain size distribution, it is most reasonable to set the rolling temperature to 1150°C and the reduction rate to 50%.
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