2016 Vol.29(3)
Display Mode： |
2016, 30(3): 445-453.
doi: 10.3901/CJME.2016.0323.036
Abstract:
This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.
This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.
2016, 30(3): 454-464.
doi: 10.3901/CJME.2016.0311.030
Abstract:
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
2016, 30(3): 465-474.
doi: 10.3901/CJME.2016.0325.038
Abstract:
Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and -field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.
Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and -field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.
2016, 30(3): 475-485.
doi: 10.3901/CJME.2016.0126.014
Abstract:
The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100 increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient () and low roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high and low roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.
The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100 increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient () and low roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high and low roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.
2016, 30(3): 486-497.
doi: 10.3901/CJME.2016.0314.031
Abstract:
For a distributed drive electric vehicle (DDEV) driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled quickly and precisely. And direct yaw-moment control (DYC) has been widely studied and applied to vehicle stability control recently. Good vehicle handling performance: quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts: a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error (ITAE) function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method: yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens were also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers can be relieved.
For a distributed drive electric vehicle (DDEV) driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled quickly and precisely. And direct yaw-moment control (DYC) has been widely studied and applied to vehicle stability control recently. Good vehicle handling performance: quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts: a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error (ITAE) function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method: yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens were also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers can be relieved.
2016, 30(3): 498-506.
doi: 10.3901/CJME.2016.0308.027
Abstract:
When a train runs at high speeds, the external exciting frequencies approach the natural frequencies of bogie critical components, thereby inducing strong elastic vibrations. The present international reliability test evaluation standard and design criteria of bogie frames are all based on the quasi-static deformation hypothesis. Structural fatigue damage generated by structural elastic vibrations has not yet been included. In this paper, theoretical research and experimental validation are done on elastic dynamic load spectra on bogie frame of high-speed train. The construction of the load series that correspond to elastic dynamic deformation modes is studied. The simplified form of the load series is obtained. A theory of simplified dynamic loadtime histories is then deduced. Measured data from the BeijingShanghai Dedicated Passenger Line are introduced to derive the simplified dynamic loadtime histories. The simplified dynamic discrete load spectra of bogie frame are established. Based on the damage consistency criterion and a genetic algorithm, damage consistency calibration of the simplified dynamic load spectra is finally performed. The computed result proves that the simplified load series is reasonable. The calibrated damage that corresponds to the elastic dynamic discrete load spectra can cover the actual damage at the operating conditions. The calibrated damage satisfies the safety requirement of damage consistency criterion for bogie frame. This research is helpful for investigating the standardized load spectra of bogie frame of high-speed train.
When a train runs at high speeds, the external exciting frequencies approach the natural frequencies of bogie critical components, thereby inducing strong elastic vibrations. The present international reliability test evaluation standard and design criteria of bogie frames are all based on the quasi-static deformation hypothesis. Structural fatigue damage generated by structural elastic vibrations has not yet been included. In this paper, theoretical research and experimental validation are done on elastic dynamic load spectra on bogie frame of high-speed train. The construction of the load series that correspond to elastic dynamic deformation modes is studied. The simplified form of the load series is obtained. A theory of simplified dynamic loadtime histories is then deduced. Measured data from the BeijingShanghai Dedicated Passenger Line are introduced to derive the simplified dynamic loadtime histories. The simplified dynamic discrete load spectra of bogie frame are established. Based on the damage consistency criterion and a genetic algorithm, damage consistency calibration of the simplified dynamic load spectra is finally performed. The computed result proves that the simplified load series is reasonable. The calibrated damage that corresponds to the elastic dynamic discrete load spectra can cover the actual damage at the operating conditions. The calibrated damage satisfies the safety requirement of damage consistency criterion for bogie frame. This research is helpful for investigating the standardized load spectra of bogie frame of high-speed train.
2016, 30(3): 507-514.
doi: 10.3901/CJME.2016.0327.039
Abstract:
The current research on secondary O-ring seals used in mechanical seals has begun to focus on their dynamic properties. However, detailed analysis of the dynamic properties of O-ring seals in spiral groove gas face seals is lacking. In particular a transient study and difference analysis of steady-state and transient performance is imperative. In this paper, a case study is performed to gauge the effect of secondary O-ring seals on the dynamic behavior (steady-state performance and transient performance) of face seals. A numerical finite element method (FEM) model is developed for the dynamic analysis of spiral groove gas face seals with a flexibly mounted stator in the axial and angular modes. The rotor tilt angle, static stator tilt angle and O-ring damping are selected to investigate the effect of O-ring seals on face seals during stable running operation. The results show that the angular factor can be ignored to save time in the simulation under small damping or undamped conditions. However, large O-ring damping has an enormous effect on the angular phase difference of mated rings, affecting the steady-state performance of face seals and largely increasing the possibility of face contact that reduces the service life of face seals. A pressure drop fluctuation is carried out to analyze the effect of O-ring seals on the transient performance of face seals. The results show that face seals could remain stable without support stiffness and O-ring damping during normal stable operation but may enter a large-leakage state when confronting instantaneous fluctuations. The oscillation-amplitude shortening effect of O-ring damping on the axial mode is much greater than that on the angular modes and O-ring damping prefers to cater for axial motion at the cost of angular motion. This research proposes a detailed dynamic-property study of O-ring seals in spiral groove gas face seals, to assist in the design of face seals.
