Abstract. A multi-body dynamical model of a wind turbine power generation system (WTPGS) based on hydromechanical hybrid power transmission (HMHPT) technology is developed and simulated to overcome the individual drawbacks of the gear train and hydrostatic power transmission (HPT) system. The HMHPT is a hybrid concept of a single-stage planetary gear train (SSPGT) and a typical HPT. The input shaft of the SSPGT is coupled with the turbine rotor, whereas the output shaft of the SSPGT is coupled with the shaft of a hydraulic pump. The hydraulic pump supplies flow to the hydro-motor, and its shaft is coupled with the generator. An existing turbine blade model of 750 kW based wind turbine is used for further development and analysis of the HMHPT. The simulation responses indicate that the power generation and the control potential both have been improved using the HMHPT in a wind turbine. Moreover, the influence on the motor power generation due to variations of pump and motor leakages is addressed. Additionally, it is found that if the order of the SSPGT and the HPT are swapped in the proposed HMHPT, then the settling time, maximum overshoot, and rise time of the system responses are increased. As a result, the controllability of the system is decreased.
{"title":"A feasibility and dynamic performance analysis of hydromechanical hybrid power transmission technology for wind turbines","authors":"Dharmendra Kumar, Anil C. Mahato","doi":"10.5194/ms-14-33-2023","DOIUrl":"https://doi.org/10.5194/ms-14-33-2023","url":null,"abstract":"Abstract. A multi-body dynamical model of a wind turbine power generation system (WTPGS) based on hydromechanical hybrid power\u0000transmission (HMHPT) technology is developed and simulated to overcome the\u0000individual drawbacks of the gear train and hydrostatic power\u0000transmission (HPT) system. The HMHPT is a hybrid concept of a single-stage\u0000planetary gear train (SSPGT) and a typical HPT. The input shaft of the SSPGT is coupled with the turbine rotor, whereas the output shaft of the SSPGT is coupled with the shaft of a hydraulic pump. The hydraulic pump supplies flow\u0000to the hydro-motor, and its shaft is coupled with the generator. An existing\u0000turbine blade model of 750 kW based wind turbine is used for further\u0000development and analysis of the HMHPT. The simulation responses indicate\u0000that the power generation and the control potential both have been\u0000improved using the HMHPT in a wind turbine. Moreover, the influence on\u0000the motor power generation due to variations of pump and motor leakages is\u0000addressed. Additionally, it is found that if the order of the SSPGT and the\u0000HPT are swapped in the proposed HMHPT, then the settling time, maximum\u0000overshoot, and rise time of the system responses are increased. As a result,\u0000the controllability of the system is decreased.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48439754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Da Song, Xuesu Xiao, Gang Li, Lixun Zhang, Feng Xue, Lailu Li
Abstract. This study proposes a haptic interactive robot (HIR) configuration and a control strategy based on a cable-driven parallel mechanism. The ball screw drives the cable to improve the motion control accuracy. The robot system control strategy improves the accuracy and stability of haptic interaction. Through configuration optimization design and analysis, eight cables are used to ensure that the robot end effector exerts force and enables motion. Moreover, a forward and inverse kinematics model of the robot is developed. According to the configuration of the HIR, an improved cable tension distribution algorithm can facilely determine the cable tension. Hence, each cable is consistently in a tight state, and the change in tension is not sudden. Drive unit and robot system control strategies are proposed to render the haptic interaction accurate and stable. A simulation experiment of a complex space motion track is implemented through the robot end effector, thus verifying the accuracy of the established forward and inverse kinematics model. The accuracy of the tension distribution algorithm, control strategy, and robot stability are verified through simulation experiments, considering different forces and motion tracks of robot end effectors.
