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Wire Rope Inspection Robots:A Review
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作者 SUN Bowen YANG Jianhua +3 位作者 LI Baofeng LI Shangyuan WANG Liang XU Zhongqi 《Journal of Shanghai Jiaotong university(Science)》 2025年第6期1144-1161,共18页
Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance,which can accurately locate and judge the damage of wire rope.In addition,the wire rope inspection robot can also be u... Wire rope inspection robot is an important tool for wire rope condition monitoring and maintenance,which can accurately locate and judge the damage of wire rope.In addition,the wire rope inspection robot can also be used for cable inspection.First,the crawling structure and crawling mode of the wire rope inspection robot are reviewed,and the characteristics and existing problems of each crawling mode are analyzed separately.Next,the drive mode of the wire rope inspection robot is discussed,the types of commonly used motors are introduced,and the advantages and disadvantages of drive motors and the control modes are compared.Then,the method and principle of the non-destructive detection of the wire rope inspection robot are expounded,and the commonly used detection methods and existing deficiencies are compared.After that,the types of communication modes are compared and analyzed,and the types of wireless communication modes are also introduced.Finally,the current difficult problems of the wire rope inspection robot are summarized,and the future development trend of the wire rope inspection robot is prospected. 展开更多
关键词 wire rope CABLE non-destructive detection inspection robot
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A Brief Discussion on the Development of Non- Destructive Testing Technology for Steel Wire Rope
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作者 Yang Gao Jun Yang +2 位作者 Baohua Qiao Chen Qian Qifu Zhang 《Journal of Electronic Research and Application》 2025年第4期1-7,共7页
In heavy-duty long-distance transmission scenarios,steel wire ropes are widely used due to their unique advantages,and their safety is very important,which has also led to the rapid development of non-destructive test... In heavy-duty long-distance transmission scenarios,steel wire ropes are widely used due to their unique advantages,and their safety is very important,which has also led to the rapid development of non-destructive testing technology for steel wire ropes.The non-destructive testing technology for steel wire ropes is influenced by various factors such as its own structure and external working environment,and the testing process is relatively complex.Multiple testing methods and related types of sensors have also emerged.The electromagnetic detection method is currently the most effective method,but it also has its limitations in development and has not yet fully achieved the expected detection goals.In order to completely replace manual inspection work with the development of non-destructive testing technology for steel wire ropes,more in-depth research and long-term accumulation are still needed. 展开更多
关键词 wire rope Non-destructive testing Electromagnetic detection method
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Distribution of wire deformation within strands of wire ropes 被引量:18
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作者 MA Jun GE Shi-rong ZHANG De-kun 《Journal of China University of Mining and Technology》 EI 2008年第3期475-478,共4页