The current research on secondary O-ring seals used in mechanical seals has begun to focus on their dynamic properties. However, detailed analysis of the dynamic properties of O-ring seals in spiral groove gas face seals is lacking. In particular a transient study and difference analysis of steady-state and transient performance is imperative. In this paper, a case study is performed to gauge the effect of secondary O-ring seals on the dynamic behavior (steady-state performance and transient performance) of face seals. A numerical finite element method (FEM) model is developed for the dynamic analysis of spiral groove gas face seals with a flexibly mounted stator in the axial and angular modes. The rotor tilt angle, static stator tilt angle and O-ring damping are selected to investigate the effect of O-ring seals on face seals during stable running operation. The results show that the angular factor can be ignored to save time in the simulation under small damping or undamped conditions. However, large O-ring damping has an enormous effect on the angular phase difference of mated rings, affecting the steady-state performance of face seals and largely increasing the possibility of face contact that reduces the service life of face seals. A pressure drop fluctuation is carried out to analyze the effect of O-ring seals on the transient performance of face seals. The results show that face seals could remain stable without support stiffness and O-ring damping during normal stable operation but may enter a large-leakage state when confronting instantaneous fluctuations. The oscillation-amplitude shortening effect of O-ring damping on the axial mode is much greater than that on the angular modes and O-ring damping prefers to cater for axial motion at the cost of angular motion. This research proposes a detailed dynamic-property study of O-ring seals in spiral groove gas face seals, to assist in the design of face seals.
2016, 30(3): 515-521.
doi: 10.3901/CJME.2016.0307.026
Abstract:
Rotational fretting which exist in many engineering applications has incurred enormous economic loss. Thus, accessible methods are urgently needed to alleviate or eliminate damage by rotational fretting. Surface engineering is an effective approach that is successfully adopted to enhance the ability of components to resist the fretting damage. In this paper, using a high-velocity oxygen fuel sprayed (HVOF) technique WC-17Co coating is deposited on an LZ50 steel surface to study its properties through Vickers hardness testing, scanning electric microscope (SEM), energy dispersive X-ray spectroscopy (EDX), and X-ray diffractrometry (XRD). Rotational fretting wear tests are conducted under normal load varied from 10 N to 50 N, and angular displacement amplitudes vary from 0.125 to 1. Wear scars are examined using SEM, EDX, optical microscopy (OM), and surface topography. The experimental results reveal that the WC-17Co coating adjusted the boundary between the partial slip regime (PSR) and the slip regime (SR) to the direction of smaller amplitude displacement. As a result, the coefficients of friction are consistently lower than the substrates coefficients of friction both in the PSR and SR. The damage to the coating in the PSR is very slight. In the SR, the coating exhibits higher debris removal efficiency and load-carrying capacity. The bulge is not found for the coating due to the coatings higher hardness to restrain plastic flow. This research could provide experimental bases for promoting industrial application of WC-17Co coating in prevention of rotational fretting wear.
Rotational fretting which exist in many engineering applications has incurred enormous economic loss. Thus, accessible methods are urgently needed to alleviate or eliminate damage by rotational fretting. Surface engineering is an effective approach that is successfully adopted to enhance the ability of components to resist the fretting damage. In this paper, using a high-velocity oxygen fuel sprayed (HVOF) technique WC-17Co coating is deposited on an LZ50 steel surface to study its properties through Vickers hardness testing, scanning electric microscope (SEM), energy dispersive X-ray spectroscopy (EDX), and X-ray diffractrometry (XRD). Rotational fretting wear tests are conducted under normal load varied from 10 N to 50 N, and angular displacement amplitudes vary from 0.125 to 1. Wear scars are examined using SEM, EDX, optical microscopy (OM), and surface topography. The experimental results reveal that the WC-17Co coating adjusted the boundary between the partial slip regime (PSR) and the slip regime (SR) to the direction of smaller amplitude displacement. As a result, the coefficients of friction are consistently lower than the substrates coefficients of friction both in the PSR and SR. The damage to the coating in the PSR is very slight. In the SR, the coating exhibits higher debris removal efficiency and load-carrying capacity. The bulge is not found for the coating due to the coatings higher hardness to restrain plastic flow. This research could provide experimental bases for promoting industrial application of WC-17Co coating in prevention of rotational fretting wear.
2016, 30(3): 522-530.
doi: 10.3901/CJME.2016.0118.010
Abstract:
The inlet film thickness directly affects film and stress distribution of rolling interfaces. Unsteady factors, such as unsteady back tension, may disturb the inlet film thickness. However, the current models of unsteady inlet film thickness lack unsteady disturbance factors and do not take surface topography into consideration. In this paper, based on the hydrodynamic analysis of inlet zone an unsteady rolling film model which concerns the direction of surface topography is built up. Considering the small fluctuation of inlet angle, absolute reduction, reduction ratio, inlet strip thickness and roll radius as the input variables and the fluctuation of inlet film thickness as the output variable, the non-linear relationship between the input and output is discussed. The discussion results show that there is 180 phase difference between the inlet film thickness and the input variables, such as the fluctuant absolute reduction, the fluctuant reduction ratio and non-uniform inlet strip thickness, but there is no phase difference between unsteady roll radius and the output. The inlet angle, the steady roll radius and the direction of surface topography have significant influence on the fluctuant amplitude of unsteady inlet film thickness. This study proposes an analysis method for unsteady inlet film thickness which takes surface topography and new disturbance factors into consideration.
