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Short-term creep behavior in P91 heat-resistant steel at low stress

Short-term creep behavior in P91 heat-resistant steel at low...

Chinese Materials Congress on Methods of design and Characterization of Materials, Research and Development of Technological Processes, 2015

作者： Zhao, Pengshuo Shen, Junjie Zhang, Hui Tianjin key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology 391 Binshui Road Xiqing District Tianjin China Tianjin Entry-Exit Inspection and Quarantine Bureau China

ISBN: (纸本)9783038357629

P91 heat-resistant steel is widely used in the high temperature of piping components of thermal power plants and nuclear power plants. In these conditions, the typical failure of P91 is mainly caused by creep at low stress. In this investigation the short-term creep behavior in P91 at low stress was investigated by helicoid spring creep test due to its high strain-sensitivity. The helicoid spring creep was based on the assumption of pure torsion. The mechanics field was firstly studied by ANSYS finite-element simulation to find the establishing conditions of pure torsion. Secondly, the creep properties of P91 were studied under the conditions of the temperatures of 0.38Tmm and the stresses of 14.6 MPa, 25 MPa, 34 MPa, respectively. The ANSYS finite-element simulation shows that the creep deformation is considered to be pure torsion when the pitch spacing of coil is between 2mm to 4mm. The creep curves show "Normal type ", and "the stress exponent" is n=0.9. © 2016 Trans Tech Publications, Switzerland.

关键词： Creep

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Comparative Study of Two 2-RPU+SPR Parallel Manipulators

Comparative Study of Two 2-RPU+SPR Parallel Manipulators

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World Congress on intelligent control and Automation

作者： Qiang Yan Bin Li Yangmin Li Xinhua Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300191 China

ISBN: (纸本)9781467384155

A comparative study of two over-constrained 2-RPU+SPR parallel manipulators (PM) is studied in terms of workspace and transmission performance in this paper. The two 2-RPU+SPR PMs have identical kinematics limbs, but some differences exist in terms of the joints distribution. The kinematics, the workspace and the transmission performance are studied and simulation examples are presented to demonstrate the differences between the two PMs. This study provides insights into the two parallel manipulators with identical limbs but with different joints distribution.

关键词： Decision support systems TV intelligent control Automation Senior members

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Experimental Study On The Identification Model Of Dynamic Milling Force Coefficient

Experimental Study On The Identification Model Of Dynamic Mi...

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2016 4th International Conference on Machinery,Materials and Computing Technology(ICMMCT 2016)

作者： Xinghua Niu Tianding Wang Tiemin Zhao Qianyou Huang Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System

The identification model of milling force coefficient is established using the model of dynamic milling force and the regression analysis of the milling force experiment data. On the basis of the existing milling force model, by simplifying and calculation, it can get the relational expression between milling force coefficient and average value of the milling force. Arranging the milling force experiment and measuring average milling force, the experiment results of milling force coefficient can be calculated. Then, the polynomial expression of identification model of milling force coefficient is established, and its coefficient values can be got by regression analysis. Finally, the accuracy and applicability of the identification model is verified by experiment. The experimental results show that the prediction results of the model are accurate and reliable, and can meet different processing conditions, provide the theoretical basis and reference for the further study of milling process and optimization.

关键词： milling force model coefficient identification orthogonal experiment regression analysis

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Structure design and dynamic modelling of a novel modular self-reconfigurable robot

Structure design and dynamic modelling of a novel modular se...

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IEEE International Conference on mechatronics and Automation

作者： Jie Huang Weimin Ge Xiaofeng Wang Jun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

Reconfigurability of the modular robot is becoming curial to be a high flexibility for the wide varieties of tasks and environments. In this paper, a novel self-reconfigurable modular robot called M 2 sbot is designed, which has the approximate cuboid shaping structure. The unit model is with one active and five passive connection surfaces, compact structure and flexible motion. It is characterized by using the unique hook-claw docking mechanism as the docking part of the neighbor modular. And the responding control system based on STM32F103VET6 is also implemented. The forward kinematic equations of the chain robot are established, and then the dynamic equation is generated by the recursive Newton-Euler method based on the global matrix description. Finally, the calculation and simulation analysis of the six-module configuration with two branches demonstrates the feasibility of the proposed method in the generation of motion equation.

关键词： Gears Mathematical model Kinematics DC motors Robot sensing systems Robot kinematics

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The Prediction Model of Surface Roughness Based on Experiments of Turning Titanium Alloy

The Prediction Model of Surface Roughness Based on Experimen...

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IEEE International Conference on mechatronics and Automation

作者： Cuilei Yang Qingchun Zheng Yahui Hu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781509023974

The experiments of turning titanium alloy are carried out by using central composite design, the influences of cutting speed, feed rate and cutting depth on surface roughness are analyzed. The surface roughness prediction model is established based on the response surface method. The significance of the regression equation is validated and the influences of the cutting parameters on surface roughness are compared. The results show that: within the range of cutting parameters used in the experiments, the most significant parameter on surface roughness is given by feed rate, followed by cutting depth, and the cutting speed has minimal effect on surface roughness;the prediction model is significant. It can be used to select various suitable parameters before the machining processing to predict and control the surface roughness.