Using ANSYS software, we developed a modeling program for several kinds of wire ropes with metal cores and built a geometric model for the 6×19 IWS wire rope. Through proper grid partitioning, a finite element mo... Using ANSYS software, we developed a modeling program for several kinds of wire ropes with metal cores and built a geometric model for the 6×19 IWS wire rope. Through proper grid partitioning, a finite element model for calculating the deforma-tion of wire rope was obtained. Completely constraining one end of the wire rope and applying an axial force to the other end, we established the boundary conditions for solving the model. In addition, we numerically simulated the stress and deformation of the wire, obtaining the deformation distribution of each wire within the wire rope under different laying directions. At the end, a tensile test of the 6×19 IWS wire rope was carried out and the results of simulation and experiment compared. 展开更多
关键词 wire rope model DEFORMATION finite element
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Numerical investigation of the seismic response of a UHV composite bypass switch retrofitted with wire rope isolators 被引量:8
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作者 Yang Zhenyu Xie Qiang +1 位作者 He Chang Xue Songtao 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2021年第1期275-290,共16页
An ultra-high voltage(UHV)composite bypass switch(BPS)faces increasing seismic challenges when UHV projects extend to high seismic intensity areas.The UHV composite BPS still generates excessive stress at the bottom s... An ultra-high voltage(UHV)composite bypass switch(BPS)faces increasing seismic challenges when UHV projects extend to high seismic intensity areas.The UHV composite BPS still generates excessive stress at the bottom section although hollow composite insulators with high flexural strength are adopted.Since the standard retrofitting strategy by using stiffer supports cannot reduce stress responses,wire rope isolation is introduced.The optimal design of isolation considers both stress and displacement responses since the slenderness and composite material of insulators contribute to significant displacement.The results show that properly designed isolation can significantly reduce stress without excessive displacement responses.A larger radius configuration helps to improve the applicability of small stiffness isolators under high winds.When the isolation still cannot satisfy the requirement,smaller stiffness isolators with a larger radius,or isolators with increased loops and smaller radius,can be introduced to gain better energy dissipation capacity and effectiveness in response mitigation.Accordingly,a three-step design procedure is proposed to increase the damping force but fix the rotational stiffness of isolation.Hence,the application of wire rope isolation can be extended to UHV composite BPS with a low natural frequency,but conductors with enough redundancy should be used. 展开更多
关键词 UHV composite bypass switch seismic analysis seismic performance upgrading wire rope isolator
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Dynamic behavior of bridge-erecting machine subjected to moving mass suspended by wire ropes 被引量:4
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作者 Shaopu YANG Xueqian FANG +1 位作者 Jianchao ZHANG Dujuan WANG 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2016年第6期741-748,共8页
The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivale... The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivalent "spring-damper" system with an effective spring constant and an effective damping coefficient is used to model the moving mass suspended by the wire rope. The suddenly applied load is represented by a unitary Dirac Delta function. With the expansion method, a simple closed-form solution for the equation of motion with the replaced spring-damper-mass system is formulated. The characters of the rope are included in the derivation of the differential equation of motion for the system. The numerical examples show that the effects of the damping coefficient and the spring constant of the rope on the deflection have significant variations with the loading frequency. The effects of the damping coefficient and the spring constant under different beam lengths are also examined. The obtained results validate the presented approach, and provide significant references in the design process of bridgeerecting machines. 展开更多
