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Design and implementation of the wheel-clamping stay cable inspection robot 车轮夹紧拉索检测机器人的设计与实现
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231194409
Yongming Wang, Xiang Li, Mingxing Yang, Feng Yin
A new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on Arduino. Then, the diameter range of the stay cable that the robot can hold was calculated. The mechanical model of the robot under clamping condition was established. The curves for the minimum thrust Fe and driving force F required by the robot under different stay cable diameters Φ and inclined angles γ were obtained through Matlab data processing. Based on Adams dynamic simulation, the appropriate shape and material of the wheel, the optimal position of the centroid distribution and how to improve the wind resistance of the wheel were determined. Finally, a prototype robot was developed and a climbing experiment was carried out. The results show that the inspection robot is easy to clamp, simple to operate and control, and the detection speed is 0–5 m/min. The robot can grab stay cables with diameters ranging from 70 to 245 mm and can be used for stay cables with angles ranging from 0° to 90°.
设计了一种新型的车轮夹紧式桥梁斜拉索检测机器人。其夹紧机构采用四辅助二驱动轮夹紧方案,驱动单元采用单电机双输出轴。基于Arduino设计了一个简单的机器人自动控制系统。然后,计算了机器人可以保持的拉索直径范围。建立了夹持状态下机器人的力学模型。通过Matlab数据处理,得到了不同斜拉索直径Φ和倾角γ下机器人所需的最小推力Fe和驱动力F的曲线。基于Adams动力学仿真,确定了合适的车轮形状和材料、质心分布的最佳位置以及如何提高车轮的风阻。最后,开发了一个原型机器人,并进行了攀爬实验。结果表明,该检测机器人易于夹紧,操作和控制简单,检测速度为0–5 米/分钟。该机器人可以抓取直径从70到245不等的拉索 mm,可用于角度在0°到90°之间的斜拉索。
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引用次数: 0
3D printing process for continuous fibre reinforced composites with variable deposition direction 可变沉积方向连续纤维增强复合材料的3D打印工艺
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231190341
Shuangfei Min, Yuegang Tan, Fan Zhang, Yiwen Tu
Continuous fibre reinforced polymer (CFRP) have a distinctive anisotropic character. In traditional 3D printing processes, deposition direction cannot be adjusted. As a result, the performance of CFRP parts is deficient in the fixed direction. To address the issue, this paper proposes a variable deposition direction (VDD) 3D printing process for CFRP. The process optimises the mechanical properties of the moulded part by adjusting the direction of deposition. The principles and processes of the VDD 3D printing are described in detail. Then, using the hollow cylinder as an example, a mathematical model of the variable deposition direction structure is developed, and subsequent simulations is conducted to evaluate its mechanical properties. In the experimental part, the composite material used has a fibre content of 20% and consists of PETG and carbon fibres. The VDD hollow cylindrical parts have been printed to verify the feasibility of the process. And performance testing experiments were carried out on a variety of test specimens of different structures with VDD. The results show that adjusting the deposition direction of the CFRP can greatly improve the tensile properties of hollow cylinder. The tensile properties of a suitable structure with VDD were improved by a factor of 69.4 compared to a single deposition direction structure. And the actual tensile situation is consistent with the simulation. To summarise, the proposed method can effectively solve the defects of the traditional process and optimise the mechanical properties of the moulded parts.
连续纤维增强聚合物(CFRP)具有明显的各向异性。在传统的3D打印工艺中,沉积方向无法调整。因此,CFRP零件在固定方向上的性能不足。针对这一问题,本文提出了一种可变沉积方向(VDD) CFRP 3D打印工艺。该工艺通过调整沉积方向来优化成型零件的机械性能。详细介绍了VDD 3D打印的原理和过程。然后,以空心圆筒为例,建立了变沉积方向结构的数学模型,并进行了后续的仿真,对其力学性能进行了评价。在实验部分,使用的复合材料纤维含量为20%,由PETG和碳纤维组成。对VDD中空圆柱件进行了打印,验证了该工艺的可行性。利用VDD对不同结构的多种试件进行了性能测试实验。结果表明,调整CFRP的沉积方向可以显著提高空心圆筒的拉伸性能。与单一沉积方向的结构相比,合适的VDD结构的拉伸性能提高了69.4倍。实际拉伸情况与模拟结果一致。综上所述,所提出的方法可以有效地解决传统工艺的缺陷,优化成型零件的力学性能。
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引用次数: 0
Co-simulation method of pneumatic UAV launching device based on Adams-Hypneu 基于Adams-Hypneu的气动无人机发射装置协同仿真方法
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231189347
Chin-Fa Lee, J. Tsai, C. Kuo
The purpose of this paper is to use the co-simulation method to predict the velocity of the dummy during the launching process. Taking the PL-40 launching device of ELI Company as the research target, Adams is used to establish the mechanism model, and Hypneu establishes the pneumatic model. At the launching conditions of the 10 kg dummy and 10 bar tank pressure, the preliminary co-simulation result is compared with the launching test, and the velocity error is −3.7%. The frictional force is not a constant and depends strongly on the shuttle’s pull force during the launching process. The results are coincident with the shuttle’s kinetics equations and co-simulation results. The frictional forces between wheels and rail significantly affect the dummy’s velocity of launch devices (LDs). The effect of drag force on dummy velocity is 0.4% for the LD during launching. While the co-simulation results are compared with the reference of all conditions, and the maximum launching velocity error is −3.8%.
