A comprehensive method for joint wear prediction in planar mechanical systems with clearances considering complex contact conditions

A comprehensive method to predict wear in planar mechanical systems with clearance joints is presented and discussed in this paper.This method consists of a system dynamic analysis and a joint wear prediction.As the size and shape of the clearance are dictated by wear and evolve with the dynamic response of the system,the contact between the journal and bearing could be conformal or non-conformal,which makes the contact conditions in clearance joints quite complicated.Therefore a modified contact force model is employed to evaluate the joint reaction force in this study.As the nonlinear stiffness coefficient is related to the physical and geometrical properties of contact bodies and varies with the deformation,this contact force model is applicable to different contact conditions between the journal and bearing.Furthermore,based on the Archard’s wear model,the amount of wear can be quantified in the joint.And the geometry is updated to reflect the evolving contact boundary.Then,the wear process and the contact force model are integrated into the motion equations of the system to perform coupled iterative analyses between system dynamic response and joint wear prediction.In addition,a slider-crank mechanism is simulated as an example to demonstrate efficiency of the proposed method and to carry out a parametric study on mechanical systems considering joint wear.The influence of clearance size and driving power are discussed and compared respectively.The index of concordance is introduced to quantify contributions of contact pressure and sliding distance to wear rate under different types of journal motion.This study could help to predict joint wear in mechanical systems with clearances and optimize mechanisms in design.     

Probabilistic analysis of random contact force between geomembrane and granular material

A probabilistic method based on principle of maximum entropy was employed to analyze the randomness of contact force between geomembrane and granular material. The contact force distribution is exponential according to the proposed method and the grain size is the most important factor that affects the distribution of contact force. The proposed method is then verified by a series of laboratory experiments using glass beads and cobbles as granular material and a very thin pressure, indicating that film is firstly used in these experiments which give a reliable method to measure the contact force at each contact point.     

Modelling and simulation of contact force in cold rotary forgin简

Cold rotary forging is an advanced and complex metal forming technology with continuous local plastic deformation. Investigating the contact force between the dies and the workpiece has a great significance to improve the life of the dies in cold rotary forging. The purpose of this work is to reveal the contact force responses in cold rotary forging through the modelling and simulation. For this purpose, a 3D elastic-plastic dynamic explicit FE model of cold rotary forging is developed using the FE code ABAQUS/Explicit. Through the modelling and simulation, the distribution and evolution of the contact force in cold rotary forging is investigated in detail. The experiment has been conducted and the validity of the 3D FE model of cold rotary forging has been verified. The results show that： 1） The contact force distribution is complex and exhibits an obvious non-uniform characteristic in the radial and circumferential directions; 2） The maximum contact force between the upper die and the workpiece is much larger than that between the lower die and the workpiece; 3） The contact force evolution history is periodic and every period experiences three different stages; 4） The total normal contact force is much larger than the total shear contact force at any given time.     

顺从运动中机器人振动的最优控制(英文)

0 Introduction Many robot applications, such as assembly, require the endpoint of the manipulator to be mechanically coupled to external environment during some phase of the operation. The endpoint compliance can be implemented in many different schemes, and Whitney provides an overview of compliant motion control. In order to regulate the contact force between the endpoint and the environment, a force sensor is placed at the endpoint of the robot to measure the contact     

Effect of orifice geometry on bubble formation in melt gas injection to prepare aluminum foams

The bubble formation process at submerged orifices with different geometry is investigated in the preparation of aluminum foams by gas injection method.The bubble profile on a horizontal plate is calculated by quasi-static analysis through Laplace equation.The bubble formation process is then distinguished into three stages:nucleation stage,growth stage and detachment stage in wetting and less wetting conditions based on the force balance analysis.In addition,the bubble size at high Reynolds number is obtained by considering the contribution of buoyancy,pressure force,inertial force,drag force and surface tension based on the three stages of bubble formation.The bubble size is confirmed to be sensitive to the equivalent contact angle,which consists of two terms including the contact angle and the wedge angle.Therefore,the wedge angle is introduced in the design of gas outlet orifices for the purpose of decreasing bubble size generated.The experimental study is conducted at three different types of stainless steel orifices under constant gas flow rates(0.05–2 L/min).It is clarified that the orifice geometry and the orifice size are both responsible for the cell size of aluminum foams.The experimental results for three different types of orifices show a consistent trend with the theoretical predictions at various gas flow rates.In the design of orifices to generate small bubbles in the melt,the wedge angle that coordinates with the contact angle is thus suggested.     