关键词 bridge-erecting machine wire rope dynamic behavior equivalent "spring-damper" system
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Effect of Tension on Friction Coefficient Between Lining and Wire Rope with Low Speed Sliding 被引量:9
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作者 PENG Yu-xing ZHU Zhen-cai +1 位作者 CHEN Guo-an CAO Guo-hua 《Journal of China University of Mining and Technology》 EI 2007年第3期409-413,共5页
In order to obtain the exact friction coefficient between lining and wire rope, the tension of wire rope is studied as a factor which affects this coefficient. A mechanical model of a wire rope subjected to axial load... In order to obtain the exact friction coefficient between lining and wire rope, the tension of wire rope is studied as a factor which affects this coefficient. A mechanical model of a wire rope subjected to axial load was established to determine the torque of the wire rope. The contact motion between lining and wire rope was regarded as a screw rotation and the axial force of the lining resulting from the torque of the wire rope was analyzed. Theoretical formulas relating tension of the wire rope and the friction coefficient was obtained. Experiments between lining and wire rope with low sliding speed were carried out with friction tester made by us. Experimental results show that increment of the friction coefficient is proportional to that of the tension of the wire rope with a low sliding speed. The experimental results agree with the theoretical calculation; the errors are less than 6%, which oroves the validity of the theoretical model. 展开更多
关键词 wire rope tension LINING friction coefficient low speed
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Key technique of a detection sensor for coal mine wire ropes 被引量:3
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作者 WANG Hong-yao XU Zhao +4 位作者 HUA Gang TIAN Jie ZHOU Bing-bing LU Yan-hong CHEN Feng-jun 《Mining Science and Technology》 EI CAS 2009年第2期170-175,共6页
Wire ropes,employed extensively in coal mine hoists and transportation systems are subject to damage due to wear,corrosion and fatigue.The extent of damage and the carrying capacity of ropes are closely related to the... Wire ropes,employed extensively in coal mine hoists and transportation systems are subject to damage due to wear,corrosion and fatigue.The extent of damage and the carrying capacity of ropes are closely related to the sense of safety by staff and equipments.Magnetic flux leakage detection method(MFL),as an effective method,is these days widely used in detection of broken strands of wire ropes.In order to improve the accuracy of detection of flaws in wire ropes by magnetic flux leakage(MFL),the effect of the distance between a sensor and the surface of a wire rope(i.e.,lift-off) on detection by magnetic flux leakage was in-vestigated.An analysis of the main principles for the choice of lift-off is described by us and a new method that improves the structure of the detector is proposed from the point of view of the design of a magnetic circuit,to restrain the impact of fluctuations of sensor lift-off.The effect of this kind of method is validated by simulation and computation.The results show that the detection sensitivity is markedly increased by this method.Furthermore,the signal-to-noise ratio(SNR) can be increased by over 28%.This method will lend itself to offer reliable scientific information to optimize the structure of excitation devices and improve the accuracy of MFL detection. 展开更多
