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Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

Chinese Journal of Mechanical Engineering 2016年第4期29卷 694-702页

作者： XU Yundou ZHANG Dongsheng WANG Min YAO Jiantao ZHAO Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Library Yanshan University

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic *** is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application ***,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two ***,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically ***,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two *** different distributions of the constraint forces in each branch are also *** the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are *** the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

关键词： type synthesis continuous rotational axes two rotational degrees of freedom parallel mechanism constraint force

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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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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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Prediction of Critical Conditions for Dynamic Recrystallization in 316LN Austenitic Steel

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Journal of Iron and Steel Research International 2016年第3期23卷 238-243页

作者： Xin-gang LIU Li-ge ZHANG Rong-sheng QI Lei CHEN Miao JIN Bao-feng GUO Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University Library Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

Hot compression experiments conducted on a Gleeble-3500thermo-mechanical simulator and metallographic observation tests were employed to study the critical conditions of dynamic recrystallization（DRX）of 316 LN austenitic stainless *** true stress-true strain curves of 316 LN were obtained at deformation temperatures ranging from 900℃to 1 200℃and strain rates ranging from 0.001s-1 to *** on the above tests,the critical conditions of DRX were determined and compared with those obtained from work-hardening theory and the Cingara-McQueen flow stress ***,the microstructure was observed to validate the calculated *** ratio of critical strain to peak strain（εc/εp）for 316 LN was determined,and the quantitative relationship between the critical strain and the deformation parameters of 316 LN was *** results demonstrated that the onset of DRX corresponds to the constant normalized strain hardening rate（Γ）,namely,the critical strain hardening rateΓcfor316LN is equal to 0.65.

关键词： 316LN austenitic stainless steel hot deformation dynamic recrystallization critical condition

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Study on Feature Extraction of Fault Vibration Signal of Hydraulic Pump Under Square-wave Loading Condition

Study on Feature Extraction of Fault Vibration Signal of Hyd...

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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： Zhang Jian-jiao Zhang Geng-xin Yang Meng-xue Liu Si-yuan 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

The change of load will cause the hydraulic pump shaft drive motor speed to fluctuate,it will cause the vibration characteristics caused by hydraulic pump fault to change when the fluctuation is exces

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Influence Analysis of Strong Impact Load on Load-bearing Characteristics of Swash Plate Pump Slipper Pair

Influence Analysis of Strong Impact Load on Load-bearing Cha...

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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： J.X.Liu S.Y.Liu G.X.Zhang 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

The strong impact load is one of the main reasons of slipper pair wear of swash plate pump,which seriously affects the load-bearing characteristics of slipper pair and service life of swash plate pump

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Stiffness analysis of a planar 3-RPS parallel manipulator

Lecture Notes in Mechanical Engineering

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Lecture Notes in Mechanical Engineering 2017年 13-28页

作者： Hu, Bo Song, Chunxiao Li, Bo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei066004 China

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM. © Springer International Publishing Switzerland 2017.

关键词： Stiffness

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Study on co-simulation model of forging manipulator based on virtual prototyping

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High technology Letters 2016年第2期22卷 128-134页

作者：翟富刚 Zhu Hanyin Wu Qilei Kong Xiangdong School of Mechanical Engineering Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University

Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been built using a variety of software, and a forging manipulator mtrltidisciplinary co- simulation model has been also built using a method of simulation models interface. Then the simu- lation and experiment are finished, and the result of the experiment is in good agreement with the re- sult of the simulation. It shows that the co-simulation model established can simulate accurately pa- rameter changes in real time during the moving of the forging manipulator such as displacement, ve- locity and pressure flow, which is of important significance for the optimized design of the forging manipulator system to establish the models.

关键词： forging manipulator virtual prototype co-simulation control characteristics

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Simulation and Experimental Research of Digital Valve Control Servo System Based on CMAC-PID Control Method

Simulation and Experimental Research of Digital Valve Contro...

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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： ZHAO Jin-song ZHAO Zi-ning WANG Zhi-peng ZHANG Chuan-bi YAO Jing Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China School of Mechanical Engineering Yanshan University

Digital valve control servo system is studied in this *** order to solve the system problems of poor control precision and slow response time,this paper proposes a CMAC-PID(Cerebellar model artic

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Dynamic Topology Multi Force Particle Swarm Optimization Algorithm and Its Application

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Chinese Journal of Mechanical Engineering 2016年第1期29卷 124-135页

作者： CHEN Dongning ZHANG Ruixing YAO Chengyu ZHAO Zheyu 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 (Yanshan University) Ministry of Education of China Qinhuangdao 066004 China Hebei Provincial Key Laboratory of Industrial Computer Control Engineering Yanshan University Qinhuangdao 066004 China

Particle swarm optimization （PSO） algorithm is an effective bio-inspired algorithm but it has shortage of premature convergence. Researchers have made some improvements especially in force rules and population topologies. However, the current algorithms only consider a single kind of force rules and lack consideration of comprehensive improvement in both multi force rules and population topologies. In this paper, a dynamic topology multi force particle swarm optimization （DTMFPSO） algorithm is proposed in order to get better search performance. First of all, the principle of the presented multi force particle swarm optimization （MFPSO） algorithm is that different force rules are used in different search stages, which can balance the ability of global and local search. Secondly, a fitness-driven edge-changing （FE） topology based on the probability selection mechanism of roulette method is designed to cut and add edges between the particles, and the DTMFPSO algorithm is proposed by combining the FE topology with the MFPSO algorithm through concurrent evolution of both algorithm and structure in order to further improve the search accuracy. Thirdly, Benchmark functions are employed to evaluate the performance of the DTMFPSO algorithm, and test results show that the proposed algorithm is better than the well-known PSO algorithms, such as gPSO, MPSO, and EPSO algorithms. Finally, the proposed algorithm is applied to optimize the process parameters for ultrasonic vibration cutting on SiC wafer, and the surface quality of the SiC wafer is improved by 12.8% compared with the PSO algorithm in Ref. [25]. This research proposes a DTMFPSO algorithm with multi force rules and dynamic population topologies evolved simultaneously, and it has better search performance.

关键词： force rule MFPSO algorithm FE topology DTMFPSO algorithm parameter optimization

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