关键词： Titanium alloy Surface roughness Turning Parameters

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Calculations of the Acceleration of Centrifugal Loading on Adherent Cells

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： Kang Chen Yang Song Qing Liu Chunqiu Zhang Tianjin Key Laboratory of the Design Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China

Studies have shown that the morphology and function of living cells are greatly affected by the state of different high acceleration. Based on the centrifuge, we designed a centrifugal cell loading machine for the mechanical biology of cells under high acceleration loading. For the machine, the feasibility of the experiment was studied by means of constant acceleration or variable acceleration loading in the Petri dish fixture and/or culture flask. Here we analyzed the distribution of the acceleration of the cells with the change of position and size of the culturing device quantitatively. It is obtained that Petri dish fixture and/or culture flask can be used for constant acceleration loading by experiments; the centripetal acceleration of the adherent cells increases with the increase of the distance between the rotor center of the centrifuge and the fixture of the Petri dish and the size of the fixture. It achieves the idea that the general biology laboratory can conduct the study of mechanical biology at high acceleration. It also provides a basis for more accurate study of the law of high acceleration on mechanobiology of cells.

关键词：

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A new bioreactor for compound loading with torsion and compression

A new bioreactor for compound loading with torsion and compr...

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第五届国际仿生工程学术大会(ICBE2016)

作者： Ke Li Chunqiu Zhang School of mechanical engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System

This paper presents a new type of multifunctional bioreactor, which is to provide cell tissue a mechanical environment which is close to the real situation. This bioreactor is based on the concept of fatigue machine, add torsion module to compress and tension module, with new design of both loading device and culturing device by modern CAD technology. Driven by voice coil motor, step motor and a well designed mechanical structure, this machine has excellent controlling performance and no accumulated error, easy to adjust operating height, loading frequency, compressing stroke and torsioning angle. It has different loading modes, with compression or torsion separately, or providing compound load with both torsion and compression. With a delicate culturing device, the height and the limit of loading head is easy to adjust accordingly, it can also provide liquid environment during the loading process, which is closer to biological characteristics and physiological environment. After simple refit, it's also able to be used as a tension machine. This machine supplies different mechanical environment for biomechanics research to make related experiments more effective and accurate.

关键词： bioreactor compound loading torsion and compression

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Mobile robot autonomous path planning based on fuzzy logic and filter smoothing in dynamic environment

Mobile robot autonomous path planning based on fuzzy logic a...

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World Congress on intelligent control and Automation (WCICA)

作者： Yupei Yan Yangmin Li University of Macau Taipa Macau MO Dept. of Electromechanical Engineering University of Macau Macao SAR Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467384155

The mobile robot has been one of the hottest fields in recent years, it has been widely applied in the most critical and efficient occasions in the industry, meanwhile, path planning becomes a frontier and interesting research topic for the mobile robot. In this paper, firstly mobile robot is introduced, some universal path planning algorithms of the mobile robot are reviewed, then a fuzzy logic and filter smoothing based on the data from the laser scan sensor is proposed, the path planning and autonomous obstacle avoidance based on this algorithm is emphasized because it can automatically find the best path according to the size and position of gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and obstacle avoidance algorithms are tested on this mobile robot, the testing results show this algorithm has the advantage of responding quickly, global optimized and hardware resource saved compared with other algorithms, it is suitable for the mobile robot that is designed on the embedded system and it can meet our designed requirement.

关键词： Mobile robots Heuristic algorithms Path planning Robot sensing systems Algorithm design and analysis Turning Fuzzy logic

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The Frame Structure design of three Lifting Point Dummy ROV

The Frame Structure Design of three Lifting Point Dummy ROV

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2016 3rd International Conference on Materials Engineering,Manufacturing Technology and control(ICMEMTC 2016)

作者： Xingwei Guo Jie Song Zhenzhong Liu Offshore Oil Engineering Co. Ltd. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology

Research the depth of 3000 m Work-Class ROV as mock object and develop a ROV for land test. This device is set three lifting point in the top. The rope connecting the front two lifting point is fixed, the rope connecting the rear lifting point change the length by motor. All of those lifting point are in order to achieve the function of forerake and hypsokinesis. The Dummy ROV can displace the real ROV to simulate the land construction, improve the efficiency of ocean construction and reduce the cost of experiment.

关键词： Lifting point dummy ROV frame structure

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The design of dummy ROV electric-drive seven functions manipulator

The design of dummy ROV electric-drive seven functions manip...

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2016 3rd International Conference on Materials Engineering,Manufacturing Technology and control(ICMEMTC 2016)

作者： Zaiyu Chen Meina Guo Zhenzhong Liu Lianyu Zhao Offshore Oil Engineering Co. Ltd. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology

With the deepening of the Marine development, underwater constructing often need to use the ROV. In order to verify the construction scheme, ensuring construction efficiency, the staff will use ROV or Dummy ROV on land to simulate construction. As the main body of the ROV, the manipulator is the execution part of the system. It is the core of the whole system;all of the drive and control are around it. It references the mature underwater manipulator, and draw lessons from the domestic manipulator design experience. The design adopts electric drive, and the joints torque were calculated and simulated by the Solid Works motion analysis software.

关键词： Dummy ROV seven functions manipulator manipulator design

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