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International Conference on advanced Materials and Engineering Materials, ICAMEM 2016

作者： Jin, Herong Yang, Xukun Cui, Youwei Yi, Yali Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9783038357018

The effect of heat treatment on microstructure and properties of Q345R/304 clad plate was studied. The microstructure of the base layer was analyzed by metallographic microscope and scanning electron microscope, and mechanical properties such as tensile, shear and impact were investigated after heat treatment. The chromium content in the compound interface was analyzed after heat treatment through spectrum analysis technology. The results show that heat treatment affects the mechanical properties and corrosion resistance of stainless clad plate significantly. After air cooling, the microstructure of the base layer consi+sts of ferrite and pearlite, the strength of clad plate is low, and the corrosion resistance is poor. After oil cooling to 450°C and air cooling, the microstructure of the base layer consists of bainite, ferrite and a small amount of pearlite. The strength and plasticity of clad plate can meet the application requirements and the corrosion resistance is excellent as well. © 2016 Trans Tech Publications, Switzerland.

关键词： Microstructure

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Combining gait research of the quadruped/biped reconfigurable walking chair with parallel leg mechanism

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4th International Conference on Social Robotics, ICSR 2012

作者： Hu, Xing Wang, Hongbo Sang, Lingfeng Gu, Qifang Yuan, Lin School of Mechanical and Electrical Engineering Xi'an University of Architecture and Technology Xi'an Shanxi 710055 China Ministry of Education Key Laboratory of Advanced Forging Technology and Science Hebei Province Key Laboratory of Parallel Robot and Mechatronics Systems Yanshan University Qinhuangdao Hebei 066004 China Department of Computer Wuxi City College of Vocational Technology Wuxi 214063 China

ISBN: (纸本)9783642341021

The quadruped/biped reconfigurable walking robot with parallel leg mechanism can realize not only the quadruped walking, but also the biped walking. The converting process from the quadruped to the biped includes locking the vertical revolute pair hinged with the upper platform and combining the corresponding lower platforms. Based on the previous study, the combining schemes of walking chair are researched in this paper, and then the correctness of the combining schemes is analyzed by using the position workspace of the swing leg and the body mechanism in different states which are obtained by the MATLAB software and anti-solution search method. Compared with the stability margin and the adjustment coordination of the body in the different combining schemes, the optimal combining gaits of walking chair are selected, which lays the theoretical foundation for the quadruped/biped converting control of walking chair. © 2012 Springer-Verlag.

关键词： MATLAB

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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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Multi-PID controller parameters optimization of fast forging hydraulic press based on GA

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2016年第8期47卷 2650-2660页

作者： Zhao, Jinsong Zhang, Yang Cao, Xiaoming Yao, Jing Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

Parameters optimization method of multi-PID controller based on improved genetic algorithm was presented in response to the mismatch problems between PID parameters and working conditions and the improvement in forging precision. The expert database of parameter adjustment was established for different working conditions to optimize speed forging hydraulic press control characteristics. Firstly, the mathematical model of electro-hydraulic servo system controlled independently by Four-channel-load ports was founded based on the mechanism modeling method. On this basis, the identification experiment based on 0.6 MN fast forging hydraulic press electro-hydraulic servo system experimental platform was completed. Secondly, the parameters of PID controller were optimized by improved genetic algorithm under different working conditions, and the effectiveness of the genetic algorithm was analyzed via simulation. Finally, the control effect of optimized PID was verified on 0.6 MN fast forging hydraulic press electro-hydraulic servo system experimental platform. The results show that multi-PID controller optimized by genetic algorithm makes forging precision of fast forging hydraulic press system improved to ±1 mm, which can widely improve the adaptability in different work conditions. © 2016, Central South University press. All right reserved.

关键词： Controllers

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Profile Division and Programmatic Modeling of Tetrahedral Truss Deployable Antennas

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第12期30卷 1400-1408页

作者： Han, Bo Xu, Yundou Guo, Luyao Zhang, Shuo Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

Tetrahedral truss deployable antennas were studied, and a simple profile division method was proposed. Based on MATLAB and SOLIDWORKS, a programmatic modeling method was proposed. Custom software development for SOLIDWORKS was completed by VBA programming language, and visual operation interfaces were designed. Two examples of deployable antenna mechanisms were used to verify the correctness of the profile division method and the programmatic modeling processes. The proposed profile division method proposed herein is simple and the quality of the profile mesh is good, the method of programmatic modeling is convenient and quick to model the antenna mechanisms, and the overall design efficiency is greatly improved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： MATLAB

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Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism

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Binggong Xuebao/Acta Armamentarii 2020年第4期41卷 810-821页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Li, Yongjie Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program. © 2020, Editorial Board of Acta Armamentarii. All right reserved.