本文的目的是使用联合仿真方法来预测发射过程中假人的速度。以ELI公司的PL-40发射装置为研究对象,采用Adams建立了机构模型,Hypneu建立了气动模型。在10 kg假人和10 巴的油箱压力,初步的联合模拟结果与发射试验进行了比较,速度误差为-3.7%。摩擦力不是一个常数,在发射过程中很大程度上取决于航天飞机的拉力。结果与航天飞机的动力学方程和联合模拟结果一致。轮子和轨道之间的摩擦力会显著影响发射装置(LD)的假人速度。LD在发射过程中,阻力对虚拟速度的影响为0.4%。同时将联合仿真结果与所有条件下的参考结果进行了比较,最大发射速度误差为-3.8%。
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引用次数: 0
The emergent behavior of three-dimensional and three-phase thermal network model for the heterogeneous materials 非均质材料三维和三相热网络模型的涌现行为
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231193206
Jianhui Tian, Jialiang Wu, C. Bowen, Jinjuan Sun, Zaishuang Wang, G. Hu
The study of the heat transfer properties of heterogeneous materials has been a world-wide research focus, for example in sectors related to thermal management in aerospace, architecture, and geology. In this paper, the emergent behavior and thermal conduction characteristics of three-dimensional and three-phase heterogeneous materials thermal networks are studied using the finite element method. The results show that the existence of percolation paths of each phase has a strong impact on the effective properties of the network when the contrast in thermal conductivities of each phase is high, and percolation also affects the effective thermal conductivity of the whole thermal network system. However, when the contrast in thermal conductivity between the two phases is low, the thermal networks exhibit a more consistent and “emergent” behavior, and the effective thermal conductivity of thermal networks at the same volume fraction changes to a lower extent from network to network. This paper also demonstrates that a logarithmic mixing rule can predict the effective thermal conductivity in the low contrast emergent region in three-dimensional networks, and the modeling method provides new approaches for the design of multi-phase composites and prediction of their thermal conduction properties.
非均质材料的传热特性研究一直是世界范围内的研究热点,例如在航空航天、建筑和地质等领域的热管理。本文采用有限元方法研究了三维和三相非均质材料热网络的涌现行为和热传导特性。结果表明:当各相导热系数对比较大时,各相渗透路径的存在对网络的有效性能有较大的影响,渗透也会影响整个热网系统的有效导热系数。然而,当两相热导率对比较低时,热网络表现出更一致和“涌现”的行为,相同体积分数下的热网络的有效热导率在不同网络之间的变化程度较低。本文还证明了对数混合规则可以预测三维网络中低对比度紧急区域的有效导热系数,该建模方法为多相复合材料的设计和导热性能预测提供了新的途径。
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引用次数: 0
Configuration design and kinematics analysis of foldable composite space capture mechanism 可折叠复合材料空间捕获机构的结构设计与运动学分析
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231192299
Yang Qi, Lu Zhang
To meet the requirements of high flexibility, high stiffness, and large working range of space debris cleaning technology, a foldable composite space capture mechanism is proposed based on the finite screw theory in this paper. The degree of freedom of the mechanism is analyzed by using the screw theory and its degree of freedom is obtained. The closed-loop vector method and DH method are used to analyze the kinematics of the mechanism, and the position solution of the mechanism is derived. The analytical expressions of velocity and acceleration solutions are obtained by differential calculation. According to the analysis of numerical example, the kinematic model of the mechanism is built in the simulation environment, and the simulation experiment is carried out for the motion trajectory of the mechanism. The correctness of theoretical analysis solution and method is proved by contrasting and analyzing motion trajectory, and it is verified that the space capture mechanism uses the foldable property to form large workspace to complete the capture of the target.