{"title":"Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism","authors":"Da Song, Xuesu Xiao, Gang Li, Lixun Zhang, Feng Xue, Lailu Li","doi":"10.5194/ms-14-19-2023","DOIUrl":"https://doi.org/10.5194/ms-14-19-2023","url":null,"abstract":"Abstract. This study proposes a haptic interactive robot (HIR)\u0000configuration and a control strategy based on a cable-driven parallel\u0000mechanism. The ball screw drives the cable to improve the motion control\u0000accuracy. The robot system control strategy improves the accuracy and\u0000stability of haptic interaction. Through configuration optimization design\u0000and analysis, eight cables are used to ensure that the robot end effector\u0000exerts force and enables motion. Moreover, a forward and inverse kinematics\u0000model of the robot is developed. According to the configuration of the HIR,\u0000an improved cable tension distribution algorithm can facilely determine the\u0000cable tension. Hence, each cable is consistently in a tight state, and the\u0000change in tension is not sudden. Drive unit and robot system control\u0000strategies are proposed to render the haptic interaction accurate and\u0000stable. A simulation experiment of a complex space motion track is\u0000implemented through the robot end effector, thus verifying the accuracy of\u0000the established forward and inverse kinematics model. The accuracy of the\u0000tension distribution algorithm, control strategy, and robot stability are\u0000verified through simulation experiments, considering different forces and\u0000motion tracks of robot end effectors.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47133675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. Machine tools are subject to multiple sources of error during machining, resulting in deviations in the dimensions of the part and a reduction in contour accuracy. This paper proposes a contour error prediction model based on a long short-term memory (LSTM) neural network, taking hexagonal recess machining as an example and considering the power, vibration, and temperature signals that affect the contour error. The experimental data show that the model can accurately predict the contour error of the machined part. A more accurate and robust contour error prediction model can provide data support for online compensation of contour errors.
{"title":"Short communication: Part contour error prediction based on LSTM neural network","authors":"YunSheng Zhang, Guangshun Liang, Cong Cao, Y. Li","doi":"10.5194/ms-14-15-2023","DOIUrl":"https://doi.org/10.5194/ms-14-15-2023","url":null,"abstract":"Abstract. Machine tools are subject to multiple sources of error during\u0000machining, resulting in deviations in the dimensions of the part and a\u0000reduction in contour accuracy. This paper proposes a contour error\u0000prediction model based on a long short-term memory (LSTM) neural network,\u0000taking hexagonal recess machining as an example and considering the power,\u0000vibration, and temperature signals that affect the contour error. The\u0000experimental data show that the model can accurately predict the contour\u0000error of the machined part. A more accurate and robust contour error\u0000prediction model can provide data support for online compensation of contour\u0000errors.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49134277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed. This mechanism has a compact structure and simple operation, which can roll on wheels and surmount obstacles with a support leg. Firstly, the walking model is established to study the kinematics characteristics of the mechanism. The alternation of the support legs does not affect smooth obstacle crossing, but will cause the step change of the angular velocity of the centroid of the main body. Secondly, the obstacle-surmounting performance of roll-over mode and obstacle-crossing mode using support legs is analyzed. For roll-over mode, the maximum climbing height is 87.36 mm. For obstacle-crossing mode using support legs, the maximum climbing height is the maximum extension length of the support leg. According to the climbing height, the switching criteria of different climbing modes are obtained. In addition, the rolling angle of the main body has a greater impact on the support force and driving torque, while the contact angle between the legs and the ground has a small impact. Finally, the tipping stability and anti-interference ability of the wheel–leg deformation mechanism is evaluated using the stability cone method.
