The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structur...The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.展开更多
The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheol...The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheological （MR） fluid is filled into the gaps between the rotor and the caps. When the viscosity of the MR fluid increases under the influence of the magnetic field, the movement of the rotor will be resisted. The output torque is made up of the torque caused by the magnetic field, the torque caused by the plastic viscosity of the MR fluid, and the torque caused by the coulomb friction. The viscous torque can be calculated by a simple method and the frictional torque can be obtained by experiments. The torque dependent on the magnetic field is obtained by electromagnetic finite dement analysis. Experiments are done on the damper prototype and the validity of the design is verified.展开更多
The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on...The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.展开更多
The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is ...The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.展开更多
The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two disti...The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two distinct scarf angles(75°and 60°) was considered in this study.The various aspects of welding were compared with contemporary simple square butt(SSB) joint configuration.Welding was carried out at a constant tool rotation speed(TRS),tool traverse speed(TTS) and tool tilt angle of 1100 rpm,2 mm/s and2°,respectively.The results are analyzed in terms of force and torque distribution,microstructure,macrostructure,and mechanical property perspective for different joint configurations.The study reveals the minimum amount of force and torque at 60°scarf angle joint configuration compared to that of square butt joint configuration.Macro study shows that all the joints were defect-free,and a prominent onion ring was present in the lower portion of the weld nugget(WN).Fine equiaxed grains with a minimum average grain size diameter of 6.82 μm were obtained in the WN of scarf joint configuration(SJC).The maximum ultimate tensile strength(UTS) and maximum average NZ hardness of 267 MPa and83.82 HV0.1were obtained in SJC3 at a scarf angle of 60°.It has been observed from the investigation that the joint efficiency increases from 72.5%(SSB) to 86%(SJC3) at a 60° scarf angle.This unique characteristic may lay an impetus on probable joint strength enhancement technique without increasing the production cost.展开更多
In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive...In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.展开更多
Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions.Unlike in conventional external cylindrical plunge grinding,the conditions between the grindi...Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions.Unlike in conventional external cylindrical plunge grinding,the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the crankshaft.The objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled grinding.Path controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride（CBN）wheel.The grinding force is determined by measuring the torque.The experimental results show that the force and torque vary sinusoidally during dry grinding and load grinding.The variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding depths.In path controlled grinding,unlike in conventional external cylindrical plunge grinding,the axial grinding force cannot be disregarded.The speeds and speed ratios of the workpiece and wheel are also analyzed,and the analysis results show that up-grinding and down-grinding occur during the grinding process.This paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding,which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.展开更多
To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.展开更多
This paper builds up an accurate nonlinear mathematical model of anelectro-hydraulic force/ torque servo control system, and provides a thorough theoretical analysison the feedforward compensation for extraneous force...This paper builds up an accurate nonlinear mathematical model of anelectro-hydraulic force/ torque servo control system, and provides a thorough theoretical analysison the feedforward compensation for extraneous force/torque, whose limitation is analyzed andrevealed. The nonlinear factors and the servo valve dynamics have much influence on the systemcharacteristics. Subsequently a velocity syn-chronizing-compensation method by using the controlsignal of the control actuator is proposed, which can reduce the lagging effects for the betterperformance. For the reason of similarity between the model of control actuator and that of the loadsimulator, the proposed method performs well against the influence of nonlinear factors. Thesimulations and the experiments confirm that this control scheme results in a quick response,robustness, and excellent ability against disturbance.展开更多
An electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device,have been proposed for the relative roll control of two satellites in space.The target satell...An electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device,have been proposed for the relative roll control of two satellites in space.The target satellite and the chaser satellite are respectively embarked with four and six coils evenly arranged around the docking axis.All the coils on the target satellite are Direct Current(DC)energized,while the currents in the coils of the chaser satellite are regulated to achieve the relative roll control.The electromagnetic force/torque model is built by utilizing the frequentlyused far field model.Based on the fundamental components extracted from that model,this paper proposes a real-time magnetic moment vector distribution formula that simply generates a constant roll torque.This paper not only presents an equation for calculating the relative roll angle through the Euler angles of two satellites,but also an equation that converts the roll torque setpoint to the setpoints of the coil currents.A 3-closed-loop positioning controller composed of angle,angular velocity,and current loop is developed.The proposed topology is verified by finite element simulation,and the control strategy is validated by dynamics simulation and ground-based tests.展开更多
In this paper, we develop a theoretical method based on ray optics to calculate the optical force and torque on a metallo-dielectric Janus particle in an optical trap made from a tightly focused Gaussian beam. The Jan...In this paper, we develop a theoretical method based on ray optics to calculate the optical force and torque on a metallo-dielectric Janus particle in an optical trap made from a tightly focused Gaussian beam. The Janus particle is a 2.8 μm diameter polystyrene sphere half-coated with gold thin film several nanometers in thickness. The calculation result shows that the focused beam will push the Janus particle away from the center of the trap,and the equilibrium position of the Janus particle, where the optical force and torque are both zero, is located in a circular orbit surrounding the laser beam axis. The theoretical results are in good agreement qualitatively and quantitatively with our experimental observation. As the ray-optics model is simple in principle, user friendly in formalism, and cost effective in terms of computation resources and time compared with other usual rigorous electromagnetics approaches, the developed theoretical method can become an invaluable tool for understanding and designing ways to control the mechanical motion of complicated microscopic particles in various optical tweezers.展开更多
Magnetically levitated stages（MLS） have potentials to obtain good motion performances in high vacuum environment. Yet the electromagnetic forces/torques corresponding to six degrees of freedom（DOF） motions have co...Magnetically levitated stages（MLS） have potentials to obtain good motion performances in high vacuum environment. Yet the electromagnetic forces/torques corresponding to six degrees of freedom（DOF） motions have coupling relationship with each current of coil array, and this coupling is still associated with the relative positions between the mover and the stator of the stage. So it is quite difficult to control the 6-DOF motions of the stage. By reasonable commutation of coil array, this complicated coupling relationship can be decoupled. The analytical force/torque-decomposing model of the stage is established first. Then the initial currents of coil array are commutated based on the pseudo inverse of the analytical force/torque-decomposing model matrix. And then the coil array currents are commutated again with different current bounds given to the initial currents as well as in the sense of minimum 2-norm of currents vector. Using the long stroke magnetically levitated stage with moving coils under investigation as examples, the currents of coil array are commutated with different current bounds adopting the proposed commutation method, the determination of current bound and the current bounds＇ influences on the heat-losses in coil array are analyzed, and the effectiveness of implementation algorithm of proposed commutation method is discussed. Simulation, analysis and discussion results indicate that the currents of coil array within the given current bound can be solved analytically by proposed commutation method, and the implementation algorithm does not need any searching or iteration. By the current-bounded commutation method proposed, the amplitude of coil array currents can be limited within an appropriate current bound（This is very beneficial to the improvement of the reliability and motion performance of the stage）, as well as these currents can also generate the desired forces and torques.展开更多
This work examines the physical effect of the edge-induced acoustic radiation force and torque on an acoustically radiating infinitely-long circular cylindrical source,located near a rigid corner.Assuming harmonic(lin...This work examines the physical effect of the edge-induced acoustic radiation force and torque on an acoustically radiating infinitely-long circular cylindrical source,located near a rigid corner.Assuming harmonic(linear)radiating waves of the source,vibrating in monopole or dipole radiation modes near a rigid corner-space in a non-viscous fluid,the modal series expansion method in cylindrical coordinates,the classical method of images and the translational addition theorem are applied to obtain the mathematical expressions for the radiation force and torque components in exact partial-wave series.Computational results illustrate the theory,and examine some of the conditions where the radiation force and torque components vanish,which has the potential to achieve total motion suppression(i.e.,translation or rotation).Furthermore,depending on the size parameter of the source and the distances from the rigid corner space,these physical observables take positive or negative values,anticipating the prediction of pulling/pushing motions toward the corner space,and possible spinning of the source clockwise or counter-clockwise.The present analysis and its results may be useful in some applications related to underwater acoustical oceanographic engineering of submerged objects,cloaking and stealth technology development and the experimental design of elongated unmanned autonomous vehicles or submarines,as well as the manipulation of an active carrier or ultrasound contrast agents of elongated cylindrical shapes near a corner space or chamber walls at a right angle.展开更多
