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 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
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
This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decou...This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.展开更多
A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of ort...A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.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
This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having s...This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having symmetric and asymmetric topologies.Firstly,an analytical expression for the machine radial electromagnetic force(REMF)is derived to quickly estimate the REMF characteristics for the ST-PMSM with assisted poles having symmetric and asymmetric topologies.The 2D-Fourier decomposition method is applied to investigate the radial electromagnetic force harmonics(REMFHs).Secondly,Finite element(FE)models are designed for the machine structural analysis.Subsequently,the FE models and modal analysis are explored for different design cases of the analyzed machine.Lastly,vibration and noise behavior are investigated using an FE approach for the machine designs under symmetric and asymmetric assisted poles topologies.The findings indicate an increase in the richness of REMFHs,alongside a decrease in both the fundamental frequency and the lowest non-zero order of REMF,attributed to the presence of asymmetric assisted poles.Consequently,it is investigated that while considering the vibration and noise response in STPMSMs designed with asymmetric assisted poles topologies,it is essential to thoroughly account for induced non-zero low-order harmonics and their optimization for better vibration and noise performance.展开更多
Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pell...Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.展开更多
A numerical study is carried out to investigate the influence of a sudden change of the specific force on a three-floated gyroscope with a rotor supported on gas-lubricated bearings.The interference torque is calculat...A numerical study is carried out to investigate the influence of a sudden change of the specific force on a three-floated gyroscope with a rotor supported on gas-lubricated bearings.The interference torque is calculated to evaluate the influence by modeling the transient behavior of the rotor-bearing system. In combination with dynamic equations of the rotor displacement,the Reynolds equation is solved on the surface of spiral-grooved conical bearings. It is assumed that a steady state has been obtained with a constant specific force, and then the specific force is suddenly changed and maintained constant after that. Responses of the sudden change are obtained by solving the equations. Numerical results show that the direction of the sudden change of the specific force is the main factor which influences the interference torque curve. With a sudden change along the input direction, the interference torque fluctuation has a constant frequency and a decreasing amplitude. With a sudden change along the output direction, the interference torque fluctuates in a small range. With a sudden change along the spin direction, the change of the interference torque combines a fluctuation and a gradually-changing quasi-equilibrium value. This study provides a supplement to the steady-state error model of the three-floated gyroscope.展开更多
The magnetic field generated in the air gap of the cage asynchronous machine and the harmonics of the magnetomotive forces creating that magnetic field,as well as the synchronous parasitic torques,radial magnetic forc...The magnetic field generated in the air gap of the cage asynchronous machine and the harmonics of the magnetomotive forces creating that magnetic field,as well as the synchronous parasitic torques,radial magnetic forces have been discussed in great detail in the literature,but always separately,for a long time.However,systematization of the phenomenon still awaits.Therefore,it is worth summarizing the completeness of the phenomena in a single study–with a new approach at the same time-in order to reveal the relationships between them.The role of rotor slot number is emphasized much more than before.New formulas derived for both synchronous torques and radial magnetic forces are used for further investigation.It will be shown that both phenomena in subject must be treated together.Formulas will be provided to take into account attenuation.Design guide will be provided to avoid dangerous rotor slot numbers.It will be shown that the generation of synchronous torques and radial magnetic forces do not depend–in this new approach-on the slot combination,but on the rotor slot number itself.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
Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet t...Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet the requirements because of their large size.In this study,a silicon-based capacitive six-axis force/torque sensing chip with a small size of 9.3×9.3×0.98 mm was designed,fabricated,and tested.A sandwich decoupling structure with a symmetrical layered arrangement of S-shaped beams,comb capacitors,and parallel capacitors was employed.A decoupling theory considering eccentricity and nonlinear effects was derived to realize low axial crosstalk.The proposed S-shaped beams achieved a large measurement range through stress optimization.The results of a coupled multiphysics field finite-element simulation agreed well with those of theoretical analyses.The test results show that the proposed sensing chip can detect six-axis force/torque separately,with all crosstalk errors less than 2.59%FS.Its force and torque measurement ranges can reach as much as 2.5 N and 12.5 N·mm,respectively.The sensing chip also has high sensitivities of 0.52 pF/N and 0.27 pF/(N·mm)for force and torque detection,respectively.展开更多