{"title":"Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism","authors":"Minghui Zhang, Yimin Su","doi":"10.5194/ms-14-1-2023","DOIUrl":"https://doi.org/10.5194/ms-14-1-2023","url":null,"abstract":"Abstract. A new type of wheel–leg deformation mechanism, based on an\u0000electromagnetic clutch and gear rack transmission mechanism, is designed.\u0000This mechanism has a compact structure and simple operation, which can roll on wheels and surmount obstacles with a support leg. Firstly, the walking model is established to study the kinematics characteristics of the mechanism. The\u0000alternation of the support legs does not affect smooth obstacle crossing,\u0000but will cause the step change of the angular velocity of the centroid of\u0000the main body. Secondly, the obstacle-surmounting performance of roll-over\u0000mode and obstacle-crossing mode using support legs is analyzed. For roll-over mode, the maximum climbing height is 87.36 mm. For obstacle-crossing\u0000mode using support legs, the maximum climbing height is the maximum\u0000extension length of the support leg. According to the climbing height, the\u0000switching criteria of different climbing modes are obtained. In addition,\u0000the rolling angle of the main body has a greater impact on the support force and driving torque, while the contact angle between the legs and the ground has a small impact. Finally, the tipping stability and anti-interference ability of the wheel–leg deformation mechanism is evaluated using the stability cone method.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42844092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. Bladed disk systems with advanced functions are widely used in turbo-machineries. However, there are always deviations in physical dynamic properties between blades and blades due to the tolerance and wear in operation. The deviations will lead to vibration localization, which will result in high cycle fatigue and accelerate the damage of the bladed disk system. Therefore, many intentional mistuning patterns are proposed to overcome this larger local vibration. Previous studies show that intentional mistuning patterns can be used to reduce the vibration localization of the bladed disk. However, the determination of the resonance mechanism of the intentional mistuning bladed disk system is still an unsolved issue. In this paper, a novel mathematical model of resonance of an intentional mistuning bladed disk system is established. Mistuning of blades and energy resonance are included in this theoretical model. The method of the mechanical power of the rotating blade for one cycle is applied to obtain the resonance condition. By using this theoretical model, the resonance mechanism of an intentional mistuning bladed disk is demonstrated. The results suggest that the ideal results can be obtained by adjusting the intentional mistuning parameter. This paper will guide the design of the dynamic characteristics of the intentional mistuning bladed disk.
{"title":"A novel mathematical model for the design of the resonance mechanism of an intentional mistuning bladed disk system","authors":"X. Kan, Tuo Xing","doi":"10.5194/ms-13-1031-2022","DOIUrl":"https://doi.org/10.5194/ms-13-1031-2022","url":null,"abstract":"Abstract. Bladed disk systems with advanced functions are widely used in\u0000turbo-machineries. However, there are always deviations in physical dynamic\u0000properties between blades and blades due to the tolerance and wear in\u0000operation. The deviations will lead to vibration localization, which will result in high cycle fatigue and accelerate the damage of the bladed disk\u0000system. Therefore, many intentional mistuning patterns are proposed to\u0000overcome this larger local vibration. Previous studies show that intentional\u0000mistuning patterns can be used to reduce the vibration localization of\u0000the bladed disk. However, the determination of the resonance mechanism of the intentional mistuning bladed disk system is still an unsolved issue. In this\u0000paper, a novel mathematical model of resonance of an intentional mistuning bladed disk system is established. Mistuning of blades and energy resonance\u0000are included in this theoretical model. The method of the mechanical power of the rotating blade for one cycle is applied to obtain the resonance\u0000condition. By using this theoretical model, the resonance mechanism of an intentional mistuning bladed disk is demonstrated. The results suggest that\u0000the ideal results can be obtained by adjusting the intentional mistuning\u0000parameter. This paper will guide the design of the dynamic characteristics of the intentional mistuning bladed disk.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41636691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. Research on the vibration characteristics of the mechanical systems is a necessary step for the stable and reliable operation of high-end equipment. The 6 degrees of freedom parallel mechanism is proposed for the supporting mechanism of the antenna. First, the dynamic equations of the moving platform and branch of the mechanism are established. The closed-form dynamics of the mechanism are derived based on the Newton–Euler method. In addition, the vibration equation of the parallel antenna is established based on the vibration theory, and the relationship between the natural frequency, displacement response, and vibration frequency is obtained. Afterward, the pitch and roll poses of a 1.8 m aperture antenna are developed based on a MATLAB software simulation. The actuation forces of parallel antenna under no-load and load conditions are simulated. Finally, the natural frequencies and vibration modes of the initial position and roll (20∘) are simulated based on the Adams software vibration analysis module. Furthermore, the relationship between the displacement response of the moving platform and the resonant frequency is studied based on the harmonic response analysis. The control strategy based on the dynamic model improves the control accuracy of parallel antenna. This research work provides a guarantee for the dynamic characteristics analysis and engineering application of parallel antenna.