关键词 coal mine wire rope magnetic flux leakage detection LIFT-OFF
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Aeroelastic Properties and Nonlinear Vibration Control of a Simply-Supported Lattice Sandwich Beam Embedded with Nitinol-Steel Wire Ropes 被引量:2
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作者 Yewei Zhang Xichao Chen +1 位作者 Donghui Li Jian Zang 《Acta Mechanica Solida Sinica》 SCIE EI CSCD 2022年第5期755-764,共10页
As a novel vibration absorber,Nitinol-steel wire rope(NiTi-ST)has rarely been studied on vibration suppression for lattice sandwich beams in supersonic airflow.In this paper,NiTi-ST with nonlinear stiffness and hyster... As a novel vibration absorber,Nitinol-steel wire rope(NiTi-ST)has rarely been studied on vibration suppression for lattice sandwich beams in supersonic airflow.In this paper,NiTi-ST with nonlinear stiffness and hysteretic damping is embedded in a lattice sandwich beam to control the beam's vibration.The nonlinear restoring and hysteretic damping force of NiTi-ST are treated as polynomials.The dynamic equation is established based on Hamilton's principle.The amplitude responses of the beam with different NiTi-ST configurations are calculated.The vibration-suppression effects and energy dissipation of lattice sandwich beam with different NiTi-ST configurations under different air velocities are also compared.The frequency-domain and time-domain methods are used to analyze the structural aeroelastic properties.Simulation results show that the use of NiTi-ST can significantly suppress excessive vibration of a lattice sandwich beam in supersonic airflow. 展开更多
关键词 Lattice sandwich beam Nonlinear vibration control Nitinol-steel wire rope Supersonic airflow
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Discussion on Damage Inspection and Maintenance of Elevator Wire Rope
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作者 HE Meng 《外文科技期刊数据库(文摘版)工程技术》 2021年第5期378-380,共5页
Elevator safety has always been a very important issue. Elevator cable is an important part of safe operation, quality and safety directly affect the overall safety of the elevator. Therefore, in the actual inspection... Elevator safety has always been a very important issue. Elevator cable is an important part of safe operation, quality and safety directly affect the overall safety of the elevator. Therefore, in the actual inspection of the elevator, we must pay attention to the inspection and maintenance of the elevator rope and ensure the stability and safety of the elevator rope, in order to improve the safety and efficiency of the daily use of the elevator. This paper aims to improve the daily safety of elevators by analyzing the inspection and maintenance methods starting from the daily inspection and maintenance of elevator ropes. 展开更多
关键词 elevator monitoring elevator wire rope maintenance
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Dynamic design of a nonlinear energy sink with NiTiNOL-steel wire ropes based on nonlinear output frequency response functions 被引量:7
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作者 Yewei ZHANG Kefan XU +3 位作者 Jian ZANG Zhiyu NI Yunpeng ZHU Liqun CHEN 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2019年第12期1791-1804,共14页