The inlet film thickness directly affects film and stress distribution of rolling interfaces. Unsteady factors, such as unsteady back tension, may disturb the inlet film thickness. However, the current models of unsteady inlet film thickness lack unsteady disturbance factors and do not take surface topography into consideration. In this paper, based on the hydrodynamic analysis of inlet zone an unsteady rolling film model which concerns the direction of surface topography is built up. Considering the small fluctuation of inlet angle, absolute reduction, reduction ratio, inlet strip thickness and roll radius as the input variables and the fluctuation of inlet film thickness as the output variable, the non-linear relationship between the input and output is discussed. The discussion results show that there is 180 phase difference between the inlet film thickness and the input variables, such as the fluctuant absolute reduction, the fluctuant reduction ratio and non-uniform inlet strip thickness, but there is no phase difference between unsteady roll radius and the output. The inlet angle, the steady roll radius and the direction of surface topography have significant influence on the fluctuant amplitude of unsteady inlet film thickness. This study proposes an analysis method for unsteady inlet film thickness which takes surface topography and new disturbance factors into consideration.
2016, 30(3): 531-538.
doi: 10.3901/CJME.2016.0114.008
Abstract:
Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics(MD) simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, Employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that running-in stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.
Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics(MD) simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, Employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that running-in stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.
2016, 30(3): 539-548.
doi: 10.3901/CJME.2016.0322.035
Abstract:
Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions(FRFs) to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.
Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions(FRFs) to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.
2016, 30(3): 549-555.
doi: 10.3901/CJME.2016.0309.028
Abstract:
In Additive Manufacturing field, the current researches of data processing mainly focus on a slicing process of large STL files or complicated CAD models. To improve the efficiency and reduce the slicing time, a parallel algorithm has great advantages. However, traditional algorithms cant make full use of multi-core CPU hardware resources. In the paper, a fast parallel algorithm is presented to speed up data processing. A pipeline mode is adopted to design the parallel algorithm. And the complexity of the pipeline algorithm is analyzed theoretically. To evaluate the performance of the new algorithm, effects of threads number and layers number are investigated by a serial of experiments. The experimental results show that the threads number and layers number are two remarkable factors to the speedup ratio. The tendency of speedup versus threads number reveals a positive relationship which greatly agrees with the Amdahls law, and the tendency of speedup versus layers number also keeps a positive relationship agreeing with Gustafsons law. The new algorithm uses topological information to compute contours with a parallel method of speedup. Another parallel algorithm based on data parallel is used in experiments to show that pipeline parallel mode is more efficient. A case study at last shows a suspending performance of the new parallel algorithm. Compared with the serial slicing algorithm, the new pipeline parallel algorithm can make full use of the multi-core CPU hardware, accelerate the slicing process, and compared with the data parallel slicing algorithm, the new slicing algorithm in this paper adopts a pipeline parallel model, and a much higher speedup ratio and efficiency is achieved.
In Additive Manufacturing field, the current researches of data processing mainly focus on a slicing process of large STL files or complicated CAD models. To improve the efficiency and reduce the slicing time, a parallel algorithm has great advantages. However, traditional algorithms cant make full use of multi-core CPU hardware resources. In the paper, a fast parallel algorithm is presented to speed up data processing. A pipeline mode is adopted to design the parallel algorithm. And the complexity of the pipeline algorithm is analyzed theoretically. To evaluate the performance of the new algorithm, effects of threads number and layers number are investigated by a serial of experiments. The experimental results show that the threads number and layers number are two remarkable factors to the speedup ratio. The tendency of speedup versus threads number reveals a positive relationship which greatly agrees with the Amdahls law, and the tendency of speedup versus layers number also keeps a positive relationship agreeing with Gustafsons law. The new algorithm uses topological information to compute contours with a parallel method of speedup. Another parallel algorithm based on data parallel is used in experiments to show that pipeline parallel mode is more efficient. A case study at last shows a suspending performance of the new parallel algorithm. Compared with the serial slicing algorithm, the new pipeline parallel algorithm can make full use of the multi-core CPU hardware, accelerate the slicing process, and compared with the data parallel slicing algorithm, the new slicing algorithm in this paper adopts a pipeline parallel model, and a much higher speedup ratio and efficiency is achieved.
2016, 30(3): 556-563.
doi: 10.3901/CJME.2016.0318.033
Abstract:
large diameter internal thread of high-strength steel(LDITHSS) manufactured by traditional methods always has the problems of low accuracy and short life. Compared with traditional methods, the cold extrusion process is an effective means to realize higher accuracy and longer life. The low-cycle fatigue properties of LDITHSS are obtained by experiments, and the initiation and propagation of fatigue cracks are observed by scanning electron microscope(SEM). Based on the mechanical properties, surface microstructure and residual stress, the strengthening mechanism of cold extruded large diameter internal thread (LDIT) is discussed. The results show that new grains or sub-grains can be formed on the surface of LDIT due to grain segmentation and grain refinement during cold extrusion. The fibrous structures appear as elongated and streamlined along the normal direction of the tooth surface which leads to residual compressive stress on the extruded surface. The maximum tension stress of LDIT after cold extrusion is found to be 192.55 kN. Under low stress cycling, the yield stress on thread increases, the propagation rate of crack reduces, the fatigue life is thus improved significantly with decreasing surface grain diameter and the average fatigue life increases to 45.539103 cycle when the maximum applied load decreases to 120 kN. The low cycle fatigue and strengthening mechanism of cold extruded LDIT revealed by this research has significant importance to promote application of internal thread by cold extrusion processing.