{"title":"Dynamic modeling and vibration characteristics analysis of parallel antenna","authors":"Guoxing Zhang, Jianliang He, Jinwei Guo, Xinlu Xia","doi":"10.5194/ms-13-1019-2022","DOIUrl":"https://doi.org/10.5194/ms-13-1019-2022","url":null,"abstract":"Abstract. Research on the vibration characteristics of the mechanical systems is a necessary step for the stable and reliable operation of high-end equipment. The 6 degrees of freedom parallel mechanism is proposed for the supporting mechanism of the antenna. First, the dynamic equations of the moving platform and branch of the mechanism are established. The closed-form dynamics of the mechanism are derived based on the Newton–Euler method. In addition, the vibration equation of the parallel antenna is established based on the vibration theory, and the relationship between the natural frequency, displacement response, and vibration frequency is obtained. Afterward, the pitch and roll poses of a 1.8 m aperture antenna are developed based on a MATLAB software simulation. The actuation forces of parallel antenna under no-load and load conditions are simulated. Finally, the natural frequencies and vibration modes of the initial position and roll (20∘) are simulated based on the Adams software vibration analysis module. Furthermore, the relationship between the displacement response of the moving platform and the resonant frequency is studied based on the harmonic response analysis. The control strategy based on the dynamic model improves the control accuracy of parallel antenna. This research work provides a guarantee for the dynamic characteristics analysis and engineering application of parallel antenna.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42496355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. Based on the space curve meshing equation, a novel helical gear mechanism with improved geometry is presented. First, equations of the theoretical contact curves were derived based on the space curve meshing theory. Then, tooth surfaces with a concave–convex meshing form were constructed, depending on the contact curves. The tooth profiles were improved as the theoretical contact curves were corrected by predestining the designed transmission errors. The effect of the center distance error on the transmission errors was studied, and the effects of gear modifications on transmission errors and maximum contact stresses were also investigated. The results show that the transmission error curves of the improved gear drive become much smoother. Maximum contact stresses of the improved gear drive are decreased synchronously.
{"title":"Tooth profile design of a novel helical gear mechanism with improved geometry for a parallel shaft transmission","authors":"Enyi He, Shihao Yin","doi":"10.5194/ms-13-1011-2022","DOIUrl":"https://doi.org/10.5194/ms-13-1011-2022","url":null,"abstract":"Abstract. Based on the space curve meshing equation, a novel helical gear mechanism with improved geometry is presented. First, equations of the theoretical contact curves were derived based on the space curve meshing theory. Then, tooth surfaces with a concave–convex meshing form were constructed, depending on the contact curves. The tooth profiles were improved as the theoretical contact curves were corrected by predestining the designed transmission errors. The effect of the center distance error on the transmission errors was studied, and the effects of gear modifications on\u0000transmission errors and maximum contact stresses were also investigated.\u0000The results show that the transmission error curves of the improved gear\u0000drive become much smoother. Maximum contact stresses of the improved\u0000gear drive are decreased synchronously.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47536568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jinshuai Xu, Yingpeng Zhuo, Zhaohui Qi, G. Wang, T. Zhao, Tianyu Wang
Abstract. The instability load for the telescopic boom of an all-terrain crane is investigated in this paper. Combined with structural characteristics of the telescopic boom, each boom section is divided into several substructures, and the fixed-body coordinate system of each substructure is established based on the co-rotational method. A 3D Euler–Bernoulli eccentric beam element of the telescopic boom is derived. On the premise of considering the discretization of gravity and wind load, internal degrees of freedom of the substructure are condensed to the boundary nodes, forming a geometrical nonlinear super element. According to the nesting mode of the telescopic boom, a constraint way is established. The unstressed original length of the guy rope is calculated with a given preload so as to establish the equilibrium equations of the boom system with the external force of the guy rope and the corresponding tangent stiffness matrix. Regarding the above work, a new method for calculating the structural equilibrium path and instability load of telescopic boom structure is presented by solving the governing equations in a differential form. Finally, the method is validated by examples with different features.