The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was install...The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was installed in order to minimize the cogging torque and torque ripple by finite element method (FEM) with a reduced barrier width toward the center of magnetic pole. The position and width of notch, which can offset cogging torque, can be calculated with energy distribution of air-gap using Fourier series. The optimized model demonstrates a 60% decrease in the cogging torque, a 75.3% decrease in the torque ripple and a 3% increase in the operating torque when compared with the basic model.展开更多
Drilling is indispensable process and it cannot be avoided for joining composite structures used in various engineering applications. In this research article, the influence of drilling parameters on thrust force and ...Drilling is indispensable process and it cannot be avoided for joining composite structures used in various engineering applications. In this research article, the influence of drilling parameters on thrust force and torque of silica (SiO2) and alumina (Al2O3) filled into glass fabric reinforced epoxy (G-E) composites are analyzed. Drilling experiments are conducted on these composite materials using BATLIBOI make radial drilling machine. Two different drill bits (HSS and cemented carbide) are used for the experimentation. The influence of drilling parameters like cutting speed and feed on thrust force and torque on drilling of particulate filled G-E composites has been carried out. The experimental results indicated that the thrust force and torque were increased with increasing feed and cutting speed for all the composites tested. Further, it is observed that the carbide drill performed better than HSS drill during drilling of particulate filled G-E composites. The drilled surfaces are examined using scanning electron microscopy (SEM) and damage mechanisms are discussed.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
The purpose of this study is to develop an analytical formalism and derive series expansions for the time-averaged force and torque exerted on a compound coated compressible liquid-like cylinder,insonified by acoustic...The purpose of this study is to develop an analytical formalism and derive series expansions for the time-averaged force and torque exerted on a compound coated compressible liquid-like cylinder,insonified by acoustic standing waves having an arbitrary angle of incidence in the polar(transverse)plane.The host medium of wave propagation and the eccentric liquid-like cylinder are non-viscous.Numerical computations illustrate the theoretical analysis with particular emphases on the eccentricity of the cylinder,the angle of incidence and the dimensionless size parameters of the inner and coating cylindrical fluid materials.The method to derive the acoustical scattering,and radiation force and torque components conjointly uses modal matching with the addition theorem,which adequately account for the multiple wave interaction effects between the layer and core fluid materials.The results demonstrate that longitudinal and lateral radiation force components arise.Moreover,an axial radiation torque component is quantified and computed for the non-absorptive compound cylinder,arising from geometrical asymmetry considerations as the eccentricity increases.The computational results reveal the emergence of neutral,positive,and negative radiation force and torque depending on the size parameter of the cylinder,the eccentricity,and the angle of incidence of the insonifying field.Moreover,based on the law of energy conservation applied to scattering,numerical verification is accomplished by computing the extinction/scattering energy efficiency.The results may find some related applications in fluid dynamics,particle trapping,mixing and manipulation using acoustical standing waves.展开更多
Exact analytical equations and computations for the longitudinal and transverse acoustic radiation force and axial torque components for a lossless eccentric liquid cylinder submerged in a nonviscous fluid and insonif...Exact analytical equations and computations for the longitudinal and transverse acoustic radiation force and axial torque components for a lossless eccentric liquid cylinder submerged in a nonviscous fluid and insonified by plane waves progressive waves(of arbitrary incidence in the polar plane)are established and computed numerically.The modal matching method and the translational addition theorem in cylindrical coordinates are used to derive exact mathematical expressions applicable to any inner and outer cylinder sizes without any approximations,and taking into account the interaction effects between the waves propagating in the layer and those scattered from the cylindrical core.The results show that longitudinal and transverse radiation force components arise,in addition to the emergence of an axial radiation torque component acting on the non-absorptive compound cylinder due to geometrical asymmetry as the eccentricity increases.The computations demonstrate that the axial torque component,which arises due to a geometrical asymmetry,can be positive(causing counterclockwise rotation in the polar plane),negative(clockwise rotation)or neutral(rotation cancellation)depending on the size parameter of the cylinder and the amount of eccentricity.Furthermore,verification and validation of the results have been accomplished from the standpoint of energy conservation law applied to scattering,and based on the reciprocity theorem.展开更多