large diameter internal thread of high-strength steel(LDITHSS) manufactured by traditional methods always has the problems of low accuracy and short life. Compared with traditional methods, the cold extrusion process is an effective means to realize higher accuracy and longer life. The low-cycle fatigue properties of LDITHSS are obtained by experiments, and the initiation and propagation of fatigue cracks are observed by scanning electron microscope(SEM). Based on the mechanical properties, surface microstructure and residual stress, the strengthening mechanism of cold extruded large diameter internal thread (LDIT) is discussed. The results show that new grains or sub-grains can be formed on the surface of LDIT due to grain segmentation and grain refinement during cold extrusion. The fibrous structures appear as elongated and streamlined along the normal direction of the tooth surface which leads to residual compressive stress on the extruded surface. The maximum tension stress of LDIT after cold extrusion is found to be 192.55 kN. Under low stress cycling, the yield stress on thread increases, the propagation rate of crack reduces, the fatigue life is thus improved significantly with decreasing surface grain diameter and the average fatigue life increases to 45.539103 cycle when the maximum applied load decreases to 120 kN. The low cycle fatigue and strengthening mechanism of cold extruded LDIT revealed by this research has significant importance to promote application of internal thread by cold extrusion processing.
2016, 30(3): 564-570.
doi: 10.3901/CJME.2016.0329.041
Abstract:
Metal fibers have been widely used in many industrial applications due to their unique advantages. In certain applications, such as catalyst supports or orthopedic implants, a rough surface or tiny outshoots on the surface of metal fibers to increase surface area are needed. However, it has not been concerned about the surface morphologies of metal fiber in the current research of metal fiber manufacturing. In this paper, a special multi-tooth tool composed of a row of triangular tiny teeth is designed. The entire cutting layer of multi-tooth tool bifurcates into several thin cutting layers due to tiny teeth involved in cutting. As a result, several stainless steel fibers with periodic micro-fins are produced simultaneously. Morphology of periodic micro-fins is found to be diverse and can be classified into three categories: unilateral plane, unilateral tapering and bilateral. There are two forming mechanisms for the micro-fins. One is that periodic burrs remained on the free side of cutting layer of a tiny tooth create micro-fins of stainless steel fiber produced by the next neighboring tiny tooth; the other is that the connections between two fibers stuck together come to be micro-fins if the two fibers are finally detached. Influence of cutting conditions on formation of micro-fins is investigated. Experimental results show that cutting depth has no significant effect on micro-fin formation, high cutting speed is conducive to micro-fin formation, and feed should be between 0.12 mm/r and 0.2 mm/r to reliably obtain stainless steel fiber with micro-fins. This research presents a new pattern of stainless steel fiber characterized by periodic micro-fins formed on the edge of fiber and its manufacturing method.
Metal fibers have been widely used in many industrial applications due to their unique advantages. In certain applications, such as catalyst supports or orthopedic implants, a rough surface or tiny outshoots on the surface of metal fibers to increase surface area are needed. However, it has not been concerned about the surface morphologies of metal fiber in the current research of metal fiber manufacturing. In this paper, a special multi-tooth tool composed of a row of triangular tiny teeth is designed. The entire cutting layer of multi-tooth tool bifurcates into several thin cutting layers due to tiny teeth involved in cutting. As a result, several stainless steel fibers with periodic micro-fins are produced simultaneously. Morphology of periodic micro-fins is found to be diverse and can be classified into three categories: unilateral plane, unilateral tapering and bilateral. There are two forming mechanisms for the micro-fins. One is that periodic burrs remained on the free side of cutting layer of a tiny tooth create micro-fins of stainless steel fiber produced by the next neighboring tiny tooth; the other is that the connections between two fibers stuck together come to be micro-fins if the two fibers are finally detached. Influence of cutting conditions on formation of micro-fins is investigated. Experimental results show that cutting depth has no significant effect on micro-fin formation, high cutting speed is conducive to micro-fin formation, and feed should be between 0.12 mm/r and 0.2 mm/r to reliably obtain stainless steel fiber with micro-fins. This research presents a new pattern of stainless steel fiber characterized by periodic micro-fins formed on the edge of fiber and its manufacturing method.
2016, 30(3): 571-578.
doi: 10.3901/CJME.2016.0115.009
Abstract:
The error motions of micro mechanical systems, such as micro-spindles, increase with the increasing of the rotational speed, which not only decreases the rotational accuracy, but also promotes instability and limits the maximum operational speed. One effective way to deal with it is to use micro-flexible couplings between the drive and driven shafts so as to reduce error motions of the driven shaft. But the conventional couplings, such as diaphragm couplings, elastomeric couplings, bellows couplings, and grooved couplings, etc, cannot be directly used because of their large and complicated structures. This study presents a novel micro-coupling that consists of a flexible coupling and a shape memory alloy (SMA)-based clamp for micro mechanical systems. It is monolithic and can be directly machined from a shaft. The study performs design optimization and provides manufacturing considerations, including thermo-mechanical training of the SMA ring for the desired Two-Way-Shape-Memory effect (TWSMe). A prototype micro-coupling and a prototype micro-spindle using the proposed coupling are fabricated and tested. The testing results show that the prototype micro-coupling can bear a torque of above 5 N mm and an axial force of 8.5 N and be fitted with an SMA ring for clamping action at room temperature (15 C) and unclamping action below 5 C. At the same time, the prototype micro-coupling can work at a rotational speed of above 200 kr/min with the application to a high-speed precision micro-spindle. Moreover, the radial runout error of the artifact, as a substitute for the micro-tool, is less than 3 m while that of turbine shaft is above 7 m. It can be concluded that the micro-coupling successfully accommodates misalignment errors of the prototype micro-spindle. This research proposes a micro-coupling which is featured with an SMA ring, and it is designed to clamp two shafts, and has smooth transmission, simple assembly, compact structure, zero-maintenance and balanced motions.