{"title":"Instability load analysis of a telescopic boom for an all-terrain crane","authors":"Jinshuai Xu, Yingpeng Zhuo, Zhaohui Qi, G. Wang, T. Zhao, Tianyu Wang","doi":"10.5194/ms-13-991-2022","DOIUrl":"https://doi.org/10.5194/ms-13-991-2022","url":null,"abstract":"Abstract. The instability load for the telescopic boom of an all-terrain crane\u0000is investigated in this paper. Combined with structural characteristics of\u0000the telescopic boom, each boom section is divided into several substructures, and the fixed-body coordinate system of each substructure is\u0000established based on the co-rotational method. A 3D Euler–Bernoulli\u0000eccentric beam element of the telescopic boom is derived. On the premise of\u0000considering the discretization of gravity and wind load, internal degrees of freedom of the substructure are condensed to the boundary nodes, forming a geometrical nonlinear super element. According to the nesting mode of the\u0000telescopic boom, a constraint way is established. The unstressed original\u0000length of the guy rope is calculated with a given preload so as to establish the equilibrium equations of the boom system with the external force of the guy rope and the corresponding tangent stiffness matrix. Regarding the above work, a new method for calculating the structural equilibrium path and instability load of telescopic boom structure is presented by solving the governing equations in a differential form. Finally, the method is validated by examples with different features.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47748223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract. An electric shovel is a bucket-equipped mining excavator widely used in open-pit mining today. The prolonged direct impact between the bucket teeth and the ore during the mining process will cause the teeth to loosen prematurely or even break, resulting in unplanned downtime and productivity losses. To solve this problem, we propose a real-time and accurate detection algorithm of bucket teeth falling off based on improved YOLOX. Firstly, to solve the problem of poor detection effect caused by uneven illumination, the dilated convolution attention mechanism is added to enhance the feature expression ability of the target in complex backgrounds so as to improve the detection accuracy of the target. Secondly, considering the high computing cost and large delay of the embedded device, the deep separable convolution is used to replace the traditional convolution in the feature pyramid network, and the model compression strategy is used to prune the redundant channels in the network, reduce the model volume, and improve the detection speed. The performance test is carried out on the self-constructed dataset of WK-10 electric shovel. The experimental results show that, compared with the YOLOX model, the mean average precision of the algorithm in this paper reaches 95.26 %, only 0.33 % lower, while the detection speed is 50.8 fps, 11.9 fps higher, and the model volume is 28.42 MB, which is reduced to 29.46 % of the original. Compared with many other existing methods, the target detection algorithm proposed in this paper has the advantages of higher precision, smaller model volume, and faster speed. It can meet the requirements of real-time and accurate detection of the bucket teeth falling off.