Due to magnetic gearing effects,spoke-type permanent magnet vernier machines(ST-PMVMs)have the merit of high torque density,where an extra torque amplification coefficient,i.e.,pole ratio(the pole-pair ratio of PMs to...Due to magnetic gearing effects,spoke-type permanent magnet vernier machines(ST-PMVMs)have the merit of high torque density,where an extra torque amplification coefficient,i.e.,pole ratio(the pole-pair ratio of PMs to armature windings)is introduced.However,different from surface-mounted PMVM,the variation of torque against pole ratio in ST-PMVMs is non-linear,which is increased at first and then decreased.This article is devoted to identify the optimal pole ratio of ST-PMVMs by equivalent magnetic circuit model.It is found that except the Prth air-gap magnetomotive force(MMF)harmonic having the same pole-pair of PM,the Path air-gap MMF harmonic having the same pole-pair of armature winding is also induced due to the modulation of doubly salient air-gap structure.The Prth MMF harmonic produces positive torque,while Path MMF harmonic produces negative torque.With the increase of pole ratio,the proportion of Path MMF harmonic as well as negative torque is increased,which reduces the advantages of high pole ratio coefficient.Further,the influence of dimension parameters on the performance of ST-PMVMs under different pole ratio are investigated.Results show that ST-PMVMs with pole ratio 2.6 have high torque density,low cogging torque and high power factor simultaneously.Finally,a prototype is manufactured to validate the analysis.展开更多
基金supported by the National Natural Science Foundation of China(No.51875250)a Project of Shandong Province Higher Educational Youth Innovation Science and Technology Program,China(No.2019KJB018)a Project of the“20 Regulations for New Universities”Funding Program of Jinan,China(No.202228116)。
文摘The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.
基金The National Basic Research Program of China(973Program) (No2002CB312102)the National Natural ScienceFoundation of China (No60675047)
文摘The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheological （MR） fluid is filled into the gaps between the rotor and the caps. When the viscosity of the MR fluid increases under the influence of the magnetic field, the movement of the rotor will be resisted. The output torque is made up of the torque caused by the magnetic field, the torque caused by the plastic viscosity of the MR fluid, and the torque caused by the coulomb friction. The viscous torque can be calculated by a simple method and the frictional torque can be obtained by experiments. The torque dependent on the magnetic field is obtained by electromagnetic finite dement analysis. Experiments are done on the damper prototype and the validity of the design is verified.
基金supported by National Natural Science Foundation of China (Grant No. 50575192)Hebei Provincial Natural Science Foundation of China (Grant No. E2007000349)
文摘The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.
文摘The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.
基金the Ministry of Human Resource and Development,Government of India for providing the financial assistantship in the form of fellowship。
文摘The present research introduces a unique concept of scarf joint technique in friction stir welding(FSW) of aluminum alloy AA 6061-T6 plates and an investigation on weld quality.A new joint configuration with two distinct scarf angles(75°and 60°) was considered in this study.The various aspects of welding were compared with contemporary simple square butt(SSB) joint configuration.Welding was carried out at a constant tool rotation speed(TRS),tool traverse speed(TTS) and tool tilt angle of 1100 rpm,2 mm/s and2°,respectively.The results are analyzed in terms of force and torque distribution,microstructure,macrostructure,and mechanical property perspective for different joint configurations.The study reveals the minimum amount of force and torque at 60°scarf angle joint configuration compared to that of square butt joint configuration.Macro study shows that all the joints were defect-free,and a prominent onion ring was present in the lower portion of the weld nugget(WN).Fine equiaxed grains with a minimum average grain size diameter of 6.82 μm were obtained in the WN of scarf joint configuration(SJC).The maximum ultimate tensile strength(UTS) and maximum average NZ hardness of 267 MPa and83.82 HV0.1were obtained in SJC3 at a scarf angle of 60°.It has been observed from the investigation that the joint efficiency increases from 72.5%(SSB) to 86%(SJC3) at a 60° scarf angle.This unique characteristic may lay an impetus on probable joint strength enhancement technique without increasing the production cost.
