考虑摩擦特性的柔性关节空间机器人自适应CMAC神经网络鲁棒控制

讨论了关节摩擦力矩影响下,具有柔性铰关节的漂浮基空间机器人系统的动力学控制问题.设计了基于高斯基函数的小脑神经网络(CMAC)鲁棒控制器和摩擦力矩补偿器.用奇异摄动理论对系统的动力学模型进行快慢变子系统分解,针对快变子系统,设计力矩微分反馈控制器来抑制机械臂关节柔性引起的振动;对于慢变子系统,设计了基于自适应CMAC神...     

Non-steady-state elastic–plastic behavior of metal forming (rolling) with a generalized friction law

An analytical and generalized friction law is formulated and a three-dimensional large-strain non-steady-state elastic–plastic finite element analysis has been performed for rolling process. The contact/friction problem at the interface between the workpiece and the rolls is treated rigorously by using this new friction law. The numerical results, including the evolutions of roll torque and roll forces, and the interfacial normal and shear stresses, are presented and discussed.     

织构深度对不锈钢表面油润滑条件下摩擦学性能影响的试验和仿真研究

采用激光加工技术在不锈钢表面构造深度不同的沟槽型织构图案,通过UMT摩擦磨损试验机测试了不同织构深度的不锈钢表面在PAO6油润滑条件下的摩擦磨损性能,利用表面轮廓仪和扫描电镜(SEM)对摩擦前后的沟槽形貌进行表征分析,采用计算流体动力学(CFD)方法对试验进行模拟并计算,结合ANSYS Fluent软件模拟分析结果,探究了沟槽织构深度对不锈钢表面在油润滑条件下的摩擦学性能的影响机理. 研究结果表明:加工的沟槽织构及其织构深度显著影响不锈钢表面在PAO油润滑条件下的摩擦磨损行为,织构深度为10 μm的不锈钢表面获得最好的抗磨和减摩效果,与未织构表面相比,其摩擦系数与磨痕宽度降低了60%以上. 这主要是由于织构深度为10 μm的不锈钢表面在摩擦过程中,润滑油通过其收敛区域时产生了很好的楔效应,润滑油产生的升力较大,改善了该织构表面在摩擦过程的润滑状态,从而呈现很好的摩擦学性能.      

两种螺旋角干气密封环端面摩擦特性试验研究

干气密封环端面的接触摩擦不容忽视,在槽型设计与优化时也应该考虑端面的摩擦特性.利用端面摩擦磨损试验机,分别对16°和18°两种螺旋角的螺旋槽干气密封环进行测试,通过对比分析磨损量、摩擦温度、摩擦系数以及表面粗糙度来讨论密封环的摩擦特性和两种螺旋角对端面摩擦性能的影响.结果表明:18°螺旋角试验的磨损量、摩擦温升和摩擦系数均稍大于16°螺旋角试验,说明18°螺旋角试件的磨损比16°螺旋角的更加剧烈;石墨环被螺旋槽覆盖的外圈粗糙度的变化有较大的差异,内圈粗糙度变化相似,说明槽型参数的改变对石墨环磨损的影响主要体现在外圈.试验结果为今后端面摩擦学性能的研究及槽型优化提供了依据.     

等深度螺旋槽止推轴承的边界元法计算

本文以分析等深度螺旋槽止推轴承为例,介绍了边界元法在润滑力学研究领域中的应用。以及相应的边界条件的处理方法,并且讨论了轴承尺寸参数对性能参数的影响。     

变深度螺旋槽止推轴承的边界元法计算

本文以分析变深度螺旋槽止推轴承为例介绍了边界元法在润滑力学研究领域中的应用,以及相应的边界条件的处理方法,同时还讨论了轴承的尺寸参数对其性能参数的影响。     

A set-valued force law for spatial Coulomb–Contensou friction

The aim of this paper is to develop a set-valued contact law for combined spatial Coulomb–Contensou friction, taking into account a normal friction torque (drilling friction) and spin. The set-valued Coulomb–Contensou friction law is derived from a non-smooth velocity pseudo potential. A higher-order Runge–Kutta time-stepping method is presented for the numerical simulation of rigid bodies with Coulomb–Contensou friction. The algebraic inclusion describing the contact problem is solved with an Augmented Lagrangian approach. The theory and numerical methods are applied to the Tippe-Top. The analysis and numerical results on the Tippe-Top illustrate the importance of Coulomb–Contensou friction for the dynamics of systems with friction.     

