An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,a...An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.展开更多
Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the c...Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.展开更多
Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an ...Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.展开更多
As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spin...As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spindle axis do not coincide with each other due to wheel settings,machining errors and so on.This could result in the generation of wheel runout,which may reduce the machining surface's quality.In this paper,combining this phenomenon,an analytic algorithm method for the multi-axis grinding process is introduced according to the envelope theory.After that,the accuracy of this method is verified.Two experiments are carried out on a 5-axis machining center.The artificial runout is set up and calculated utilizing the least square method.Finally,using the presented method,two examples with and without runout are introduced to illustrate the validation of the proposed model.The error due to the runout effect is also analyzed.展开更多
The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In...The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In motion optimization, the stiffness characteristics of the whole machining system, including machine tool and cutter, are not considered. The paper presents a new method to establish a general stiffness model of multi-axis machining system. An analytical stiffness model is established by Jacobi and point transformation matrix method. Based on the stiffness model, feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip. The stiffness index can help analyze the stiffness performance of the whole machining system in the available workspace. Based on the analysis of the stiffness performance, multi-axis motion optimization along tool paths is accomplished by mixed programming using Matlab and Visual C＋＋. The effectiveness of the motion optimization method is verified by the experimental research about the machining performance of a 7-axis 5-linkage machine tool. The proposed research showed that machining stability and production efficiency can be improved by multi-axis motion optimization based on the anisotropic force ellipsoid of the whole machining system.展开更多
The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential syn...The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement展开更多
This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motio...This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.展开更多
Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely af...Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.展开更多
An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining t...An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining the measurements in nadir and zenith directions and analyzing the UV and visible spectral region using the DOAS method, information about tropospheric NO2 vertical columns was obtained. Strong tropospheric NO2 signals were detected when flying over heavilly polluted regions and point sources like plants. The AMAX-DOAS results were compared with ground-based MAX-DOAS observations in the southwest of Zhuhai city using the same parameters for radiative transport calculations. The difference in vertical column data between the two instruments is about 8%. Our data were also compared with those from OMI and fair agreement was obtained with a correlation coefficient R of 0.61. The difference between the two instruments can be attributed to the different spatial resolution and the temporal mismatch during the measurements.展开更多
Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumu...Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumulative roll bonding (ARB) techmpues. This paper will introduce a moftiaxis deformation technique which can achieve essentially unlimited strain with constant deformation volume. The mul- tiaxis deformation can be fully restrained or unrestrained.The bulk volume of a multiaxis restraint compression specimen can be easily machined into mechanical testing specimens for mechanical property measurement and other studies.展开更多
The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion co...The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.展开更多