Effects of the radial force on the static contact properties and sealing performance of a radial lip seal

The radial force is a critical factor to determine the sealing performance of radial lip seals.The effects of radial force produced by garter spring and interference on the static contact properties and sealing performance of a radial lip seal are investigated by numerical simulations and experiments.Finite-element analysis and mixed elastohydrodynamic lubrication simulation are used.Radial force,contact width,temperature in the sealing zone,the reverse pumping rate and friction torque are measured.A critical value of interference for a cost-effectively designed radial lip seal is found.Spring force is required to compensate the decrease of the radial force because of the interference and used as a possible way to obtain intelligent control of sealing performance.The quantitative results gotten in this study could provide guide for the seal design and improvement.     

Simulation on derailment base on a new wheel-rail contact method

The simulation package for special research on derailment of high speed vehicle is established.The process of derailment is different from other behaviors of vehicle dynamics because of large lateral displacement of wheelsets.To get correct results,a new fast algorithm to computing contact force is adopted and the exact geometry analysis is necessary to judge derailment happened.Variation of contact condition and coefficient of friction with speeds are also considered into vehicle-track coupled model.The structure of the package is presented in detail.The results are particular emphasis on investigation influence of maximum track defect,critical vehicle speed and various contact condition on derailment.The simulation can also be used to define the most risk factor leading to derailment.     

Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping

Multifingered grasping was ardently studied in the past two decades. Force-closureproperty and dynamic force distribution (DFD) are two basic topics. The former ensuresthat the contact forces of a grasp can equilibrate any external wrench. The latter seeksthe optimal contact forces to equilibrate a dynamic external wrench. Force-closure is aprerequisite to stable grasps, while fast force distribution is required for real-time controlof dexterous robot hands. There are three common conta…     

Micro contact and stick-slip number between AFM probe tip and sample surface

Atomic force microscope (AFM) has become a main instrument in characterization of micro topography and micro tribology of surfaces. Under its contact mode, AFM probe tip slides on the surface in the direction perpendicular to its longitudinal axis to get topography and lateral force images simultaneously. During the scanning, the AFM tip is loaded by both a normal force and a lateral force, which make the probe bend and twist. In their pioneering work, Mate et al.[1] used AFM to measure m…     

An analysis method for correlation between catenary irregularities and pantograph-catenary contact force

Pantograph-catenary contact force provides the main basis for evaluation of current quality collection; however, the pantograph-catenary contact force is largely affected by the catenary irregularities. To analyze the correlated relationship between catenary irregularities and pantograph-catenary contact force, a method based on nonlinear auto-regressive with exogenous input （NARX） neural networks was developed. First, to collect the test data of catenary irregularities and contact force, the pantograph/catenary dynamics model was established and dynamic simulation was conducted using MATLAB/Simulink. Second, catenary irregularities were used as the input to NARX neural network and the contact force was determined as output of the NARX neural network, in which the neural network was trained by an improved training mechanism based on the regularization algorithm. The simulation results show that the testing error and correlation coefficient are 0.1100 and 0.8029, respectively, and the prediction accuracy is satisfactory. And the comparisons with other algorithms indicate the validity and superiority of the proposed approach.     