The calculation results of the rolling force and torque model based on Orowan's differential equation numerical solution method do not fit with the industrial measurements very well.In particular,a quite large dev...The calculation results of the rolling force and torque model based on Orowan's differential equation numerical solution method do not fit with the industrial measurements very well.In particular,a quite large deviation on the torque model was found.On the basis of analyzing the shortcomings of the existing method,an improved rolling force and torque model algorithm aided by the Process Integrated Data Application System platform is proposed.Accordingly,the calculation accuracy of the rolling torque model is improved.The improved models are verified by 1711136 records of a data platform.The improved models are also based on Orowan's differential equation.Two coefficients,namely,friction factor and forward slip,are recognized as the crucial factors to be determined from industrial measurements to improve the accuracy.Therefore,the proposed method is a hybrid method that can be used to deeply understand the rolling process and improve the model's accuracy by combining traditional plastic mechanics and data-driving global optimization algorithms.This paper proposes a new approach to studying theoretical rolling deformation models powered by the industrial data platform.展开更多
Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford...Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.展开更多
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 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 the National Natural Science Foundation of China （ No. 60275032 ） and the Supported bv the High Technology Research and Development Programme of China （ No. 2003AA404220）.
文摘This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.
基金Supported by the National Natural Science Foundation of China(No.51505124)Foster Fund Projects of North China University of Science and Technology(No.JP201505)the Science and Technology Research Project of Hebei Province(No.ZD2020151).
文摘A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.
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.
基金supported by the National Key Research and Developmen Program of China(2022YFB3403100)。
文摘This article investigates the radial electromagnetic force,vibration,and noise phenomenon in a low-speed,hightorque density spoke-type permanent magnet synchronous machine(ST-PMSM)designed with assisted poles having symmetric and asymmetric topologies.Firstly,an analytical expression for the machine radial electromagnetic force(REMF)is derived to quickly estimate the REMF characteristics for the ST-PMSM with assisted poles having symmetric and asymmetric topologies.The 2D-Fourier decomposition method is applied to investigate the radial electromagnetic force harmonics(REMFHs).Secondly,Finite element(FE)models are designed for the machine structural analysis.Subsequently,the FE models and modal analysis are explored for different design cases of the analyzed machine.Lastly,vibration and noise behavior are investigated using an FE approach for the machine designs under symmetric and asymmetric assisted poles topologies.The findings indicate an increase in the richness of REMFHs,alongside a decrease in both the fundamental frequency and the lowest non-zero order of REMF,attributed to the presence of asymmetric assisted poles.Consequently,it is investigated that while considering the vibration and noise response in STPMSMs designed with asymmetric assisted poles topologies,it is essential to thoroughly account for induced non-zero low-order harmonics and their optimization for better vibration and noise performance.
基金financial support by the National Key Research and Development Program of China(No.2023YFC2907801)the Hunan Provincial Natural Science Foundation of China(No.2023JJ40760)the Scientific and Technological Project of Yunnan Precious Metals Laboratory,China(No.YPML-2023050276)。
文摘Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.
基金supported by the Aeronautical Science Foundation of China(No.20150863003)
文摘A numerical study is carried out to investigate the influence of a sudden change of the specific force on a three-floated gyroscope with a rotor supported on gas-lubricated bearings.The interference torque is calculated to evaluate the influence by modeling the transient behavior of the rotor-bearing system. In combination with dynamic equations of the rotor displacement,the Reynolds equation is solved on the surface of spiral-grooved conical bearings. It is assumed that a steady state has been obtained with a constant specific force, and then the specific force is suddenly changed and maintained constant after that. Responses of the sudden change are obtained by solving the equations. Numerical results show that the direction of the sudden change of the specific force is the main factor which influences the interference torque curve. With a sudden change along the input direction, the interference torque fluctuation has a constant frequency and a decreasing amplitude. With a sudden change along the output direction, the interference torque fluctuates in a small range. With a sudden change along the spin direction, the change of the interference torque combines a fluctuation and a gradually-changing quasi-equilibrium value. This study provides a supplement to the steady-state error model of the three-floated gyroscope.