The error motions of micro mechanical systems, such as micro-spindles, increase with the increasing of the rotational speed, which not only decreases the rotational accuracy, but also promotes instability and limits the maximum operational speed. One effective way to deal with it is to use micro-flexible couplings between the drive and driven shafts so as to reduce error motions of the driven shaft. But the conventional couplings, such as diaphragm couplings, elastomeric couplings, bellows couplings, and grooved couplings, etc, cannot be directly used because of their large and complicated structures. This study presents a novel micro-coupling that consists of a flexible coupling and a shape memory alloy (SMA)-based clamp for micro mechanical systems. It is monolithic and can be directly machined from a shaft. The study performs design optimization and provides manufacturing considerations, including thermo-mechanical training of the SMA ring for the desired Two-Way-Shape-Memory effect (TWSMe). A prototype micro-coupling and a prototype micro-spindle using the proposed coupling are fabricated and tested. The testing results show that the prototype micro-coupling can bear a torque of above 5 N mm and an axial force of 8.5 N and be fitted with an SMA ring for clamping action at room temperature (15 C) and unclamping action below 5 C. At the same time, the prototype micro-coupling can work at a rotational speed of above 200 kr/min with the application to a high-speed precision micro-spindle. Moreover, the radial runout error of the artifact, as a substitute for the micro-tool, is less than 3 m while that of turbine shaft is above 7 m. It can be concluded that the micro-coupling successfully accommodates misalignment errors of the prototype micro-spindle. This research proposes a micro-coupling which is featured with an SMA ring, and it is designed to clamp two shafts, and has smooth transmission, simple assembly, compact structure, zero-maintenance and balanced motions.
2016, 30(3): 579-587.
doi: 10.3901/CJME.2016.0203.020
Abstract:
Line configuration and balancing is to select the type of line and allot a given set of operations as well as machines to a sequence of workstations to realize high-efficiency production. Most of the current researches for machining line configuration and balancing problems are related to dedicated transfer lines with dedicated machine workstations. With growing trends towards great product variety and fluctuations in market demand, dedicated transfer lines are being replaced with flexible machining line composed of identical CNC machines. This paper deals with the line configuration and balancing problem for flexible machining lines. The objective is to assign operations to workstations and find the sequence of execution, specify the number of machines in each workstation while minimizing the line cycle time and total number of machines. This problem is subject to precedence, clustering, accessibility and capacity constraints among the features, operations, setups and workstations. The mathematical model and heuristic algorithm based on feature group strategy and polychromatic sets theory are presented to find an optimal solution. The feature group strategy and polychromatic sets theory are used to establish constraint model. A heuristic operations sequencing and assignment algorithm is given. An industrial case study is carried out, and multiple optimal solutions in different line configurations are obtained. The case studying results show that the solutions with shorter cycle time and higher line balancing rate demonstrate the feasibility and effectiveness of the proposed algorithm. This research proposes a heuristic line configuration and balancing algorithm based on feature group strategy and polychromatic sets theory which is able to provide better solutions while achieving an improvement in computing time.
Line configuration and balancing is to select the type of line and allot a given set of operations as well as machines to a sequence of workstations to realize high-efficiency production. Most of the current researches for machining line configuration and balancing problems are related to dedicated transfer lines with dedicated machine workstations. With growing trends towards great product variety and fluctuations in market demand, dedicated transfer lines are being replaced with flexible machining line composed of identical CNC machines. This paper deals with the line configuration and balancing problem for flexible machining lines. The objective is to assign operations to workstations and find the sequence of execution, specify the number of machines in each workstation while minimizing the line cycle time and total number of machines. This problem is subject to precedence, clustering, accessibility and capacity constraints among the features, operations, setups and workstations. The mathematical model and heuristic algorithm based on feature group strategy and polychromatic sets theory are presented to find an optimal solution. The feature group strategy and polychromatic sets theory are used to establish constraint model. A heuristic operations sequencing and assignment algorithm is given. An industrial case study is carried out, and multiple optimal solutions in different line configurations are obtained. The case studying results show that the solutions with shorter cycle time and higher line balancing rate demonstrate the feasibility and effectiveness of the proposed algorithm. This research proposes a heuristic line configuration and balancing algorithm based on feature group strategy and polychromatic sets theory which is able to provide better solutions while achieving an improvement in computing time.
2016, 30(3): 588-597.
doi: 10.3901/CJME.2016.0204.021
Abstract:
Floating facilities have been studied based on the static analysis of mooring cables over the past decades. To analyze the floating system of a spherical buoy moored by a cable with a higher accuracy than before, the dynamics of the cables are considered in the construction of the numerical modeling. The cable modeling is established based on a new element frame through which the hydrodynamic loads are expressed efficiently. The accuracy of the cable modeling is verified with an experiment that is conducted by a catenary chain moving in a water tank. In addition, the modeling of a spherical buoy is established with respect to a spherical coordinate in three dimensions, which can suffers the gravity, the variable buoyancy and Froude-Krylov loads. Finally, the numerical modeling for the system of a spherical buoy moored by a cable is established, and a virtual simulation is proceeded with the X- and Y-directional linear waves and the X-directional current. The comparison with the commercial simulation code ProteusDS indicates that the system is accurately analyzed by the numerical modeling. The tensions within the cable, the motions of the system, and the relationship between the motions and waves are illustrated according to the defined sea state. The dynamics of the cables should be considered in analyzing the floating system of a spherical buoy moored by a cable.