Purpose:Head injury criterion(HIC)companied by a rotation-based metric was widely believed to behelpful for head injury prediction in road traffic accidents.Recently,the Euro-New Car AssessmentProgram utilized a newly...Purpose:Head injury criterion(HIC)companied by a rotation-based metric was widely believed to behelpful for head injury prediction in road traffic accidents.Recently,the Euro-New Car AssessmentProgram utilized a newly developed metric called diffuse axonal multi-axis general evaluation(DAMAGE)to explain test device for human occupant restraint(THOR)head injury,which demonstratedexcellent ability in capturing concussions and diffuse axonal injuries.However,there is still a lack ofcomprehensive understanding regarding the effectiveness of using DAMAGE for Hybrid III 50thpercentile male dummy(H50th)head injury assessment.The objective of this study is to determinewhether the DAMAGE could capture the risk of H50th brain injury during small overlap barrier tests.Methods:To achieve this objective,a total of 24 vehicle crash loading curves were collected as input datafor the multi-body simulation.Two commercially available mathematical dynamic models,namelyH50th and THOR,were utilized to investigate the differences in head injury response.Subsequently,adecision method known as simple additive weighting was employed to establish a comprehensive braininjury metric by incorporating the weighted HIC and either DAMAGE or brain injury criterion.Furthermore,35 sets of vehicle crash test data were used to analyze these brain injury metrics.Results:The rotational displacement of the THOR head is significantly greater than that of the H50thhead.The maximum linear and rotational head accelerations experienced by H50th and THOR modelswere(544.6±341.7)m/s^(2),(2468.2±1309.4)rad/s^(2) and(715.2±332.8)m/s^(2),(3778.7±1660.6)rad/s^(2),respectively.Under the same loading condition during small overlap barrier(SOB)tests,THOR exhibits ahigher risk of head injury compared to the H50th model.It was observed that the overall head injuryresponse during the small overlap left test condition is greater than that during the small overlap righttest.Additionally,an equation was formulated to establish the necessary relationship between theDAMAGE values of THOR and H50th.Conclusion:If H50th rather than THOR is employed as an evaluation tool in SOB crash tests,newlydesigned vehicles are more likely to achieve superior performance scores.According to the current injurycurve for DAMAGE and brain injury criterion,it is highly recommended that HIC along with DAMAGE wasprioritized for brain injury assessment in SOB tests.展开更多
The geometrical accuracy of a machined feature on a workpiece during machining processes is mainly affected by the kinematic chain errors of multi-axis CNC ma- chines and robots, locating precision of fixtures, and da...The geometrical accuracy of a machined feature on a workpiece during machining processes is mainly affected by the kinematic chain errors of multi-axis CNC ma- chines and robots, locating precision of fixtures, and datum errors on the work- piece. It is necessary to find a way to minimize the feature errors on the workpiece. In this paper, the kinematic chain errors are transformed into the displacements of the workpiece. The relationship between the kinematic chain errors and the dis- placements of the position and orientation of the workpiece is developed. A map- ping model between the displacements of workpieces and the datum errors, and adjustments of fixtures is established. The suitable sets of unit basis twists for each of the commonly encountered types of feature and the corresponding locating di- rections are analyzed, and an error elimination (EE) method of the machined feature is formulated. A case study is given to verify the EE method.展开更多
Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such ...Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such as mechanical assembling, precise grind-ing and outline trace. Its response speed must be high enough and its dynamic展开更多
While laser surface texturing(LST)is a promising manufacturing technique for surface functionalization,simultaneously realizing high precision and high efficiency in the LST of complex curved surface is challenging,du...While laser surface texturing(LST)is a promising manufacturing technique for surface functionalization,simultaneously realizing high precision and high efficiency in the LST of complex curved surface is challenging,due to continuously varied geometries of laser-matter incidence.In the present work,we propose a novel manufacturing system of 7-axis on-the-fly LST for complex curved surface,based on the integrated synchronization of 5-axis linkage motion platform with 2-axis galvanometer.Specifically,the algorithm for decomposing spatial texture trajectory on curved surface into low-frequency and high-frequency parts is established,based on which the kinematic model of synchronized 7-axis system is developed to derive the motion of each axis in both 5-axis linkage motion platform and 2-axis galvanometer simultaneously.Subsequently,the synchronized 7-axis LST system is experimentally realized,including the setup of mechanical stages integrated with optical path,the configuration of numerical control unit,and the development of processing software.Finally,case study of 7-axis on-the-fly LST of freeform aluminum surface is performed,and the advantages in terms of processing efficiency and texturing accuracy over 5-axis linkage LST are demonstrated.The correlation of reduced following errors between mechanical stages with the promoted performance of curved surface texturing by the 7-axis on-the-fly LST is further analyzed.Current work provides a feasible solution for establishing the manufacturing system for high performance LST of complex curved surface.展开更多