文摘The magnetic field generated in the air gap of the cage asynchronous machine and the harmonics of the magnetomotive forces creating that magnetic field,as well as the synchronous parasitic torques,radial magnetic forces have been discussed in great detail in the literature,but always separately,for a long time.However,systematization of the phenomenon still awaits.Therefore,it is worth summarizing the completeness of the phenomena in a single study–with a new approach at the same time-in order to reveal the relationships between them.The role of rotor slot number is emphasized much more than before.New formulas derived for both synchronous torques and radial magnetic forces are used for further investigation.It will be shown that both phenomena in subject must be treated together.Formulas will be provided to take into account attenuation.Design guide will be provided to avoid dangerous rotor slot numbers.It will be shown that the generation of synchronous torques and radial magnetic forces do not depend–in this new approach-on the slot combination,but on the rotor slot number itself.
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supported in part by the National Key Research&Development(R&D)Program of China(Grant No.2022YFB3204800)National Natural Science Foundation of China(Grant Nos.U1909221 and 52305615)Chongqing Natural Science Basic Research Project(Grant No.cstc2021jcyj-msxmX0801).
文摘Miniaturized six-axis force/torque sensors have potential applications in robotic tactile sensing,minimally invasive surgery,and other narrow operating spaces,where currently available commercial sensors cannot meet the requirements because of their large size.In this study,a silicon-based capacitive six-axis force/torque sensing chip with a small size of 9.3×9.3×0.98 mm was designed,fabricated,and tested.A sandwich decoupling structure with a symmetrical layered arrangement of S-shaped beams,comb capacitors,and parallel capacitors was employed.A decoupling theory considering eccentricity and nonlinear effects was derived to realize low axial crosstalk.The proposed S-shaped beams achieved a large measurement range through stress optimization.The results of a coupled multiphysics field finite-element simulation agreed well with those of theoretical analyses.The test results show that the proposed sensing chip can detect six-axis force/torque separately,with all crosstalk errors less than 2.59%FS.Its force and torque measurement ranges can reach as much as 2.5 N and 12.5 N·mm,respectively.The sensing chip also has high sensitivities of 0.52 pF/N and 0.27 pF/(N·mm)for force and torque detection,respectively.
基金Research financially supported by Human Resource Training Project for Regional Innovation of Ministry of Education,Science and Technology(MEST)National Research Foundation(NRF)the Second Stage of Brain Korea 21 Projects,Korea
文摘The design of notch and barrier was optimized in order to improve the characteristics of constant torque while minimizing the cogging torque that occurs as a result of teeth and slot structure. The barrier was installed in order to minimize the cogging torque and torque ripple by finite element method (FEM) with a reduced barrier width toward the center of magnetic pole. The position and width of notch, which can offset cogging torque, can be calculated with energy distribution of air-gap using Fourier series. The optimized model demonstrates a 60% decrease in the cogging torque, a 75.3% decrease in the torque ripple and a 3% increase in the operating torque when compared with the basic model.
文摘Drilling is indispensable process and it cannot be avoided for joining composite structures used in various engineering applications. In this research article, the influence of drilling parameters on thrust force and torque of silica (SiO2) and alumina (Al2O3) filled into glass fabric reinforced epoxy (G-E) composites are analyzed. Drilling experiments are conducted on these composite materials using BATLIBOI make radial drilling machine. Two different drill bits (HSS and cemented carbide) are used for the experimentation. The influence of drilling parameters like cutting speed and feed on thrust force and torque on drilling of particulate filled G-E composites has been carried out. The experimental results indicated that the thrust force and torque were increased with increasing feed and cutting speed for all the composites tested. Further, it is observed that the carbide drill performed better than HSS drill during drilling of particulate filled G-E composites. The drilled surfaces are examined using scanning electron microscopy (SEM) and damage mechanisms are discussed.
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.