A novel vibration isolation device called the nonlinear energy sink(NES)with NiTiNOL-steel wire ropes(NiTi-ST)is applied to a whole-spacecraft system.The NiTi-ST is used to describe the damping of the NES,which is cou... A novel vibration isolation device called the nonlinear energy sink(NES)with NiTiNOL-steel wire ropes(NiTi-ST)is applied to a whole-spacecraft system.The NiTi-ST is used to describe the damping of the NES,which is coupled with the modified Bouc-Wen model of hysteresis.The NES with NiTi-ST vibration reduction principle uses the irreversibility of targeted energy transfer(TET)to concentrate the energy locally on the nonlinear oscillator,and then dissipates it through damping in the NES with NiTi-ST.The generalized vibration transmissibility,obtained by the root mean square treatment of the harmonic response of the nonlinear output frequency response functions(NOFRFs),is first used as the evaluation index to analyze the whole-spacecraft system in the future.An optimization analysis of the impact of system responses is performed using different parameters of NES with NiTi-ST based on the transmissibility of NOFRFs.Finally,the effects of vibration suppression by varying the parameters of NiTi-ST are analyzed from the perspective of energy absorption.The results indicate that NES with NiTi-ST can reduce excessive vibration of the whole-spacecraft system,without changing its natural frequency.Moreover,the NES with NiTi-ST can be directly used in practical engineering applications. 展开更多
关键词 NONLINEAR energy sink(NES) vibration isolation NiTiNOL-steel wire rope (NiTi-ST) NONLINEAR output frequency response function(NOFRF) ROOT mean square TRANSMISSIBILITY
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Principles of X-Ray Non-Destructive Testing for Steel Wire Ropes in Conveyer Belt
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作者 程红 高毓麟 夏大鹏 《International Journal of Mining Science and Technology》 SCIE EI 1997年第2期47-50,共4页
The principles of X-ray Non-destructive testing (NDT) for steel wire ropes buried in conveyer belt is described in the paper. The mathematical model for calculating the effective cross section of wire ropes has been d... The principles of X-ray Non-destructive testing (NDT) for steel wire ropes buried in conveyer belt is described in the paper. The mathematical model for calculating the effective cross section of wire ropes has been developed. The test data on steel wire rope samples of various types are presented,which have been compared with the National Standard. And this calculation model for the effective cross section is very important to the prediction system for transverse failure of conveyer belt. 展开更多
关键词 conveyer BELT TRANSVERSE FAILURE NDT steel wire rope
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A Methodology for Identifying Defects in Wire Rope Based on Permanent Magnet Excitation
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作者 Guo Ruipeng Wang Haitao Ge Suijia 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2017年第3期296-301,共6页
A wire rope defects detection method based on permanent magnet excitation is proposed.A detection system,mainly composed of permanent magnet excitation,distance detection,multi-sensor magnetic flux leakage signal acqu... A wire rope defects detection method based on permanent magnet excitation is proposed.A detection system,mainly composed of permanent magnet excitation,distance detection,multi-sensor magnetic flux leakage signal acquisition and data analysis device,is set up.According to the different characteristics of the multi-sensor magnetic flux leakage signal,the localized fault(LF)and loss of metallic cross-sectional area(LMA)signal is separated,and then the two defects can be detected.The experiments show that the method can effectively detect the two defects when they appear simultaneously on the wire rope. 展开更多
关键词 permanent magnet excitation leakage defects localized separated metallic broken preprocessing
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Investigation into Failure in Mining Wire Ropes—Effect of Crystallinity
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作者 Sheila Devasahayam Veena Sahajwalla Michael Sng 《Open Journal of Organic Polymer Materials》 2013年第2期34-40,共7页