Studying the spatiotemporal distribution and transboundary transport of aerosols,NO_(2),SO_(2),and HCHO in typical regions is crucial for understanding regional pollution causes.In a 2-year study using multi-axis diff...Studying the spatiotemporal distribution and transboundary transport of aerosols,NO_(2),SO_(2),and HCHO in typical regions is crucial for understanding regional pollution causes.In a 2-year study using multi-axis differential optical absorption spectroscopy in Qingdao,Shanghai,Xi’an,and Kunming,we investigated pollutant distribution and transport across Eastern China-Ocean,Tibetan Plateau-Central and Eastern China,and China-Southeast Asia interfaces.First,pollutant distributionwas analyzed.Kunming,frequently clouded and misty,exhibited consistently high aerosol optical depth throughout the year.In Qingdao and Shanghai,NO_(2)and SO_(2),as well as SO_(2)in Xi’an,increased in winter.Elevated HCHO in summer in Shanghai and Xi’an,especially Xi’an,suggests potential ozone pollution issues.Subsequently,pollutant transportation across interfaces was studied.At the Eastern China-Ocean interface,the gas transport flux was the largest among other interfaces,with the outflux exceeding the influx,especially in winter and spring.The input of pollutants from the Tibetan Plateau to central-eastern Chinawas larger than the output in winter and spring,with SO_(2)having the highest transport flux in winter.The pollution input from Southeast Asia to China significantly exceeded the output,with spring and winter inputs being 3.22 and 3.03 times the output,respectively.Lastly,the transportation characteristics of a pollution event at Kunming were studied.During this period,pollutants were transported from west to east,with themaximum SO_(2)transport flux at an altitude of 2.87 km equaling 27.74μg/(m^(2)·s).It is speculated that this pollution was caused by the transport from Southeast Asian countries to Kunming.展开更多
Microstructure and mechanical properties of AZ61 Mg alloy during isothermal multi-axial forging （MAF） were studied. The mechanisms of grain refinement and relationship between the microstructures and mechanical prop...Microstructure and mechanical properties of AZ61 Mg alloy during isothermal multi-axial forging （MAF） were studied. The mechanisms of grain refinement and relationship between the microstructures and mechanical properties were discussed. The results show that the average grain size decreases with increasing the number of MAF passes. The grains are significantly refined at the 1st and 2nd MAF passes, and gradually refined at higher MAF passes. The initial grain size of 148 lam decreases to about 14 gm after 6 MAF passes. The grain refinement occurs mainly by continuous dynamic recrystallization. With increasing the MAF passes, both the tensile strength and the elongation to failure of the alloy are significantly enhanced.展开更多
Multi-axial differential optical absorption spectroscopy(MAX-DOAS)measurements were conducted in Xishuangbanna,Yunnan,China,between November 1,2021 and June 30,2022 to obtain vertical distributions of formaldehyde(HCH...Multi-axial differential optical absorption spectroscopy(MAX-DOAS)measurements were conducted in Xishuangbanna,Yunnan,China,between November 1,2021 and June 30,2022 to obtain vertical distributions of formaldehyde(HCHO)and glyoxal(CHOCHO).The observations show an increase in vertical column densities(VCDs)and volume mixing ratios(VMRs)for both HCHO and CHOCHO concentrations during periods of biomass combustion.The VCDs of HCHO and CHOCHO from TROPOMI are in good agreementwith the MAX-DOAS observations.(R^(2) HCHO=0.71;R^(2) CHOCHO=0.70).Regarding seasonal variations,HCHO predominantly occupies the upper layer(400-800 m)during the biomass burning,possibly attributed to the formation of secondary HCHO as the plume ascends during combustion.CHOCHO is primarily found in the lower layer(0-200 m),suggesting a longer lifespan for HCHO compared to CHOCHO,preventing the latter from diffusing to higher altitudes.Concerning the daily variation patterns,both HCHO and CHOCHO VMRs exhibited peaks at 9:00 and 13:00,which were attributed to the nighttime accumulation and midday oxidation.Furthermore,we also investigated the sources of volatile organic compounds(VOCs)using the CHOCHO to HCHO ratio(RGF).During the period of biomass burning,there are minimal differences in the daily RGF across layers,indicating that biomass burning is the predominant source.During the non-biomass burning period,the daily RGF shows significant differences among layers,indicating that emissions from biological and anthropogenic sources primarily contribute during the period.展开更多