基金Project(SS2012AA041601)supported by National High Technology Research and Development Program of ChinaProject(81201150)supported by the National Natural Science Foundation of China
文摘In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.
基金Supported by National Science and Technology Major Project of China(Grant No.20133ZX04002-031)Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.551121063)State Key Laboratory of Mechanical System and Vibration of China(Grant No.MSV2D2014112)
文摘Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions.Unlike in conventional external cylindrical plunge grinding,the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the crankshaft.The objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled grinding.Path controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride（CBN）wheel.The grinding force is determined by measuring the torque.The experimental results show that the force and torque vary sinusoidally during dry grinding and load grinding.The variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding depths.In path controlled grinding,unlike in conventional external cylindrical plunge grinding,the axial grinding force cannot be disregarded.The speeds and speed ratios of the workpiece and wheel are also analyzed,and the analysis results show that up-grinding and down-grinding occur during the grinding process.This paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding,which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
文摘This paper builds up an accurate nonlinear mathematical model of anelectro-hydraulic force/ torque servo control system, and provides a thorough theoretical analysison the feedforward compensation for extraneous force/torque, whose limitation is analyzed andrevealed. The nonlinear factors and the servo valve dynamics have much influence on the systemcharacteristics. Subsequently a velocity syn-chronizing-compensation method by using the controlsignal of the control actuator is proposed, which can reduce the lagging effects for the betterperformance. For the reason of similarity between the model of control actuator and that of the loadsimulator, the proposed method performs well against the influence of nonlinear factors. Thesimulations and the experiments confirm that this control scheme results in a quick response,robustness, and excellent ability against disturbance.
基金the Beijing Institute of Spacecraft System Engineering for providing topics,putting forward requirements and granting project funding。
文摘An electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device,have been proposed for the relative roll control of two satellites in space.The target satellite and the chaser satellite are respectively embarked with four and six coils evenly arranged around the docking axis.All the coils on the target satellite are Direct Current(DC)energized,while the currents in the coils of the chaser satellite are regulated to achieve the relative roll control.The electromagnetic force/torque model is built by utilizing the frequentlyused far field model.Based on the fundamental components extracted from that model,this paper proposes a real-time magnetic moment vector distribution formula that simply generates a constant roll torque.This paper not only presents an equation for calculating the relative roll angle through the Euler angles of two satellites,but also an equation that converts the roll torque setpoint to the setpoints of the coil currents.A 3-closed-loop positioning controller composed of angle,angular velocity,and current loop is developed.The proposed topology is verified by finite element simulation,and the control strategy is validated by dynamics simulation and ground-based tests.
基金supported by the 973 Program of China (no. 2013CB632704)the National Natural Science Foundation of China (no. 11434017)
文摘In this paper, we develop a theoretical method based on ray optics to calculate the optical force and torque on a metallo-dielectric Janus particle in an optical trap made from a tightly focused Gaussian beam. The Janus particle is a 2.8 μm diameter polystyrene sphere half-coated with gold thin film several nanometers in thickness. The calculation result shows that the focused beam will push the Janus particle away from the center of the trap,and the equilibrium position of the Janus particle, where the optical force and torque are both zero, is located in a circular orbit surrounding the laser beam axis. The theoretical results are in good agreement qualitatively and quantitatively with our experimental observation. As the ray-optics model is simple in principle, user friendly in formalism, and cost effective in terms of computation resources and time compared with other usual rigorous electromagnetics approaches, the developed theoretical method can become an invaluable tool for understanding and designing ways to control the mechanical motion of complicated microscopic particles in various optical tweezers.