文摘The purpose of this study is to develop an analytical formalism and derive series expansions for the time-averaged force and torque exerted on a compound coated compressible liquid-like cylinder,insonified by acoustic standing waves having an arbitrary angle of incidence in the polar(transverse)plane.The host medium of wave propagation and the eccentric liquid-like cylinder are non-viscous.Numerical computations illustrate the theoretical analysis with particular emphases on the eccentricity of the cylinder,the angle of incidence and the dimensionless size parameters of the inner and coating cylindrical fluid materials.The method to derive the acoustical scattering,and radiation force and torque components conjointly uses modal matching with the addition theorem,which adequately account for the multiple wave interaction effects between the layer and core fluid materials.The results demonstrate that longitudinal and lateral radiation force components arise.Moreover,an axial radiation torque component is quantified and computed for the non-absorptive compound cylinder,arising from geometrical asymmetry considerations as the eccentricity increases.The computational results reveal the emergence of neutral,positive,and negative radiation force and torque depending on the size parameter of the cylinder,the eccentricity,and the angle of incidence of the insonifying field.Moreover,based on the law of energy conservation applied to scattering,numerical verification is accomplished by computing the extinction/scattering energy efficiency.The results may find some related applications in fluid dynamics,particle trapping,mixing and manipulation using acoustical standing waves.
文摘Exact analytical equations and computations for the longitudinal and transverse acoustic radiation force and axial torque components for a lossless eccentric liquid cylinder submerged in a nonviscous fluid and insonified by plane waves progressive waves(of arbitrary incidence in the polar plane)are established and computed numerically.The modal matching method and the translational addition theorem in cylindrical coordinates are used to derive exact mathematical expressions applicable to any inner and outer cylinder sizes without any approximations,and taking into account the interaction effects between the waves propagating in the layer and those scattered from the cylindrical core.The results show that longitudinal and transverse radiation force components arise,in addition to the emergence of an axial radiation torque component acting on the non-absorptive compound cylinder due to geometrical asymmetry as the eccentricity increases.The computations demonstrate that the axial torque component,which arises due to a geometrical asymmetry,can be positive(causing counterclockwise rotation in the polar plane),negative(clockwise rotation)or neutral(rotation cancellation)depending on the size parameter of the cylinder and the amount of eccentricity.Furthermore,verification and validation of the results have been accomplished from the standpoint of energy conservation law applied to scattering,and based on the reciprocity theorem.
文摘The calculation results of the rolling force and torque model based on Orowan's differential equation numerical solution method do not fit with the industrial measurements very well.In particular,a quite large deviation on the torque model was found.On the basis of analyzing the shortcomings of the existing method,an improved rolling force and torque model algorithm aided by the Process Integrated Data Application System platform is proposed.Accordingly,the calculation accuracy of the rolling torque model is improved.The improved models are verified by 1711136 records of a data platform.The improved models are also based on Orowan's differential equation.Two coefficients,namely,friction factor and forward slip,are recognized as the crucial factors to be determined from industrial measurements to improve the accuracy.Therefore,the proposed method is a hybrid method that can be used to deeply understand the rolling process and improve the model's accuracy by combining traditional plastic mechanics and data-driving global optimization algorithms.This paper proposes a new approach to studying theoretical rolling deformation models powered by the industrial data platform.
基金supported in part by the Universitat Politècnica de València under grant PAID-10-21supported through AMRITA Seed Grant(Proposal ID:ASG2022188)。
文摘Switched Reluctance Motors(SRMs),outfitted with rugged construction,good speed range,high torque density,and rare earth-free nature that outweigh induction motors(IM)and permanent magnet synchronous motor(PMSM),afford a broad range of applications in the domain of electric vehicles(EVs).Standard copper magnetic wire and low-carbon steel laminations are used to construct SRMs,which give them high efficiency in the range of 85-95%.Despite SRM's desirable features over traditional motor-speed drives,high torque ripples and radial distortions constrain their deployment in EVs.Precise rotor position is imperative for effective management of the speed and torque of SRMs.This paper provides an illustrative compendium on review of the torque-speed control and ripple mitigation techniques using design enhancements and control methods for SRM drives for EV applications.The various schemes were evaluated on their performance metricsoperational speed range,control complexity,practical realization,need for pre-stored parameters(look-up tables of current,inductance and torque profiles)and motor controller memory requirements.The findings provide valuable insights into balancing the gains and trade-offs associated with EV applications.Furthermore,they pinpoint opportunities for enhancement by analyzing the cost and technical aspects of different SRM controllers.