基于人手指力学特性的虚拟手接触力生成

为了增强虚拟手交互的真实性和沉浸感,提出了一种考虑人手指力学特性的虚拟手接触力生成方法.通过分析虚拟环境中几种重要的接触力生成算法,结合人手的感知特性,构建了人手指接触力测量平台,研究了手指接触力和接触面积之间的关系,提炼出以接触面积为变量的指尖接触力的力学模型.仿生手的生理组织构造,分层建立虚拟手指的几何模型和运动模型,提出了虚拟手指接触面积的求解算法.实验结果表明,采用该虚拟手交互接触力生成算法,当虚拟手指触摸虚拟物体时,用户可感受到逼真的接触力觉.     

促进就业和再就业的基本策略

现实劳动力资源质量和类型与我国促进就业和再就业目标间存在矛盾．文章阐述了职业技能培训制度建设、完善失业人员的社会职业技能培训和评估体系、推进职业教育以及加速全国性城乡一体化劳动力市场建设的必要性和紧迫性，指出加强职业技能培训是提高我国人力资源能力、促进就业和再就业工程的基本策略。     

基于经验特征函数的盲源信号分离法及应用

从盲源信号分离后非高斯性最大化出发,提出了一种基于经验特征函数的盲源信号分离方法.该方法把经验特征函数与概率密度函数一一对应,并以混合信号与高斯信号的经验特征函数的欧氏距离最大化作为判据,以固定点算法为优化算法进行盲源分离.该方法克服了FastICA算法中选取不同的近似函数对不同概率密度分布的信号效果不佳的问题.仿真实验结果表明,与常用的几种FastICA算法相比,该方法具有更好的收敛效果.采用新的盲源信号分离方法对管道破坏产生的实际声发射信号进行分离,可将破坏点互相关定位精度提高到3%以上.     

永磁微加速度开关设计与仿真

基于永磁铁磁力随位移的非线性变化特性，提出了一种新型磁力微加速度开关设计方案．建立了含有永磁力、气膜阻尼力、表面接触力、惯性力的开关系统动力学分析模型，给出了质量块在开关多种工作状态下的运动微分方程．对开关工作过程中质量块位置、永磁力、空气阻尼力、质量块与触点接触力等参数的变化规律进行了仿真，结果表明：该设计可以受控于加速度门限完成闭合一断开功能；微开关系统阻尼由质量块与封装外壳间隙厚度决定，为一变阻尼系统；开关闭合时电接触可靠性取决于质量块对触点的压力；开关闭合和截止所需的激励加速度门限值受永磁铁磁力和支撑梁刚度参数的控制．     

材料填充对开槽轴承接触力与润滑性能的影响

轴承滚道界面的润滑状态及接触力对轴承寿命的影响十分显著,为提高圆柱滚子轴承寿命,提出了在轴承外圈开槽填充弹性体的方法。采用有限元法计算了不同槽宽及丁晴橡胶、尼龙1010、硬铝合金和紫铜四种填充材料对轴承内滚道和滚子接触力的影响。在此基础上,建立了考虑圆柱滚子轴承真实表面粗糙度混合润滑数学模型,分析了不同转速下不同填充材料对轴承润滑性能的影响。结果表明：轴承外圈开槽并填充弹性体对轴承的润滑状态和接触力影响显著;最大受载滚子与内滚道的接触力随着填充材料弹性模量的减小而减小,采用丁晴橡胶和尼龙1010填充材料可明显增加滚子接触个数,有效降低接触力。转速的增加会使油膜变厚、摩擦系数、接触载荷比、接触面积比、最大接触应力减小,采用丁晴橡胶填充材料轴承润滑性能最好。     

双节理岩体TBM滚刀破岩过程数值模拟

为了研究节理特征对全断面掘进机(tunnel boring machine, TBM)盘形滚刀破岩的影响,采用颗粒流方法建立盘形滚刀与含平行双节理岩体的二维数值模型,进行不同节理倾角和间距的30组数值试验,根据数值试验结果研究岩体破裂模式、滚刀竖向接触力峰值随节理倾角和间距的变化规律、滚刀破岩过程中细观裂纹扩展规律。研究结果表明:不同的节理特征下,滚刀破岩可以分为4种基本的破裂模式;滚刀竖向接触力峰值随节理倾角的增大呈现先减小后增大的趋势,在节理倾角为30°或45°时最小,在节理倾角为90°时最大;滚刀竖向接触力峰值随节理间距的增大总体上呈现增大趋势;随滚刀的贯入,滚刀竖向接触力与细观裂纹个数有3个关联的变化阶段。通过研究TBM滚刀与节理岩体相互作用机制,揭示不同节理特征对滚刀破岩的影响规律,对TBM滚刀的合理设计和施工有一定的指导意义。     