Über den vollständigen Ausgleich des trägheitsbedingten Moments an der Antriebswelle ebener Gelenkgetriebe

Übersicht In diesem Artikel wird ein neues Verfahren dargestellt, mit dem man trägheitsbedingte Momente infolge der ungleichmäßigen Bewegung von Getriebegliedern vollständig ausgleichen kann. Dieses Verfahren überführt das Ausgleichsproblem in ein Syntheseproblem für Kurvenscheiben. Das Verfahren ist einfach und wird beispielhaft für ein Viergelenkgetriebe und ein sechsgliedriges Getriebe durchgeführt. Das zeitabhängige, von der Trägheit verursachte ungleichmäßige Drehmoment in der Antriebswelle wird durch die Drehung einer Kurvenscheibe und eines umlaufenden Gliedes vollständig ausgeglichen.

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Complete balancing of the inertia input torque for planar mechanisms

Summary This paper presents a new method for complete balancing inertia input torque. This method transforms the balancing problem into a profile curve synthesis problem of a planar groove cam. The method is simple and convenient to be used. The planer four-bar linkage and the six-bar linkage are cited as two examples. The fluctuating torques in the driving shafts caused by the inertia forces have been completely balanced.

     

温度对炭纤维增强纸基摩擦材料摩擦磨损性能的影响

以自制炭纤维增强纸基摩擦材料和45#钢为摩擦副,采用惯量试验方法研究了温度对摩擦副摩擦性能的影响.结果表明:温度不仅影响其摩擦力矩曲线的形态,也影响动、静摩擦力矩和摩擦系数的大小;在较低温度下,摩擦力矩曲线形态较为对称,动、静摩擦系数较高,随着温度升高,摩擦力矩曲线尾部翘起程度增大,动、静摩擦系数减小,制动拖曳时间延长;试验结果对纸基摩擦材料的性能设计和自动变速器工作参数设计具有指导意义.     

Three-dimensionality of grooved channel flows at intermediate Reynolds numbers

 This paper describes the three-dimensional flow structure in grooved channels with different cavity lengths at intermediate Reynolds numbers. For steady flow, the three-dimensional effects are dominant near the side walls of the channel. However, after the onset of self-sustained oscillatory flow due to Tollmien–Schlichting waves as the primary instability, a secondary instability produces a three-dimensional flow with Taylor–Geortler-like vortical structure, at the bottom of the groove. This trend becomes more significant as the cavity length increases. Furthermore, the reason for three-dimensional flow is discussed using additional numerical analysis, and it is confirmed that the source of three-dimensional instability is the groove vortices due to the presence of side walls, rather than the channel traveling wave. Received: 7 September 1999/Accepted: 11 November 2000     

表面织构对PTFE复合材料摩擦磨损行为的影响

为了研究表面织构对聚四氟乙烯(PTFE)复合材料摩擦磨损性能的影响规律及其作用机理,采用BBD响应面法对试验进行设计与分析,利用LSR-2M往复摩擦试验机测试了复合材料的摩擦学性能,建立了织构参数与摩擦系数和体积磨损率之间的二次回归模型,研究了槽宽、间距和角度参数及其交互作用对复合材料摩擦学性能的影响. 结果表明:二次回归模型显著,拟合精度分别为82.9%和83.2%,预测出槽宽323.2 μm、间距295.4 μm、角度88.7°时摩擦系数存在最小值0.147,槽宽331.1 μm、间距307.6 μm、角度87.6°时体积磨损率存在最大值8.11×10?5 mm3/(Nm);织构增大了初始摩擦系数和体积磨损率,但有利于储存磨屑,在接触应力作用下磨屑中的纳米粒子与槽底及侧面的粗糙峰形成了机械互锁,提高了磨屑的附着力,促进了转移膜的生成.      

