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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年 570卷

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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Multi-Robot Collaborative Identification and Trajectory Optimization for Fine Operation of Uncertain Objects

SSRN

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SSRN 2024年

作者： Cheng, Tianhong Xu, Wenfu Yan, Lei The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Multi-robot systems offer many advantages over single robots such as flexible operation, high efficiency, and large payload, making it highly promising for applications in large equipment assembly, complex part manufacturing, and maintenance. However, uncertainties in the shape, size, mass, and inertia of manipulated objects, coupled with spatial constraints in multi-robot collaborative operations, pose significant challenges. To address the above issues, this paper proposes a multi-robot collaborative identification and trajectory optimization framework for fine operation of uncertain object. First, the compound multi-robot and object system is modelled. Then a power identification method is presented by introducing the motor model. Regarding the uncertainties related to manipulated objects, a novel momentum observer is designed, which enables the identification of physical properties of the object manipulated by the multi-robot system such as its mass, inertia, and the position of center of mass. Subsequently, for multi-robot collaborative operations, the paper explores collaborative trajectory optimization methods across various levels, including initial scene design, path allocation, and energy-efficient trajectory optimization. Several typical simulations and collaborative polishing experiment validate the effectiveness of the proposed method. © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang Zekun Ha Junxiao Xiao Cheng Chi Ziyun Yao He Liang Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781665481106

Comparing the isotopic composition of the D/H ratio of the water ice in main belt comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent.

关键词： Comets Earth Satellites Belts Turning Ice Helium

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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Research 2020年第1期2020卷 1116-1140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of TechnologyHarbinHeilongjiang 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors(VLD-MNMs)and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

关键词： visible harvesting utilize

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Ultrahigh Energy Density and Rapid Response Dielectric Elastomer for Advanced Soft Robots

SSRN

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SSRN 2025年

作者： Du, Chengzhen Yan, Peinan Zou, Jiang Guo, Yutong Pang, Zimo Li, Sijia Chen, Yujie Fan, Qunfu Liu, Hezhou State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai200030 China

Dielectric elastomer actuators (DEAs) require high energy density to simultaneously achieve high mechanical output while enabling compact and lightweight actuator design. However, the realization of high energy density is constrained by the high driving electric field and the significant hysteretic relaxation. Herein, we present a DE featuring a bimodal-network structure and multiple hydrogen bond interactions, which possesses outstanding properties, including a low Young's modulus, optimal dielectric properties, and low mechanical loss. The DE achieves a maximum actuation strain of 200% at a low driving electric field of 60 V μm-1 with a rapid response. Remarkably, it exhibits an output force of 0.95 N and an ultrahigh specific energy of 283 J kg-1, approximately 7 times that of natural muscle. A series of soft robots with different structures and functions are fabricated to showcase the immense potential of our DE in various applications. This work provides a novel strategy to fabricate high performance artificial muscles for soft robotics. © 2025, The Authors. All rights reserved.

关键词： Elastomers

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Tunable Rectification of Diffusion-Wave Fields by Spatiotemporal Metamaterials

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Physical Review Letters 2022年第25期129卷 256601-256601页

作者： Jiaxin Li Zhanxiang Zhang Guoqiang Xu Haoran Sun Lizhou Dai Tianlong Li Cheng-Wei Qiu Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explored the spatiotemporal modulation to exhibit preferred directions in photons and plasmons. Here we report a distinct rectification effect on diffusion-wave fields by modulating the conductivity and observe nonreciprocal transport of charges. We experimentally create a spatiotemporal diffusion metamaterial, in which a mode transition to zero frequency is realized. A direct current component thereby emerges, showcasing a biased effect on the charge diffusion when the incident fundamental frequency is a multiple of the system modulation frequency. These results may find applications spanning a plethora of diffusive fields in general.

关键词： Diffusion Metamaterials Bloch-Floquet theorem

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects

Dynamical Modeling and Numerical Simulation of Water Dischar...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Zhong Jiawei Dong Jiabin Liu Wei Wang Riyue Wu Shuqi Wang Tao Zhang State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou China School of Electromechanical Engineering Guangdong University of Technology Guangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s.

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Active Complaint Control for Smooth and Quick Connector Assembly*

Active Complaint Control for Smooth and Quick Connector Asse...

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IEEE International Conference on robotics and Biomimetics

作者： Jun Wu Yu He He Wang Qiyu Wang Shaowei Fan School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly.

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