A range of blends of polypropylene-polyethylene are investigated for their mechanical performances. These speciality polymer blends are chemically designed to suit high modulus/high load bearing mining wire rope appli... A range of blends of polypropylene-polyethylene are investigated for their mechanical performances. These speciality polymer blends are chemically designed to suit high modulus/high load bearing mining wire rope applications subjected to continued bending and tensile stresses and fluctuating loads and are exposed to extreme weather conditions. In this paper we study the influence of different parameters on the performance of the wire ropes: chemistry of polymer, crystallinity of the polymer matrix, and the morphology. The FTIR and SEM studies revealed that the high fraction of polypropylene in polypropylene-polyethylene matrix lead to early failure as a result of incompatibility and phase segregation and high spherulite sizes of the polymer matrix. 展开更多
关键词 MINING wire ropes CRYSTALLINITY POLYOLEFIN BLENDS Morphology FTIR SEM
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A new rope-sheave traction contact force model incorporating complex geometric features developed through parameter identification methods
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作者 Yunting HAN Hui HU +1 位作者 Haoran SUN Xi SHI 《Applied Mathematics and Mechanics(English Edition)》 2025年第10期1983-2006,共24页
The complex geometrical features of mechanical components significantly influence contact interactions and system dynamics.However,directly modeling contact forces on surfaces with intricate geometries presents consid... The complex geometrical features of mechanical components significantly influence contact interactions and system dynamics.However,directly modeling contact forces on surfaces with intricate geometries presents considerable challenges.This study focuses on the helically twisted wire rope-sheave contact and proposes a contact force model that incorporates complex geometric features through a parameter identification approach.The model's impact on contact forces and system dynamics is thoroughly investigated.Leveraging a point contact model and an elliptic integral approximation,a loss function is formulated using the finite element(FE)contact model results as the reference data.Geometric parameters are subsequently determined by optimizing this loss function via a genetic algorithm(GA).The findings reveal that the contact stiffness increases with the wire rope pitch length,the radius of principal curvature,and the elliptic eccentricity of the contact zone.The proposed contact force model is integrated into a rigid-flexible coupled dynamics model,developed by the absolute node coordinate formulation,to examine the effects of contact geometry on system dynamics.The results demonstrate that the variations in wire rope geometry alter the contact stiffness,which in turn affects dynamic rope tension through frictional energy dissipation.The enhanced model's predictions exhibit superior alignment with the experimental data,thereby validating the methodology.This approach provides new insights for deducing the contact geometry from kinetic parameters and monitoring the performance degradation of mechanical components. 展开更多
关键词 complex contact geometry contact force modeling parameter identification helical wire rope rigid-flexible couple dynamics modeling
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基于YOLOv8的矿用钢丝绳损伤检测算法
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作者 王成军 戴何奇 刘庆 《煤矿机械》 2026年第4期222-228,共7页