Laminar flow through channels with porous walls and with an applied transverse magnetic field

Summary The problem of two-dimensional steady laminar flow of a viscous incompressible and electrically conducting fluid through a channel with two equally porous walls in the presence of a transverse magnetic field has been extended to include all values of Hartmann number and small suction velocity at the walls. Expressions for the velocity components, the pressure and the wall friction in terms of the Hartmann number and the suction Reynolds number are given. It is found that the pressure drop in the major flow direction and the wall friction decrease with the increase in suction and increase with the increase in the strength of the magnetic field.     

正畸弓丝与托槽间摩擦力建模及试验研究

正畸矫治过程中,正畸弓丝与托槽间的相对滑动趋势将产生摩擦力,进而降低有效矫治力,影响矫治的性能和效率. 针对目前正畸摩擦力预测方法量化预测精度低的问题,依据正畸弓丝与托槽间的几何关系、力学关系及物理参数,提出一种基于分力叠加原理的计及接触角度的正畸摩擦力预测模型建立方法. 探究影响正畸摩擦力的主要因素以及变化规律,提出采用有限滑动法测量正畸摩擦力,搭建了基于六维力传感器的正畸摩擦力测量系统,进行了不同弓丝-托槽组合和不同接触角度的摩擦力测量,试验数据与预测模型的理论数据间误差率处于0.55%~9.65%之间,证明该预测模型可为医师明确正畸矫治器参数-摩擦力-矫治力的关系提供理论依据,为实现数字化正畸提供理论支撑,保证个性化正畸方案的高效、高可靠性和高舒适度,最终达到轻力矫治的效果.      

Nonstationary conducting free flow in a transverse magnetic field

In magnetohydrodynamic flow the viscous friction at the walls can be substantial. The role of viscous friction can be considerably reduced by using a free or a semirestricted flow of the conducting fluid. Nonstationary phenomena in one-dimensional motion of a free plane incompressible fluid flow in a transverse magnetic field are examined. The narrow sides of the flow come into contact with the sectional electrodes connected through external circuits with an active-inductive load. The magnetic Reynolds number and the magnetody-dynamic interaction parameter are assumed to be large. When the electric field due to electromagnetic induction in the channel is much smaller than the field due to the external circuits, the problem can be reduced to the characteristic Cauchy problem for a quasilinear hyperbolic system of first-order equations which can be solved by the method of characteristics using a computer.Translated from Zhurnal Prikladnoi Mekhaniki i Tekhnicheskoi Fiziki, No. 4, pp. 34–39, July–August, 1970.     

机器人关节非线性摩擦模型关键参数反求

机器人关节非线性摩擦的准确描述对提高机器人轨迹精度、定位精度及其可靠性等具有重要理论意义和科学价值. 然而, 机器人关节通常包含电机、减速器、驱动器和传感器, 是一个复杂的机电耦合系统, 随服役时间及工况的变化, 机器人关节的摩擦参数也存在显著时变效应, 难以准确描述, 造成轨迹精度下降, 为机器人后期精度维护造成巨大困难. 因此, 本文定量评价了摩擦参数对机器人输出力矩的影响, 提出考虑时变效应的机器人关节非线性摩擦参数反求方法. 首先, 建立机器人关节一般非线性摩擦模型. 设计机器人关节恒速跟踪实验, 通过卡尔曼滤波对实验采集的数据进行处理, 进而建立关节速度和驱动电机电流之间的关系, 完成关节一般非线性摩擦模型建立. 其次, 择取非线性摩擦模型关键参数. 建立包含非线性摩擦的机器人动力学模型, 基于激励轨迹计算各关节力矩, 并对其开展灵敏度分析, 择取对关节力矩灵敏性较高的摩擦参数. 再次, 建立关节输出力矩和摩擦参数一一对应的数据集. 基于实际工况构建摩擦参数取值空间, 采用最优拉丁超立方法对摩擦参数采样, 并将其代入机器人动力学模型计算出相应的力矩, 从而求得关节输出力矩和摩擦参数一一对应的数据集. 最后, 建立反问题神经网络并对其进行训练, 实现非线性摩擦模型关键参数反求, 并进行验证. 研究结果表明关节非线性摩擦的准确描述减小了机器人低速运动换向时摩擦力矩突变对机器人轨迹的影响, 显著提升了机器人轨迹精度.      