基金supported by National Basic Research Program of China(973 Program, Grant No. 2009CB724205)National Hi-tech Research and Development Program of China(863 Program, Grant No. 2009AA04Z148)Independent Research Program of the State Key Laboratory of Tribology of China(Grant No. SKLT08B04)
文摘Magnetically levitated stages（MLS） have potentials to obtain good motion performances in high vacuum environment. Yet the electromagnetic forces/torques corresponding to six degrees of freedom（DOF） motions have coupling relationship with each current of coil array, and this coupling is still associated with the relative positions between the mover and the stator of the stage. So it is quite difficult to control the 6-DOF motions of the stage. By reasonable commutation of coil array, this complicated coupling relationship can be decoupled. The analytical force/torque-decomposing model of the stage is established first. Then the initial currents of coil array are commutated based on the pseudo inverse of the analytical force/torque-decomposing model matrix. And then the coil array currents are commutated again with different current bounds given to the initial currents as well as in the sense of minimum 2-norm of currents vector. Using the long stroke magnetically levitated stage with moving coils under investigation as examples, the currents of coil array are commutated with different current bounds adopting the proposed commutation method, the determination of current bound and the current bounds＇ influences on the heat-losses in coil array are analyzed, and the effectiveness of implementation algorithm of proposed commutation method is discussed. Simulation, analysis and discussion results indicate that the currents of coil array within the given current bound can be solved analytically by proposed commutation method, and the implementation algorithm does not need any searching or iteration. By the current-bounded commutation method proposed, the amplitude of coil array currents can be limited within an appropriate current bound（This is very beneficial to the improvement of the reliability and motion performance of the stage）, as well as these currents can also generate the desired forces and torques.
文摘This work examines the physical effect of the edge-induced acoustic radiation force and torque on an acoustically radiating infinitely-long circular cylindrical source,located near a rigid corner.Assuming harmonic(linear)radiating waves of the source,vibrating in monopole or dipole radiation modes near a rigid corner-space in a non-viscous fluid,the modal series expansion method in cylindrical coordinates,the classical method of images and the translational addition theorem are applied to obtain the mathematical expressions for the radiation force and torque components in exact partial-wave series.Computational results illustrate the theory,and examine some of the conditions where the radiation force and torque components vanish,which has the potential to achieve total motion suppression(i.e.,translation or rotation).Furthermore,depending on the size parameter of the source and the distances from the rigid corner space,these physical observables take positive or negative values,anticipating the prediction of pulling/pushing motions toward the corner space,and possible spinning of the source clockwise or counter-clockwise.The present analysis and its results may be useful in some applications related to underwater acoustical oceanographic engineering of submerged objects,cloaking and stealth technology development and the experimental design of elongated unmanned autonomous vehicles or submarines,as well as the manipulation of an active carrier or ultrasound contrast agents of elongated cylindrical shapes near a corner space or chamber walls at a right angle.
基金supported in part by the National Nature Science Foundation of China(NSFC)under Project 51977094in part by the National Key Research and Development Program of China under Grant 2017YFB0102400。
文摘Due to magnetic gearing effects,spoke-type permanent magnet vernier machines(ST-PMVMs)have the merit of high torque density,where an extra torque amplification coefficient,i.e.,pole ratio(the pole-pair ratio of PMs to armature windings)is introduced.However,different from surface-mounted PMVM,the variation of torque against pole ratio in ST-PMVMs is non-linear,which is increased at first and then decreased.This article is devoted to identify the optimal pole ratio of ST-PMVMs by equivalent magnetic circuit model.It is found that except the Prth air-gap magnetomotive force(MMF)harmonic having the same pole-pair of PM,the Path air-gap MMF harmonic having the same pole-pair of armature winding is also induced due to the modulation of doubly salient air-gap structure.The Prth MMF harmonic produces positive torque,while Path MMF harmonic produces negative torque.With the increase of pole ratio,the proportion of Path MMF harmonic as well as negative torque is increased,which reduces the advantages of high pole ratio coefficient.Further,the influence of dimension parameters on the performance of ST-PMVMs under different pole ratio are investigated.Results show that ST-PMVMs with pole ratio 2.6 have high torque density,low cogging torque and high power factor simultaneously.Finally,a prototype is manufactured to validate the analysis.
