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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator
Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG
Front. Mech. Eng.. 2015, 10 (1): 7-19.
https://doi.org/10.1007/s11465-015-0324-3
In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.
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Modeling and analysis of steady-state vibration induced by backlash in servo rotary table
Xiao YANG,Dun LU,Sanli LIU,Jun ZHANG,Wanhua ZHAO
Front. Mech. Eng.. 2015, 10 (1): 43-47.
https://doi.org/10.1007/s11465-015-0327-0
Backlash cannot be always avoided in mechanical systems because of wear or looseness. Steady-state vibration may be induced by backlash in closed loop feed drive systems. This paper presents a mathematical model of a servo rotary table, considering the effect of backlash. The accuracy of this model is verified by an experiment. The influences of the parameters, such as position controller gain, velocity controller gain, load and the magnitude of backlash, on steady-state vibration are discussed. The steady-state vibration amplitude increases with the position controller gain, load and the magnitude of backlash. The steady-state vibration frequency increases with the position controller gain and the velocity controller gain, while an increase in load leads to a decrease in the frequency.
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Dynamics of structural systems with various frequency-dependent damping models
Li LI,Yujin HU,Weiming DENG,Lei LÜ,Zhe DING
Front. Mech. Eng.. 2015, 10 (1): 48-63.
https://doi.org/10.1007/s11465-015-0330-5
The aim of this paper is to present the dynamic analyses of the system involving various damping models. The assumed frequency-dependent damping forces depend on the past history of motion via convolution integrals over some damping kernel functions. By choosing suitable damping kernel functions of frequency-dependent damping model, it may be derived from the familiar viscoelastic materials. A brief review of literature on the choice of available damping models is presented. Both the mode superposition method and Fourier transform method are developed for calculating the dynamic response of the structural systems with various damping models. It is shown that in the case of non-deficient systems with various damping models, the modal analysis with repeated eigenvalues are very similar to the traditional modal analysis used in undamped or viscously damped systems. Also, based on the pseudo-force approach, we transform the original equations of motion with nonzero initial conditions into an equivalent one with zero initial conditions and therefore present a Fourier transform method for the dynamics of structural systems with various damping models. Finally, some case studies are used to show the application and effectiveness of the derived formulas.
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Parameter studies on impact in a lap joint
Amir M. RAHMANI, Elizabeth K. ERVIN
Front. Mech. Eng.. 2015, 10 (1): 64-77.
https://doi.org/10.1007/s11465-014-0322-x
To represent a loose lap joint, a beam impacting four springs with gaps is modeled. Modal analysis with base excitation is solved, and time histories of contact points are closely monitored. Using the impulse during steady state response, six influential parameters are studied: damping ratio, contact stiffness, intermediate contact position, gap, excitation amplitude and beam height. For all parameters, the system response is highly controlled by modes with two contacting springs. Each parameter’s effect on system response is presented including unstable regions, unique trend behaviours result. Recommendations for structural designers are also noted.
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Dynamic modeling of hydrostatic guideway considering compressibility and inertia effect
Yikang DU,Kuanmin MAO,Yaming ZHU,Fengyun WANG,Xiaobo MAO,Bin LI
Front. Mech. Eng.. 2015, 10 (1): 78-88.
https://doi.org/10.1007/s11465-015-0331-4
Hydrostatic guideways are used as an alternative to contact bearings due to high stiffness and high damping in heavy machine tools. To improve the dynamic characteristic of bearing structure, the dynamic modeling of the hydrostatic guidway should be accurately known. This paper presents a “mass-spring-Maxwell” model considering the effects of inertia, squeeze, compressibility and static bearing. To determine the dynamic model coefficients, numerical simulation of different cases between displacement and dynamic force of oil film are performed with fluent code. Simulation results show that hydrostatic guidway can be taken as a linear system when it is subjected to a small oscillation amplitude. Based on a dynamic model and numerical simulation, every dynamic model’s parameters are calculated by the Levenberg-Marquardt algorithm. Identification results show that “mass-spring-damper” model is the most appropriate dynamic model of the hydrostatic guidway. This paper provides a reference and preparation for the analysis of the dynamic model of the similar hydrostatic bearings.
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A Stoneley wave method to detect interlaminar damage of metal layer composite pipe
Bing LI,Lei QIANG,Tong LU,Xu GENG,Minghang LI
Front. Mech. Eng.. 2015, 10 (1): 89-94.
https://doi.org/10.1007/s11465-015-0323-4
The interlaminar defect is a major form of damage in metal layer composite pipes which are widely used in petroleum and chemical industry. In this paper, a Stoneley wave method is presented to detect interlaminar damage in laminated pipe structure. Stoneley wave possesses some good characteristics, such as high energy and large displacement at the interface and non-dispersive in the high-frequency, so the sensitivity of detecting interlaminar damage can be improved and the higher frequency can be used in damage detection compared with Lamb waves. Additionally, as the frequency increases, the wavelength of the Stoneley wave reduces. Thus, its ability to detect small defects at the interface is enhanced. Finite element model of metal layer composite pipe with interlaminar damage is used to simulate wave propagation of Lamb waves and Stoneley wave, respectively. The damage location is calculated by using the Stoneley wave signal obtained from finite element model, and then the results are compared with the actual damage locations. The simulation examples demonstrate that the Stoneley wave method can better identify the interlaminar damage in laminated pipe structure compared with Lamb waves.
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Enhancing fatigue life of cylinder-crown integrated structure by optimizing dimension
Weiwei ZHANG,Xiaosong WANG,Zhongren WANG,Shijian YUAN
Front. Mech. Eng.. 2015, 10 (1): 102-110.
https://doi.org/10.1007/s11465-015-0329-y
Cylinder-crown integrated hydraulic press (CCIHP) is a new press structure. The hemispherical hydraulic cylinder also functions as a main portion of crown, which has lower weight and higher section modulus compared with the conventional hydraulic cylinder and press crown. As a result, the material strength capacity is better utilized. During the engineering design of cylinder-crown integrated structure, in order to increase the fatigue life, structural optimization on the basis of the adaptive macro genetic algorithms (AMGA) is first conducted to both reduce weight and decrease peak stress. It is shown that the magnitude of the maximum principal stress is decreased by 28.6%, and simultaneously the total weight is reduced by 4.4%. Subsequently, strain-controlled fatigue test is carried out, and the stress-strain hysteresis loops and cyclic hardening curve are obtained. Based on linear fit, the fatigue properties are calculated and used for the fatigue life prediction. It is shown that the predicted fatigue life is significantly increased from 157000 to 1070000 cycles after structural optimization. Finally, according to the optimization design, a 6300 kN CCIHP has been manufactured, and priority application has been also suggested.
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11 articles
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