The dynamic precipitation behavior during multi-axial forging in an Mg-7Gd-5Y-1Nd-0.5Zr alloy has been investigated and compared with that in static precipitation treatment. The results indicated that dynamic precipit...The dynamic precipitation behavior during multi-axial forging in an Mg-7Gd-5Y-1Nd-0.5Zr alloy has been investigated and compared with that in static precipitation treatment. The results indicated that dynamic precipitation does occur during multi-axial forging. The dynamic precipitate can be deduced as β phase with face-centered cubic crystal structure (a = 2.22 nm). Most of the β precipitates locate at the dynamic recrystallization grain boundaries. The morphology and orientation relationship is different from that of the β phase formed in the static precipitation treated alloys, although the crystal structure is the same. The precipitation temperature of β phase during MAF is higher than that in the static precipitation treatment.展开更多
According to the well-known models for rubberlike elasticity with strain- stii^ening effects, the unbounded strain energy is generated with the unlimitedly growing stress when the stretch approaches certain limits. To...According to the well-known models for rubberlike elasticity with strain- stii^ening effects, the unbounded strain energy is generated with the unlimitedly growing stress when the stretch approaches certain limits. Toward a solution to this issue, an explicit approach is proposed to derive the multi-axial elastic potentials directly from the uniaxial potentials. Then, a new multi-axial potential is presented to characterize the strain-stiffening effect by prescribing suitable forms of uniaxia] potentials so that the strain energy is always bounded as the stress grows to infinity. Numerical examples show good agreement with a number of test data.展开更多
基金supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002)(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。
文摘An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.
基金supported by National Major S&T Program of China(Grant No. 2010zx04008-041)National Hi-tech Research and Development Program of China (863 Program, Grant No.2011AA04A104)
文摘Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.
基金supported by Natural Science Foundation of China(Nos.61773159 and 61473117)Hunan Provincial Natural Science Foundation of China(No.13JJ8020and 14JJ5024)Hunan Province Education Department(No.12A040)
文摘Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.
基金supported by the National Natural Science Foundation of China(No.51605147)National Science Fund for Distinguished Young Scholars of Henan Polytechnic University(J2019-2)Young Backbone Project of Henan Polytechnic University(No.2018XQG-05)。
文摘As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spindle axis do not coincide with each other due to wheel settings,machining errors and so on.This could result in the generation of wheel runout,which may reduce the machining surface's quality.In this paper,combining this phenomenon,an analytic algorithm method for the multi-axis grinding process is introduced according to the envelope theory.After that,the accuracy of this method is verified.Two experiments are carried out on a 5-axis machining center.The artificial runout is set up and calculated utilizing the least square method.Finally,using the presented method,two examples with and without runout are introduced to illustrate the validation of the proposed model.The error due to the runout effect is also analyzed.
基金supported by National Natural Science Foundation of China (Grant No. 51075168)National Basic Research Program of China (973 Program, Grant No. 2011CB706803)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA04Z149)
文摘The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In motion optimization, the stiffness characteristics of the whole machining system, including machine tool and cutter, are not considered. The paper presents a new method to establish a general stiffness model of multi-axis machining system. An analytical stiffness model is established by Jacobi and point transformation matrix method. Based on the stiffness model, feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip. The stiffness index can help analyze the stiffness performance of the whole machining system in the available workspace. Based on the analysis of the stiffness performance, multi-axis motion optimization along tool paths is accomplished by mixed programming using Matlab and Visual C＋＋. The effectiveness of the motion optimization method is verified by the experimental research about the machining performance of a 7-axis 5-linkage machine tool. The proposed research showed that machining stability and production efficiency can be improved by multi-axis motion optimization based on the anisotropic force ellipsoid of the whole machining system.
基金Supported by National Key Technology R&D Program(No.2011BAG03B03)
文摘The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement
文摘This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.
文摘Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.