Floating facilities have been studied based on the static analysis of mooring cables over the past decades. To analyze the floating system of a spherical buoy moored by a cable with a higher accuracy than before, the dynamics of the cables are considered in the construction of the numerical modeling. The cable modeling is established based on a new element frame through which the hydrodynamic loads are expressed efficiently. The accuracy of the cable modeling is verified with an experiment that is conducted by a catenary chain moving in a water tank. In addition, the modeling of a spherical buoy is established with respect to a spherical coordinate in three dimensions, which can suffers the gravity, the variable buoyancy and Froude-Krylov loads. Finally, the numerical modeling for the system of a spherical buoy moored by a cable is established, and a virtual simulation is proceeded with the X- and Y-directional linear waves and the X-directional current. The comparison with the commercial simulation code ProteusDS indicates that the system is accurately analyzed by the numerical modeling. The tensions within the cable, the motions of the system, and the relationship between the motions and waves are illustrated according to the defined sea state. The dynamics of the cables should be considered in analyzing the floating system of a spherical buoy moored by a cable.
2016, 30(3): 598-606.
doi: 10.3901/CJME.2016.0330.042
Abstract:
Most current studies about shield tunneling machine focus on the construction safety and tunnel structure stability during the excavation. Behaviors of the machine itself are also studied, like some tracking control of the machine. Yet, few works concern about the hydraulic components, especially the pressure and flow rate regulation components. This research focuses on pressure control strategies by using proportional pressure relief valve, which is widely applied on typical shield tunneling machines. Modeling of a commercial pressure relief valve is done. The modeling centers on the main valve, because the dynamic performance is determined by the main valve. To validate such modeling, a frequency-experiment result of the pressure relief valve, whose bandwidth is about 3 Hz, is presented as comparison. The modeling and the frequency experimental result show that it is reasonable to regard the pressure relief valve as a second-order system with two low corner frequencies. PID control, dead band compensation control and adaptive robust control (ARC) are proposed and simulation results are presented. For the ARC, implements by using first order approximation and second order approximation were presented. The simulation results show that the second order approximation implement with ARC can track 4 Hz sine signal very well, and the two ARC simulation errors are within 0.2 MPa. Finally, experiment results of dead band compensation control and adaptive robust control are given. The results show that dead band compensation had about 30 phase lag and about 20% off of the amplitude attenuation. ARC is tracking with little phase lag and almost no amplitude attenuation. In this research, ARC has been tested on a pressure relief valve. It is able to improve the valves dynamic performances greatly, and it is capable of the pressure control of shield machine excavation.
Most current studies about shield tunneling machine focus on the construction safety and tunnel structure stability during the excavation. Behaviors of the machine itself are also studied, like some tracking control of the machine. Yet, few works concern about the hydraulic components, especially the pressure and flow rate regulation components. This research focuses on pressure control strategies by using proportional pressure relief valve, which is widely applied on typical shield tunneling machines. Modeling of a commercial pressure relief valve is done. The modeling centers on the main valve, because the dynamic performance is determined by the main valve. To validate such modeling, a frequency-experiment result of the pressure relief valve, whose bandwidth is about 3 Hz, is presented as comparison. The modeling and the frequency experimental result show that it is reasonable to regard the pressure relief valve as a second-order system with two low corner frequencies. PID control, dead band compensation control and adaptive robust control (ARC) are proposed and simulation results are presented. For the ARC, implements by using first order approximation and second order approximation were presented. The simulation results show that the second order approximation implement with ARC can track 4 Hz sine signal very well, and the two ARC simulation errors are within 0.2 MPa. Finally, experiment results of dead band compensation control and adaptive robust control are given. The results show that dead band compensation had about 30 phase lag and about 20% off of the amplitude attenuation. ARC is tracking with little phase lag and almost no amplitude attenuation. In this research, ARC has been tested on a pressure relief valve. It is able to improve the valves dynamic performances greatly, and it is capable of the pressure control of shield machine excavation.
2016, 30(3): 607-614.
doi: 10.3901/CJME.2016.0226.023
Abstract:
In the practical application of pneumatic control devices, the nonlinearity of a pneumatic control valve become the main factor affecting the control effect, which comes mainly from the dynamic friction force. The dynamic friction inside the valve may cause hysteresis and a dead zone. In this paper, a dither compensation mechanism is proposed to reduce negative effects on the basis of analyzing the mechanism of friction force. The specific dither signal (using a sinusoidal signal) was superimposed on the control signal of the valve. Based on the relationship between the parameters of the dither signal and the inherent characteristics of the proportional servo valve, a parameter tuning method was proposed, which uses a displacement sensor to measure the maximum static friction inside the valve. According to the experimental results, the proper amplitude ranges are determined for different pressures. In order to get the optimal parameters of the dither signal, some dither compensation experiments have been carried out on different signal amplitude and gas pressure conditions. Optimal parameters are determined under two kinds of pressure conditions. Using tuning parameters the valve spool displacement experiment has been taken. From the experiment results, hysteresis of the proportional servo valve is significantly reduced. And through simulation and experiments, the cut-off frequency of the proportional valve has also been widened. Therefore after adding the dither signal, the static and dynamic characteristics of the proportional valve are both improved to a certain degree. This research proposes a parameter tuning method of dither signal, and the validity of the method is verified experimentally.
