检索结果-内蒙古大学图书馆

Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

Frontiers of Mechanical engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

来源：评论

学校读者我要写书评

暂无评论

Hybrid Robotic Arm for Autonomous Aerial Refueling

引用

Chinese Journal of Mechanical engineering 2024年第6期37卷 429-440页

作者： Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China School of Mechatronics Engineering Harbin 150080China

Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.

关键词： Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method

来源：评论

学校读者我要写书评

暂无评论

Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

引用

Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

来源：评论

学校读者我要写书评

暂无评论

Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

引用

Journal of Bionic engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

来源：评论

学校读者我要写书评

暂无评论

Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

引用

Chinese Journal of Aeronautics 2025年第2期38卷 577-596页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Centre for Precision Manufacturing DMEMUniversity of StrathclydeGlasgow G11XJUK State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.

关键词： Tool reciprocating motion Spiral trajectory Micro-dimpled structure Micromachining Simulation modelling with diamond tool Surface texture

来源：评论

学校读者我要写书评

暂无评论

A trajectory-level robot skill learning method based on fuzzy systems

引用

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

来源：评论

学校读者我要写书评

暂无评论

Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

引用

Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

来源：评论

学校读者我要写书评

暂无评论

Simultaneously improving fabrication accuracy and interfacial bonding strength of multi-material projection stereolithography by multi-step exposure

引用

International Journal of Smart and Nano Materials 2024年第2期15卷 387-404页

作者： Xinghong Deng Guangyu Zhang Yi Mo Zhiyuan Huang Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina School of Materials Science and Engineering Harbin Institute of TechnologyHarbinChina

Multi-material additive manufacturing(MMAM)takes full advantage of the ability to arbitrarily place materials of addi-tive manufacturing technology,enabling immense design free-dom and functional print *** MMAM technologies,projection stereolithography(PSL)exhibits a great balance of high resolution and fast printing ***,fabrication accuracy of multi-material PSL is hin-dered by large overcure used to strengthen interfacial bond-ing weakened by chemical affinity and material-exchange *** present a novel multi-step exposure method for multi-material PSL process to overcome this ***,the whole layer is moderately exposed producing over-cure of single-material PSL level to generate *** weakened interfaces are strengthened individually with addi-tional steps of *** multi-step exposure is integrated into the already efficient materials printing order of multi-material PSL *** depth and overcure of photocur-able resins are modeled and *** required to achieve sufficient interfacial bonding of single-material interfaces built through material-exchange process and multi-material interfaces with altering materials printing order is determined with tensile *** channels are used to compare fabrication accuracy of traditional single-step exposure and our multi-step exposure *** method can be widely applied in multi-material PSL to improve fabri-cation accuracy in a variety of applications including micro-fluidic devices.

关键词： Additive manufacturing multi-material projection stereolithography multi-step exposure interfacial bonding

来源：评论

学校读者我要写书评

暂无评论

Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

引用

Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

来源：评论

学校读者我要写书评

暂无评论

Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

引用

2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：