Dynamics of rotating conveying mud drill string subjected to torque and longitudinal thrust

In the view of fluid-structure interactions and rotor dynamics, this paper models the lateral vibration of a vertical downward rotating elastic drill string conveying mud subjected to supporting stabilizers, bit torque and longitudinal thrust. The dynamic model involves the rotational inertia of the drill string tube cross section, the gyroscopic effect caused by rotation, the damping due to friction with the surrounding fluid, the gravity force and mud buoyancy. Damped natural frequency, stability and resonance of the drill string system are determined by quadratic eigenvalue problem and investigated at influences of the stabilizer, rotational angular speed, mud flowing velocity, bit torque and thrust. As a result, the drill string can lose stability both at simultaneous and separate influences of the mud conveying, bit torque and thrust, whereas the rotation, stabilizer and gravity of the drill string can improve system stability; the rotational angular speed causing system resonance decreases with the increase of the mud flowing velocity, bit torque and thrust.     

转台伺服系统低速性能分析

首先分析了摩擦干扰力矩和电机齿槽力矩对一般伺服系统速率平稳性的影响,在此基础上,针对转台伺服系统的实际设计,分析了摩擦干扰力矩和电机齿槽力矩对转台伺服系统低速性能的影响,提出了改善转台低速平稳性的技术途径。同时又研究了角位置误差引起的转台速率波动问题。     

行星滚柱丝杠动态摩擦力矩和传动效率分析

针对行星滚柱丝杠摩擦力矩和传动效率随丝杆转速变化而变化,考虑润滑油黏滞、滚柱自旋滑动和螺纹接触点差动滑动产生的摩擦阻力,基于拉格朗日方法建立了行星滚柱丝杠机构动力学模型,计算了其摩擦力矩和传动效率,分析了负载和丝杆角加速度对机构动态摩擦力矩、瞬态传动效率和综合传动效率的影响. 研究结果表明:行星滚柱丝杠摩擦力矩随螺纹接触点相对滑动速度增大而增大;非稳态运行阶段润滑油黏滞和自旋滑动是产生摩擦力矩的主要因素;行星滚柱丝杠在大载荷运行时传动效率较高,丝杆加速时间越短其综合传动效率越高.      

Self-Excited Vibration of a Lap Spring Clutch Used in Electrophotography Fuser

The self-excited chatter vibration of a spring clutch used in an electrophotography fuser was investigated. From the results of theoretical and experimental investigations, the following points were deduced: (1) the vibration is induced by an asymmetric friction force due to asymmetric contact at the slipping surface; (2) Lissajous figures of the vibration were circular and the vibration was forward-whirling; and (3) calculated results based on the present model qualitatively agreed with experimental observations. Several methods of suppressing vibration were proposed. The spring clutch should be designed such that it has the following characteristics: (a) sufficient damping; (b) low friction coefficient; (c) sufficient gap during the slipping period and perfect fastening when transferring torque; and (d) small static offset displacement. These measures have been used to overcome the abnormal chatter vibration problem.     

蠕墨铸铁／40Cr配副干摩擦三维表面形貌特征研究

采用探针式三维表面形貌仪考察了销－盘式干磨擦试验条件下蠕墨铸铁度销磨损表面的三维形貌特征。结果表明：度销磨损表面主要呈现犁沟型、孤岛型及二者的混合型３种形貌特征,其中具有孤岛型磨损表面形貌特征的试样的摩擦系数较高,磨损率较低;而具有犁沟型磨损表面形貌特征的试样的摩擦系数最低,磨损率最高,分析表面形貌参数发现：犁沟型表面形貌具有最大的表面高度偏差和表面空隙率及高负值的表面高度分布参数;而孤岛型表面形貌的表面高度偏差和表面空隙率最小,表面高度分布参数为高正值。