基金supported by the National Natural Science Foundation of China(Grant Nos.41275037,41275038,and 41275027)
文摘An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining the measurements in nadir and zenith directions and analyzing the UV and visible spectral region using the DOAS method, information about tropospheric NO2 vertical columns was obtained. Strong tropospheric NO2 signals were detected when flying over heavilly polluted regions and point sources like plants. The AMAX-DOAS results were compared with ground-based MAX-DOAS observations in the southwest of Zhuhai city using the same parameters for radiative transport calculations. The difference in vertical column data between the two instruments is about 8%. Our data were also compared with those from OMI and fair agreement was obtained with a correlation coefficient R of 0.61. The difference between the two instruments can be attributed to the different spatial resolution and the temporal mismatch during the measurements.
文摘Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumulative roll bonding (ARB) techmpues. This paper will introduce a moftiaxis deformation technique which can achieve essentially unlimited strain with constant deformation volume. The mul- tiaxis deformation can be fully restrained or unrestrained.The bulk volume of a multiaxis restraint compression specimen can be easily machined into mechanical testing specimens for mechanical property measurement and other studies.
基金supported by the Science Foundation of the Education Office of Gansu Province of Chinaunder Grant No.0914-01
文摘The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.
基金This work has been supported by the National Natural ScienceFoundation of China(Grant No.32171305)Natural Science Foundation of Chongqing,China(Grant No.cstc2021jcyj-msxmX0109)Chongqing Technology Innovation and Application Development Project(Grant No.CSTB2023YSZX-JSX0003).
文摘Purpose:Head injury criterion(HIC)companied by a rotation-based metric was widely believed to behelpful for head injury prediction in road traffic accidents.Recently,the Euro-New Car AssessmentProgram utilized a newly developed metric called diffuse axonal multi-axis general evaluation(DAMAGE)to explain test device for human occupant restraint(THOR)head injury,which demonstratedexcellent ability in capturing concussions and diffuse axonal injuries.However,there is still a lack ofcomprehensive understanding regarding the effectiveness of using DAMAGE for Hybrid III 50thpercentile male dummy(H50th)head injury assessment.The objective of this study is to determinewhether the DAMAGE could capture the risk of H50th brain injury during small overlap barrier tests.Methods:To achieve this objective,a total of 24 vehicle crash loading curves were collected as input datafor the multi-body simulation.Two commercially available mathematical dynamic models,namelyH50th and THOR,were utilized to investigate the differences in head injury response.Subsequently,adecision method known as simple additive weighting was employed to establish a comprehensive braininjury metric by incorporating the weighted HIC and either DAMAGE or brain injury criterion.Furthermore,35 sets of vehicle crash test data were used to analyze these brain injury metrics.Results:The rotational displacement of the THOR head is significantly greater than that of the H50thhead.The maximum linear and rotational head accelerations experienced by H50th and THOR modelswere(544.6±341.7)m/s^(2),(2468.2±1309.4)rad/s^(2) and(715.2±332.8)m/s^(2),(3778.7±1660.6)rad/s^(2),respectively.Under the same loading condition during small overlap barrier(SOB)tests,THOR exhibits ahigher risk of head injury compared to the H50th model.It was observed that the overall head injuryresponse during the small overlap left test condition is greater than that during the small overlap righttest.Additionally,an equation was formulated to establish the necessary relationship between theDAMAGE values of THOR and H50th.Conclusion:If H50th rather than THOR is employed as an evaluation tool in SOB crash tests,newlydesigned vehicles are more likely to achieve superior performance scores.According to the current injurycurve for DAMAGE and brain injury criterion,it is highly recommended that HIC along with DAMAGE wasprioritized for brain injury assessment in SOB tests.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 50475141, 50436010) the "973" Research Foundation of China (Grant No. 2005CB724103)the Program for New Century Excellent Talents in University (Grant No. NCET-05-0651)
文摘The geometrical accuracy of a machined feature on a workpiece during machining processes is mainly affected by the kinematic chain errors of multi-axis CNC ma- chines and robots, locating precision of fixtures, and datum errors on the work- piece. It is necessary to find a way to minimize the feature errors on the workpiece. In this paper, the kinematic chain errors are transformed into the displacements of the workpiece. The relationship between the kinematic chain errors and the dis- placements of the position and orientation of the workpiece is developed. A map- ping model between the displacements of workpieces and the datum errors, and adjustments of fixtures is established. The suitable sets of unit basis twists for each of the commonly encountered types of feature and the corresponding locating di- rections are analyzed, and an error elimination (EE) method of the machined feature is formulated. A case study is given to verify the EE method.