In the practical application of pneumatic control devices, the nonlinearity of a pneumatic control valve become the main factor affecting the control effect, which comes mainly from the dynamic friction force. The dynamic friction inside the valve may cause hysteresis and a dead zone. In this paper, a dither compensation mechanism is proposed to reduce negative effects on the basis of analyzing the mechanism of friction force. The specific dither signal (using a sinusoidal signal) was superimposed on the control signal of the valve. Based on the relationship between the parameters of the dither signal and the inherent characteristics of the proportional servo valve, a parameter tuning method was proposed, which uses a displacement sensor to measure the maximum static friction inside the valve. According to the experimental results, the proper amplitude ranges are determined for different pressures. In order to get the optimal parameters of the dither signal, some dither compensation experiments have been carried out on different signal amplitude and gas pressure conditions. Optimal parameters are determined under two kinds of pressure conditions. Using tuning parameters the valve spool displacement experiment has been taken. From the experiment results, hysteresis of the proportional servo valve is significantly reduced. And through simulation and experiments, the cut-off frequency of the proportional valve has also been widened. Therefore after adding the dither signal, the static and dynamic characteristics of the proportional valve are both improved to a certain degree. This research proposes a parameter tuning method of dither signal, and the validity of the method is verified experimentally.
2016, 30(3): 615-623.
doi: 10.3901/CJME.2016.0324.037
Abstract:
The atomizer with micro cone apertures has advantages of ultra-fine atomized droplets, low power consumption and low temperature rise. The current research of this kind of atomizer mainly focuses on the performance and its application while there is less research of the principle of the atomization. Under the analysis of the dispenser and its micro-tapered apertures deformation, the volume changes during the deformation and vibration of the micro-tapered aperture on the dispenser are calculated by coordinate transformation. Based on the characters of the flow resistance in a cone aperture, it is found that the dynamic cone angle results from periodical changes of the volume of the micro-tapered aperture of the atomizer and this change drives one-way flows. Besides, an experimental atomization platform is established to measure the atomization rates with different resonance frequencies of the cone aperture atomizer. The atomization performances of cone aperture and straight aperture atomizers are also measured. The experimental results show the existence of the pumping effect of the dynamic tapered angle. This effect is usually observed in industries that require low dispersion and micro- and nanoscale grain sizes, such as during production of high-pressure nozzles and inhalation therapy. Strategies to minimize the pumping effect of the dynamic cone angle or improve future designs are important concerns. This research proposes that dynamic micro-tapered angle is an important cause of atomization of the atomizer with micro cone apertures.
The atomizer with micro cone apertures has advantages of ultra-fine atomized droplets, low power consumption and low temperature rise. The current research of this kind of atomizer mainly focuses on the performance and its application while there is less research of the principle of the atomization. Under the analysis of the dispenser and its micro-tapered apertures deformation, the volume changes during the deformation and vibration of the micro-tapered aperture on the dispenser are calculated by coordinate transformation. Based on the characters of the flow resistance in a cone aperture, it is found that the dynamic cone angle results from periodical changes of the volume of the micro-tapered aperture of the atomizer and this change drives one-way flows. Besides, an experimental atomization platform is established to measure the atomization rates with different resonance frequencies of the cone aperture atomizer. The atomization performances of cone aperture and straight aperture atomizers are also measured. The experimental results show the existence of the pumping effect of the dynamic tapered angle. This effect is usually observed in industries that require low dispersion and micro- and nanoscale grain sizes, such as during production of high-pressure nozzles and inhalation therapy. Strategies to minimize the pumping effect of the dynamic cone angle or improve future designs are important concerns. This research proposes that dynamic micro-tapered angle is an important cause of atomization of the atomizer with micro cone apertures.
2016, 30(3): 624-632.
doi: 10.3901/CJME.2016.0125.013
Abstract:
Stenting is a very effective treatment for stenotic vascular diseases, but vascular geometries altered by stent implantation may lead to flow disturbances which play an important role in the initiation and progression of restenosis, especially in the near wall in stented arterial regions. So stent designs have become one of the indispensable factors needed to be considered for reducing the flow disturbances. In this paper, the structural designs of strut cross-section are considered as an aspect of stent designs to be studied in details. Six virtual stents with different strut cross-section are designed for deployments in the same ideal arterial model. Computational fluid dynamics (CFD) methods are performed to study how the shape and the aspect ratio (AR) of strut cross-section modified the local hemodynamics in the stented segments. The results indicate that stents with different strut cross-sections have different influence on the hemodynamics. Stents with streamlined cross-sectional struts for circular arc or elliptical arc can significantly enhance wall shear stress (WSS) in the stented segments, and reduce the flow disturbances around stent struts. The performances of stents with streamlined cross-sectional struts are better than that of stents with non-streamlined cross-sectional struts for rectangle. The results also show that stents with a larger AR cross-section are more conductive to improve the blood flow. The present study provides an understanding of the flow physics in the vicinity of stent struts and indicates that the shape and AR of strut cross-section ought to be considered as important factors to minimize flow disturbance in stent designs.
Stenting is a very effective treatment for stenotic vascular diseases, but vascular geometries altered by stent implantation may lead to flow disturbances which play an important role in the initiation and progression of restenosis, especially in the near wall in stented arterial regions. So stent designs have become one of the indispensable factors needed to be considered for reducing the flow disturbances. In this paper, the structural designs of strut cross-section are considered as an aspect of stent designs to be studied in details. Six virtual stents with different strut cross-section are designed for deployments in the same ideal arterial model. Computational fluid dynamics (CFD) methods are performed to study how the shape and the aspect ratio (AR) of strut cross-section modified the local hemodynamics in the stented segments. The results indicate that stents with different strut cross-sections have different influence on the hemodynamics. Stents with streamlined cross-sectional struts for circular arc or elliptical arc can significantly enhance wall shear stress (WSS) in the stented segments, and reduce the flow disturbances around stent struts. The performances of stents with streamlined cross-sectional struts are better than that of stents with non-streamlined cross-sectional struts for rectangle. The results also show that stents with a larger AR cross-section are more conductive to improve the blood flow. The present study provides an understanding of the flow physics in the vicinity of stent struts and indicates that the shape and AR of strut cross-section ought to be considered as important factors to minimize flow disturbance in stent designs.