轧机轴承偏载下的有限元分析研究

实际工作中的轧钢机械工作辊既承受径向力，同时又受轴向力的作用，因此，轧机工作辊用轴承在不同偏载程度下，轴承套圈与滚子将有不同的接触应力表现。章运用ANSYS有限元分析软件，建立了ANSYS有限元分析模型，分析了实际工作中的轴承套圈与滚子的接触状态。通过对均布载荷和三种不同偏载情况下的有限元模型的计算分析，得到了偏载下滚子沿轴向方向的接触应力分布的偏载效应规律，以及当倾斜程度不同时，接触应力变化与载荷变化之间呈非线性规律；在进行轧机轴承设计、制造及使用时，必须考虑偏载的影响。中还指出，关于较大偏载状况的滚子接触应力分布规律的研究，对滚子母线进行合理修形具有参考价值。     

有机复合客土基材接触面剪切力学特性试验

为研究高分子材料和接触面粗糙度对土-岩接触面剪切力学性能的影响，设计预制混凝土模块作为岩面相似材料，开展一系列改进型直剪试验，分析高分子材料和接触面粗糙度的影响规律，并结合扫描电镜试验深入揭示高分子材料的改良机制。结果表明，高分子材料主要通过提高黏聚力极大地改善基材土和接触面的剪切力学性能，掺量2%的基材试样黏聚力达41.76 kPa,提高了约3倍。掺量2%的不同接触面试样黏聚力提高了2～7倍；增大接触面粗糙度主要通过提高黏聚力增强接触面剪切力学性能，粗糙度为6.5 mm的不同接触面间黏聚力提升幅度为12.27～23.77 kPa,提高了0.4～3.9倍；对于平坦接触面和粗糙接触面，高分子材料对剪切性能的强化表现为两种不同模式；高分子材料与接触面粗糙度对接触面的剪切性能具有协同强化效应。     

Study of Mechanical Model During Power Spinning Simulation of Cylindrical Workpiece

0rmCroNInrecentyears,t`iththedevelopment0fc0mputertechniqUeandtheapplicationofFEMinplasticdef0nna-tion,manysch0laretrytostudyPOwrspirininghycoInbingthetWotechniqUes.SOmanymechanicalm0delsforsimu-lationare.i,.d[l~3].ThesemedelsaresimplifiedhecauseofthecomPlexity0fP0werspirming.Forexample,thespacecurveswhichcodrigUratethec0nt0ur0fthedeformedzonearereplacedbylinesandtLhecontactzoneissimpli-fiedasaplane.Thesesimplificationswillresultinspacerestrictionermrfromtheactualsituationandreducingcal…     

基于强化学习的机器人曲面恒力跟踪研究

针对机器人末端执行器和曲面工件接触时难以得到恒定接触力的问题,建立机器人末端执行器与曲面工件的接触模型.构建曲面接触力坐标系与机器人传感器测量坐标系之间的关系,利用基于概率动力学模型的强化学习（PILCO）算法对模型输出参数与接触状态的关系进行学习,对部分接触状态进行预测,强化学习根据预测的状态优化机器人位移输入参数,得到期望跟踪力信号. 实验中,将强化学习的输入状态改为一段时间内的状态平均值以减少接触状态下信号的干扰. 实验结果表明,利用PILCO算法在迭代8次后能够得到较稳定的力,相比于模糊迭代算法收敛速度较快,力误差绝对值的平均值减少了29%.