基金Project supported by the National Natural Science Foundation of China and "863" network laboratories.
文摘Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such as mechanical assembling, precise grind-ing and outline trace. Its response speed must be high enough and its dynamic
基金the support by the Harbin Manufacturing Science and Technology Innovation Talent Project(No.2023CXRCGD035)the Open Research Foundation of State Key Laboratory of Digital Manufacturing Equipment and Technology in Huazhong University of Science and Technology,China(No.IMETKF2023012).
文摘While laser surface texturing(LST)is a promising manufacturing technique for surface functionalization,simultaneously realizing high precision and high efficiency in the LST of complex curved surface is challenging,due to continuously varied geometries of laser-matter incidence.In the present work,we propose a novel manufacturing system of 7-axis on-the-fly LST for complex curved surface,based on the integrated synchronization of 5-axis linkage motion platform with 2-axis galvanometer.Specifically,the algorithm for decomposing spatial texture trajectory on curved surface into low-frequency and high-frequency parts is established,based on which the kinematic model of synchronized 7-axis system is developed to derive the motion of each axis in both 5-axis linkage motion platform and 2-axis galvanometer simultaneously.Subsequently,the synchronized 7-axis LST system is experimentally realized,including the setup of mechanical stages integrated with optical path,the configuration of numerical control unit,and the development of processing software.Finally,case study of 7-axis on-the-fly LST of freeform aluminum surface is performed,and the advantages in terms of processing efficiency and texturing accuracy over 5-axis linkage LST are demonstrated.The correlation of reduced following errors between mechanical stages with the promoted performance of curved surface texturing by the 7-axis on-the-fly LST is further analyzed.Current work provides a feasible solution for establishing the manufacturing system for high performance LST of complex curved surface.
基金supported by the National Key Research and Development Project of China(Nos.2022YFC3703502 and 2018YFC0213201)the National Natural Science Foundation of China(No.42105133)the Local Service Project of Hefei(No.2020BFFFD01804).
文摘Studying the spatiotemporal distribution and transboundary transport of aerosols,NO_(2),SO_(2),and HCHO in typical regions is crucial for understanding regional pollution causes.In a 2-year study using multi-axis differential optical absorption spectroscopy in Qingdao,Shanghai,Xi’an,and Kunming,we investigated pollutant distribution and transport across Eastern China-Ocean,Tibetan Plateau-Central and Eastern China,and China-Southeast Asia interfaces.First,pollutant distributionwas analyzed.Kunming,frequently clouded and misty,exhibited consistently high aerosol optical depth throughout the year.In Qingdao and Shanghai,NO_(2)and SO_(2),as well as SO_(2)in Xi’an,increased in winter.Elevated HCHO in summer in Shanghai and Xi’an,especially Xi’an,suggests potential ozone pollution issues.Subsequently,pollutant transportation across interfaces was studied.At the Eastern China-Ocean interface,the gas transport flux was the largest among other interfaces,with the outflux exceeding the influx,especially in winter and spring.The input of pollutants from the Tibetan Plateau to central-eastern Chinawas larger than the output in winter and spring,with SO_(2)having the highest transport flux in winter.The pollution input from Southeast Asia to China significantly exceeded the output,with spring and winter inputs being 3.22 and 3.03 times the output,respectively.Lastly,the transportation characteristics of a pollution event at Kunming were studied.During this period,pollutants were transported from west to east,with themaximum SO_(2)transport flux at an altitude of 2.87 km equaling 27.74μg/(m^(2)·s).It is speculated that this pollution was caused by the transport from Southeast Asian countries to Kunming.