关键词： Screws

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Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

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IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control Robot sensing systems

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Embodied water analysis for Hebei Province, China by input-output modelling

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Frontiers of Earth science 2018年第1期12卷 72-85页

作者： Siyuan LIU Mengyao HAN Xudong WU Xiaofang WU Zhi LI Xiaohua XIA Xi JI Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao 066004 China Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China College of Engineering Peking University Beijing 100871 China School of Economics Renmin University of China Beijing 100872 China School of Economics Peking University Beijing 100871 China

With the accelerating coordinated development of the Beijing-Tianjin-Hebei region, regional eco- nomic integration is recognized as a national strategy. As water scarcity places Hebei Province in a dilemma, it is of critical importance for Hebei Province to balance water resources as well as make full use of its unique advantages in the transition to sustainable development. To our knowledge, related embodied water accounting analysis has been conducted for Beijing and Tianjin, while similar works with the focus on Hebei are not found. In this paper, using the most complete and recent statistics available for Hebei Province, the embodied water use in Hebei Province is analyzed in detail. Based on input-output analysis, it presents a complete set of systems accounting framework for water resources. In addition, a database of embodied water intensity is proposed which is applicable to both intermediate inputs and final demand. The result suggests that the total amount of embodied water in final demand is 10.62 billion m3, of which the water embodied in urban household consumption accounts for more than half. As a net embodied water importer, the water embodied in the commodity trade in Hebei Province is 17.20 billion m3. The outcome of this work implies that it is particularly urgent to adjust industrial structure and trade policies for water conservation, to upgrade technology and to improve water utilization. As a result, to relieve water shortages in Hebei Province, it is of crucial importance to regulate the balance of water use within the province, thus balancing water distribution in the various industrial sectors.

关键词： input-output analysis Hebei Province embo-died water embodied water intensity

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Correlation between Zener-Hollomon parameter and DRX critical parameters of a Fe-Cr-Ni super austenitic stainless steel during hot deformation

Correlation between Zener-Hollomon parameter and DRX critica...

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4th International Conference on Engineering Materials, Energy, Management and Control, MEMC 2014

作者： Hu, Chao Bei Guo, Bao Feng Zhang, Yong Tao Jin, Miao Yang, Guan Qiang Ma, Ming Fang Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao Hebei 066004 China Shanghai Dianji University School of Mechanical Engineering Shanghai 200245 China Shanghai Heavy Machinery Plant Co. Ltd. Shanghai 200245 China

ISBN: (纸本)9783038351610

Calculation of the critical condition for the initiation of DRX is of considerable interest for the modeling of industrial processes but it strongly depends on the chemical composition of the material, the grain size prior to deformation, and the deformation conditions (T and Ε). This paper was therefore to show an approach that allows for accurate but convenient identification of the occurrence of DRX. For a Fe-Cr-Ni super stainless steel, the results show that there is a linear relationship between σc and lnZ (σc = 457.26 - 12.52lnZ). In addition, within the entire range of temperature and strain rate studied, it can be found that the values of both σc, and σp, or Εc, and Εpkeep similar variation trends, respectively. Finally, it was found that the critical ratios of both σc/σp and Εc/Εp remain fairly constant (≈0.92 and ≈0.47, respectively). © (2014) Trans Tech Publications, Switzerland.

关键词： Strain rate

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Hydraulic Pump Fault Multi Information Sensitivity Analysis Based on the Vibration Intensity

Hydraulic Pump Fault Multi Information Sensitivity Analysis ...

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第六届工程机械与车辆工程新进展国际学术会议

作者： Li Xiao-ming Liu Si-yuan Zhang Jian-jiao Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Scienc(Yanshan University)e Ministry of Education of China Yanshan University

Due to the fuzziness and incompleteness of hydraulic pump single fault signal,sometimes we cannot accurately assess the working state of hydraulic *** extracting the characteristic vector

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