{"title":"A real-time and accurate detection approach for bucket teeth falling off based on improved YOLOX","authors":"Jinnan Lu, Yang Liu","doi":"10.5194/ms-13-979-2022","DOIUrl":"https://doi.org/10.5194/ms-13-979-2022","url":null,"abstract":"Abstract. An electric shovel is a bucket-equipped mining excavator widely used in open-pit mining today. The prolonged direct impact between the\u0000bucket teeth and the ore during the mining process will cause the teeth to\u0000loosen prematurely or even break, resulting in unplanned downtime and\u0000productivity losses. To solve this problem, we propose a real-time and\u0000accurate detection algorithm of bucket teeth falling off based on improved\u0000YOLOX. Firstly, to solve the problem of poor detection effect caused by uneven illumination, the dilated convolution attention mechanism is added to\u0000enhance the feature expression ability of the target in complex backgrounds\u0000so as to improve the detection accuracy of the target. Secondly, considering\u0000the high computing cost and large delay of the embedded device, the deep\u0000separable convolution is used to replace the traditional convolution in the\u0000feature pyramid network, and the model compression strategy is used to prune\u0000the redundant channels in the network, reduce the model volume, and improve\u0000the detection speed. The performance test is carried out on the\u0000self-constructed dataset of WK-10 electric shovel. The experimental results show that, compared with the YOLOX model, the mean average precision of the\u0000algorithm in this paper reaches 95.26 %, only 0.33 % lower, while the\u0000detection speed is 50.8 fps, 11.9 fps higher, and the model volume is 28.42 MB,\u0000which is reduced to 29.46 % of the original. Compared with many other\u0000existing methods, the target detection algorithm proposed in this paper has\u0000the advantages of higher precision, smaller model volume, and faster speed.\u0000It can meet the requirements of real-time and accurate detection of the\u0000bucket teeth falling off.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48014232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Q. Yin, Junpeng Yu, Shaoyun Song, Yonglin Zhang, Gang Zhao, Zhiqiang Hao, Ao Hu
Abstract. In order to realize the real-time monitoring of the grain condition, grain condition information should be collected during storage operations. A drill-in granary grain condition detector which can drill into a grain pile in a granary is proposed. The kinematic models of four Archimedes screw mechanisms were established, and the motion characteristics of grain particles in spiral grooves were described. Several groups of single variable simulation experiments are designed to discuss the important factors affecting the motion performance of the detector. Based on a discrete element method with multi-body dynamics (DEM-MBD) simulation calculation, the force and velocity change images of grain particles were obtained to verify the feasibility of the scheme. The steering function of the detector is verified by simulation, and the relationship between the steering radius and the screw rotation speed difference is analyzed. The results show that the drill-in granary grain condition detector can move forward and turn when it is immersed in the grain pile. It has the characteristics of excellent flexibility and a high degree of freedom. It compensates for the current situation in which robots cannot go deep inside the grain pile and complete the steering.
{"title":"Research on structural parameters and kinematic properties of a drill-in granary grain condition detector","authors":"Q. Yin, Junpeng Yu, Shaoyun Song, Yonglin Zhang, Gang Zhao, Zhiqiang Hao, Ao Hu","doi":"10.5194/ms-13-961-2022","DOIUrl":"https://doi.org/10.5194/ms-13-961-2022","url":null,"abstract":"Abstract. In order to realize the real-time monitoring of the grain condition, grain condition information should be collected during storage operations. A drill-in granary grain condition detector which can drill into a grain pile in a granary is proposed. The kinematic models of four Archimedes screw mechanisms were established, and the motion characteristics of grain particles in spiral grooves were described. Several groups of single variable simulation experiments are designed to discuss the important factors affecting the motion performance of the detector. Based on a discrete element method with multi-body dynamics (DEM-MBD) simulation calculation, the force and velocity change images of grain particles were obtained to verify the feasibility of the scheme. The\u0000steering function of the detector is verified by simulation, and the\u0000relationship between the steering radius and the screw rotation speed\u0000difference is analyzed. The results show that the drill-in granary grain\u0000condition detector can move forward and turn when it is immersed in the\u0000grain pile. It has the characteristics of excellent flexibility and a high\u0000degree of freedom. It compensates for the current situation in which robots\u0000cannot go deep inside the grain pile and complete the steering.\u0000","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":"1 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41423619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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