文摘Microstructure and mechanical properties of AZ61 Mg alloy during isothermal multi-axial forging （MAF） were studied. The mechanisms of grain refinement and relationship between the microstructures and mechanical properties were discussed. The results show that the average grain size decreases with increasing the number of MAF passes. The grains are significantly refined at the 1st and 2nd MAF passes, and gradually refined at higher MAF passes. The initial grain size of 148 lam decreases to about 14 gm after 6 MAF passes. The grain refinement occurs mainly by continuous dynamic recrystallization. With increasing the MAF passes, both the tensile strength and the elongation to failure of the alloy are significantly enhanced.
基金supported by Yunnan Fundamental Research Projects(No.202101AT070003)the National Natural Science Foundation of China(No.42365007).
文摘Multi-axial differential optical absorption spectroscopy(MAX-DOAS)measurements were conducted in Xishuangbanna,Yunnan,China,between November 1,2021 and June 30,2022 to obtain vertical distributions of formaldehyde(HCHO)and glyoxal(CHOCHO).The observations show an increase in vertical column densities(VCDs)and volume mixing ratios(VMRs)for both HCHO and CHOCHO concentrations during periods of biomass combustion.The VCDs of HCHO and CHOCHO from TROPOMI are in good agreementwith the MAX-DOAS observations.(R^(2) HCHO=0.71;R^(2) CHOCHO=0.70).Regarding seasonal variations,HCHO predominantly occupies the upper layer(400-800 m)during the biomass burning,possibly attributed to the formation of secondary HCHO as the plume ascends during combustion.CHOCHO is primarily found in the lower layer(0-200 m),suggesting a longer lifespan for HCHO compared to CHOCHO,preventing the latter from diffusing to higher altitudes.Concerning the daily variation patterns,both HCHO and CHOCHO VMRs exhibited peaks at 9:00 and 13:00,which were attributed to the nighttime accumulation and midday oxidation.Furthermore,we also investigated the sources of volatile organic compounds(VOCs)using the CHOCHO to HCHO ratio(RGF).During the period of biomass burning,there are minimal differences in the daily RGF across layers,indicating that biomass burning is the predominant source.During the non-biomass burning period,the daily RGF shows significant differences among layers,indicating that emissions from biological and anthropogenic sources primarily contribute during the period.
基金National Basic Research Program of China(No.2013CB632202)Key Projects in the National Science&Technology Pillar Program during the twelfth Five-year Plan Period through project(No.2011BAE22B01)for financial support.
文摘The dynamic precipitation behavior during multi-axial forging in an Mg-7Gd-5Y-1Nd-0.5Zr alloy has been investigated and compared with that in static precipitation treatment. The results indicated that dynamic precipitation does occur during multi-axial forging. The dynamic precipitate can be deduced as β phase with face-centered cubic crystal structure (a = 2.22 nm). Most of the β precipitates locate at the dynamic recrystallization grain boundaries. The morphology and orientation relationship is different from that of the β phase formed in the static precipitation treated alloys, although the crystal structure is the same. The precipitation temperature of β phase during MAF is higher than that in the static precipitation treatment.
基金supported by the National Natural Science Foundation of China(No.11372172)the Start-up Fund from the 211-Project of the Education Committee of China(No.S.15-B002-09-032)the Research Innovation Fund of Shanghai University(No.S.10-0401-12-001)
文摘According to the well-known models for rubberlike elasticity with strain- stii^ening effects, the unbounded strain energy is generated with the unlimitedly growing stress when the stretch approaches certain limits. Toward a solution to this issue, an explicit approach is proposed to derive the multi-axial elastic potentials directly from the uniaxial potentials. Then, a new multi-axial potential is presented to characterize the strain-stiffening effect by prescribing suitable forms of uniaxia] potentials so that the strain energy is always bounded as the stress grows to infinity. Numerical examples show good agreement with a number of test data.