2016, 30(3): 633-640.
doi: 10.3901/CJME.2016.0328.040
Abstract:
There are diverse products related to human buttocks, which need to be designed, manufactured and evaluated with 3D buttock model. The 3D buttock model used in present research field is just simple approximate model similar to human buttocks. The 3D buttock percentile model is highly desired in the ergonomics design and evaluation for these products. So far, there is no research on the percentile sizing system of human 3D buttock model. So the purpose of this paper is to develop a new method for building three-dimensional buttock percentile model in computer system. After scanning the 3D shape of buttocks, the cloud data of 3D points is imported into the reverse engineering software (Geomagic) for the reconstructing of the buttock surface model. Five characteristic dimensions of the buttock are measured through mark-points after models being imported into engineering software CATIA. A series of space points are obtained by the intersecting of the cutting slices and 3D buttock surface model, and then are ordered based on the sequence number of the horizontal and vertical slices. The 1st, 5th, 50th, 95th, 99th percentile values of the five dimensions and the spatial coordinate values of the space points are obtained, and used to reconstruct percentile buttock models. This research proposes a establishing method of percentile sizing system of buttock 3D model based on the percentile values of the ischial tuberosities diameter, the distances from margin to ischial tuberosity and the space coordinates value of coordinate points, for establishing the Nth percentile 3D buttock model and every special buttock types model. The proposed method also serves as a useful guidance for the other 3D percentile models establishment for other part in human body with characteristic points.
There are diverse products related to human buttocks, which need to be designed, manufactured and evaluated with 3D buttock model. The 3D buttock model used in present research field is just simple approximate model similar to human buttocks. The 3D buttock percentile model is highly desired in the ergonomics design and evaluation for these products. So far, there is no research on the percentile sizing system of human 3D buttock model. So the purpose of this paper is to develop a new method for building three-dimensional buttock percentile model in computer system. After scanning the 3D shape of buttocks, the cloud data of 3D points is imported into the reverse engineering software (Geomagic) for the reconstructing of the buttock surface model. Five characteristic dimensions of the buttock are measured through mark-points after models being imported into engineering software CATIA. A series of space points are obtained by the intersecting of the cutting slices and 3D buttock surface model, and then are ordered based on the sequence number of the horizontal and vertical slices. The 1st, 5th, 50th, 95th, 99th percentile values of the five dimensions and the spatial coordinate values of the space points are obtained, and used to reconstruct percentile buttock models. This research proposes a establishing method of percentile sizing system of buttock 3D model based on the percentile values of the ischial tuberosities diameter, the distances from margin to ischial tuberosity and the space coordinates value of coordinate points, for establishing the Nth percentile 3D buttock model and every special buttock types model. The proposed method also serves as a useful guidance for the other 3D percentile models establishment for other part in human body with characteristic points.
2016, 30(3): 641-648.
doi: 10.3901/CJME.2016.0310.029
Abstract:
E-commerce, as an emerging marketing mode, has attracted more and more attention and gradually changed the way of our life. However, the existing layout of distribution centers cant fulfill the storage and picking demands of e-commerce sufficiently. In this paper, a modified miniload automated storage/retrieval system is designed to fit these new characteristics of e-commerce in logistics. Meanwhile, a matching problem, concerning with the improvement of picking efficiency in new system, is studied in this paper. The problem is how to reduce the travelling distance of totes between aisles and picking stations. A multi-stage heuristic algorithm is proposed based on statement and model of this problem. The main idea of this algorithm is, with some heuristic strategies based on similarity coefficients, minimizing the transportations of items which can not arrive in the destination picking stations just through direct conveyors. The experimental results based on the cases generated by computers show that the average reduced rate of indirect transport times can reach 14.36% with the application of multi-stage heuristic algorithm. For the cases from a real e-commerce distribution center, the order processing time can be reduced from 11.20 h to 10.06 h with the help of the modified system and the proposed algorithm. In summary, this research proposed a modified system and a multi-stage heuristic algorithm that can reduce the travelling distance of totes effectively and improve the whole performance of e-commerce distribution center.
E-commerce, as an emerging marketing mode, has attracted more and more attention and gradually changed the way of our life. However, the existing layout of distribution centers cant fulfill the storage and picking demands of e-commerce sufficiently. In this paper, a modified miniload automated storage/retrieval system is designed to fit these new characteristics of e-commerce in logistics. Meanwhile, a matching problem, concerning with the improvement of picking efficiency in new system, is studied in this paper. The problem is how to reduce the travelling distance of totes between aisles and picking stations. A multi-stage heuristic algorithm is proposed based on statement and model of this problem. The main idea of this algorithm is, with some heuristic strategies based on similarity coefficients, minimizing the transportations of items which can not arrive in the destination picking stations just through direct conveyors. The experimental results based on the cases generated by computers show that the average reduced rate of indirect transport times can reach 14.36% with the application of multi-stage heuristic algorithm. For the cases from a real e-commerce distribution center, the order processing time can be reduced from 11.20 h to 10.06 h with the help of the modified system and the proposed algorithm. In summary, this research proposed a modified system and a multi-stage heuristic algorithm that can reduce the travelling distance of totes effectively and improve the whole performance of e-commerce distribution center.
E-mail Alerts