钢丝绳是矿井起重设备的核心承重部件,对钢丝绳损伤的及时检测可以有效避免由其损坏引发的事故。针对传统钢丝绳检测方法漏检率高、环境适应性差的问题,提出了一种SPSS-YOLO高精度实时检测算法。该算法在YOLOv8的基础上进行改进,通过集... 钢丝绳是矿井起重设备的核心承重部件,对钢丝绳损伤的及时检测可以有效避免由其损坏引发的事故。针对传统钢丝绳检测方法漏检率高、环境适应性差的问题,提出了一种SPSS-YOLO高精度实时检测算法。该算法在YOLOv8的基础上进行改进,通过集成Swin-Transformer层和SimAM注意力机制来增强多尺度特征提取能力与关键特征聚焦。该算法采用了SPPFCSPC模块提升特征融合效率,并使用结构化交并比(SIoU)损失函数优化边界框定位。在包含4250张图像,涵盖磨损、断裂和突起3类缺陷的自建数据集上的实验表明:SPSS-YOLO在精度、召回率和mAP50等指标上优于多种主流算法,尤其对检测难度较高的突起类损伤,检测精度比原YOLOv8提升了9.42%,实现了检测效率与准确率的良好平衡。 展开更多
关键词 钢丝绳检测 小目标检测 机器视觉 YOLOv8 算法优化
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基于RT-DETR的钢丝绳缺陷检测
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作者 孙克雷 任青荣 《煤矿机械》 2026年第4期229-233,共5页
针对矿山提升系统钢丝绳表面断丝、磨损等缺陷检测中存在的识别困难、模型复杂度高等技术问题,提出一种基于实时检测Transformer(RT-DETR)改进的钢丝绳缺陷检测模型。首先,设计了部分多尺度特征聚合(PMSA)结构,实现跨层级特征融合与空... 针对矿山提升系统钢丝绳表面断丝、磨损等缺陷检测中存在的识别困难、模型复杂度高等技术问题,提出一种基于实时检测Transformer(RT-DETR)改进的钢丝绳缺陷检测模型。首先,设计了部分多尺度特征聚合(PMSA)结构,实现跨层级特征融合与空间细节保持,以增强多尺度特征提取能力,有效提升微小损伤的识别能力;然后,设计层次化选择路径特征聚合(SPFA),优化特征选择与多尺度融合策略,从而提升复杂缺陷的检测能力;最后,采用多尺度渐进距离交并比(MPDIoU)损失函数提高检测稳定性。实验结果表明,改进后的算法平均精度均值(mAP)更大、稳定性更高。 展开更多
关键词 钢丝绳 表面缺陷 RT-DETR 缺陷检测
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Dynamical analysis and nonlinear vibration control of integrated composite beam structure in thermal environment
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作者 Donghui LI Faming ZHANG +4 位作者 Qunfang LI Shang GAO Jian ZANG Yewei ZHANG Fengtian YANG 《Chinese Journal of Aeronautics》 2026年第1期278-300,共23页
Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery supp... Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations. 展开更多
关键词 Composite laminated beam Dynamics characteristic Integrated composite beam Modal experiment NiTiNOL steel wire rope Nonlinear vibration control
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基于聚磁原理的钢丝绳断丝无损检测方法 被引量:1
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作者 孙远 王大刚 +2 位作者 张德坤 李陈晨 汤梁 《机械工程学报》 北大核心 2026年第2期61-72,共12页
服役钢丝绳断丝呈现空间复杂螺旋分布及空间断丝位置相邻很近等特征,钢丝绳断丝检测难度大和准确性低。因此,开展基于聚磁技术和三维漏磁检测的钢丝绳断丝无损检测研究,对提高钢丝绳断丝检测准确性和保障钢丝绳承载安全性具有重要意义... 服役钢丝绳断丝呈现空间复杂螺旋分布及空间断丝位置相邻很近等特征,钢丝绳断丝检测难度大和准确性低。因此,开展基于聚磁技术和三维漏磁检测的钢丝绳断丝无损检测研究,对提高钢丝绳断丝检测准确性和保障钢丝绳承载安全性具有重要意义。基于Maxwell有限元软件和试验平台开展了钢丝绳不同断丝模式下(断口长度、断丝数量、断丝位置)漏磁场有限元分析和断丝检测试验,揭示了聚磁装置对钢丝绳断丝漏磁场变化规律以及钢丝绳不同断丝模式下漏磁信号特征演化规律。结果表明:聚磁装置对钢丝绳断丝漏磁检测具有增益效果,且磁导凸台中心处漏磁信号变化最为显著;钢丝绳断丝三维漏磁检测信号与钢丝绳断丝特征(断口长度、断丝数量)呈正相关,钢丝绳断丝特征变化越大,漏磁信号变化越显著;不同方向漏磁分量对钢丝绳断丝特征敏感程度大小关系如下:轴向分量>径向分量>周向分量;钢丝绳内部与外部存在相同断丝数时,外部断丝时信号变化更显著;钢丝绳出现轴向邻近断丝时,邻近断丝时漏磁场发生叠加,其三轴漏磁分量均有显著增加(较于单根断丝);钢丝绳出现周向多处断丝时,断丝距磁导凸台越近,断丝信号变化越显著。 展开更多
关键词 钢丝绳 断丝 聚磁技术 三维漏磁检测
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柔性线绳驱动手功能康复机器人设计与研究
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作者 刘永波 林香 张兵 《机械设计与制造》 北大核心 2026年第4期321-327,共7页
针对外骨骼手功能康复手套尺寸大、舒适性差、驱动力小、无法实现角度精确控制等问题,研究了一种柔性线绳驱动的软体手功能康复机器人。通过直流伺服电机驱动模拟手指肌腱的柔性线绳,在指心指背双侧驱动患指进行精确的屈伸运动。根据手... 针对外骨骼手功能康复手套尺寸大、舒适性差、驱动力小、无法实现角度精确控制等问题,研究了一种柔性线绳驱动的软体手功能康复机器人。通过直流伺服电机驱动模拟手指肌腱的柔性线绳,在指心指背双侧驱动患指进行精确的屈伸运动。根据手指在柔性手套中的状态,进行了一定肌张力下患指驱动力和驱动行程的受力分析和数学建模,得出患指末端所需最大驱动力48.10N及最大驱动行程32.90mm;并据此设计了主机驱动模块,确定了电机性能要求;对训练手套、主从控制手套和更换装置进行了结构设计;搭建了控制系统的软硬件平台。最后通过实验验证了设计的合理性和可行性。其设计思路对可穿戴康复机器人开发具有一定的参考价值。 展开更多
关键词 柔性线绳驱动 手功能康复机器人 结构设计 软硬件设计 实验验证
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预张紧钢丝与曳引轮材料的干滑动和脂润滑摩擦学行为
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作者 耿哲 薛夏华 +1 位作者 MÄKIMATTILA Simo 邵天敏 《润滑与密封》 北大核心 2026年第3期48-54,共7页
电梯启停与运行阶段,钢丝绳与曳引轮不可避免地发生滑动,导致钢丝磨损和钢丝绳失效。为模拟钢丝服役工况,设计一种能预张紧钢丝的夹具,研究单根钢丝在张力20 N条件下与曳引轮材料配副的往复干滑动和脂润滑摩擦学行为。结果表明:该夹具... 电梯启停与运行阶段,钢丝绳与曳引轮不可避免地发生滑动,导致钢丝磨损和钢丝绳失效。为模拟钢丝服役工况,设计一种能预张紧钢丝的夹具,研究单根钢丝在张力20 N条件下与曳引轮材料配副的往复干滑动和脂润滑摩擦学行为。结果表明:该夹具保持了钢丝在一定张力条件下摩擦学试验的重复性与再现性。干摩擦条件下,钢丝磨痕表面出现硬质Fe_(2)O_(3),Fe_(2)O_(3)成为磨粒后损害了钢丝的摩擦学性能,导致钢丝的摩擦因数和磨损体积较高;法向载荷增加,钢丝遭受严重犁削和塑性变形,但同时磨屑聚集促生摩擦膜,能够一定程度上减缓磨损增加程度。脂润滑条件下,钢丝磨痕表面形成剪切强度低的Fe_(3)O_(4),有利于降低摩擦因数;同时磨痕表面产生较少磨屑,使钢丝的摩擦因数和磨损体积相比干摩擦下明显降低;法向载荷增加,由于缺少摩擦膜的保护,钢丝和曳引轮材料的磨损体积随载荷近似同比例上升。载荷和润滑脂影响磨粒和摩擦膜形成,从而影响钢丝的摩擦学行为,是钢丝绳安全应用需要考虑的重要因素。 展开更多
关键词 钢丝绳 摩擦磨损 钢丝夹具 润滑 曳引轮材料
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