为了满足空间碎片清理技术的高柔性、高刚度和大工作范围的要求,本文基于有限螺杆理论,提出了一种可折叠复合材料空间捕获机构。利用螺旋理论对该机构的自由度进行了分析,得到了其自由度。采用闭环矢量法和DH法对该机构进行运动学分析,推导出该机构的位置解。通过微分计算得到了速度和加速度解的解析表达式。通过算例分析,在仿真环境中建立了该机构的运动学模型,并对该机构的运动轨迹进行了仿真实验。通过对运动轨迹的对比分析,验证了理论分析解和方法的正确性,验证了空间捕获机构利用可折叠特性形成大的工作空间来完成对目标的捕获。
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引用次数: 0
Modeling and parameter identification of asymmetric restoring force of reinforced concrete shear walls 钢筋混凝土剪力墙非对称恢复力的建模与参数识别
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231192226
Zhou Lina, Senlin Zhang
Under the action of the seismic waves, reinforced concrete shear walls (RC shear walls) often exhibit hysteresis characteristics such as strength and stiffness degradation, and pinching effects due to factors such as slippage, cumulative damage of concrete, and non-uniform corrosion of steel bars or reinforcements. The hysteresis curve is asymmetric. In this paper, a nonlinear restoring force mechanical model, based on the Bouc-Wen-Baber-Noori (BWBN) model, that can describe the hysteresis characteristics of the RC shear wall is obtained by introducing the asymmetry factor. Particular attention is the solution of equation that the hysteretic energy ε at different loading stages in this model is regarded as parameters to be identified. The ordinary differential equations for parameter identification are derived into four segments. The improved particle swarm organization (IPSO) algorithm is used for parameters identification, which superiority is verified by comparison to the genetic algorithm. The accuracy of this model is verified by using RC shear wall finite element simulation data.
在地震波的作用下,钢筋混凝土剪力墙(RC剪力墙)往往表现出强度和刚度退化等滞后特性,以及由于滑移、混凝土的累积损伤、钢筋或钢筋的不均匀腐蚀等因素而产生的夹持效应。磁滞曲线是不对称的。本文在Bouc-Wen-Baber-Noori(BWBN)模型的基础上,引入非对称因子,建立了一个能够描述钢筋混凝土剪力墙滞回特性的非线性恢复力力学模型。特别值得注意的是,该模型中不同加载阶段的滞回能量ε被视为待识别的参数。用于参数识别的常微分方程分为四个部分。将改进的粒子群组织(IPSO)算法用于参数识别,并与遗传算法进行了比较,验证了其优越性。利用钢筋混凝土剪力墙有限元模拟数据验证了该模型的准确性。
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引用次数: 1
Investigation on application and running characteristics of permanent magnet synchronous motor used in lifting system of deep well drilling rig 永磁同步电机在深井钻机提升系统中的应用及运行特性研究
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231194827
Yuchao Wang, Jiarong Liu, Wenwu Liu, C. Li, Kun Guo
Most geological drilling rigs using asynchronous motor with gear box as the drive device of drawworks have problems of instability at low speed, complex mechanism, and lots maintenance work. This paper proposes an application of permanent magnet synchronous motor (PMSM) used in drawworks. Firstly, running characteristics of PMSM in steady state are analyzed and calculated theoretically, and mathematical models of motor’s power, torque, and power loss are given. Secondly, vector control principle of PMSM is analyzed and introduced, and maximum torque/current control method is finally decided as the basis for the design of control system. Thirdly, running parameters of PMSM in three stages (lowering drill string, constant speed/pressure drilling, and lifting drill string) of each test point were measured, and the curves of key parameters of PMSM are given. Finally, it is concluded that drawworks with PMSMs can not only improve control performance, reduce power consumption, and save energy, but also omit the gearbox, which makes structure of lifting system more compact and reduce lots maintenance work. The research work of this paper lays a foundation for the popularization and application of PMSM in the industry of deep well drilling rig.
大多数地质钻机采用带齿轮箱的异步电动机作为绞车的驱动装置,存在低速不稳定、机构复杂、维修工作量大等问题。介绍了永磁同步电动机在绞车中的应用。首先,对永磁同步电机稳态运行特性进行了理论分析和计算,给出了电机功率、转矩和功率损耗的数学模型。其次,分析和介绍了永磁同步电机的矢量控制原理,最终确定了最大转矩/电流控制方法,作为控制系统设计的依据。然后,测量了各试验点在下放钻柱、等速/压钻进和提钻柱三个阶段的PMSM运行参数,给出了PMSM关键参数曲线。最后得出结论,采用永磁同步电动机的绞车不仅提高了控制性能,降低了功耗,节约了能源,而且省去了齿轮箱,使提升系统结构更加紧凑,减少了大量的维护工作。本文的研究工作为永磁同步电机在深井钻机行业的推广应用奠定了基础。
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引用次数: 0
Hybrid nanofluid flow over a slippery surface for thermal exploration 用于热探测的光滑表面上的混合纳米流体流动
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231190060
A. Alnahdi, T. Gul
The potential of hybrid nanofluid (HNF) to maximize heat transportation has captured the attention of many researchers, inspiring them to further investigate the performance of the common base fluid. Conventional flow in Cu-Al2O3/H2O hybrid nanofluid (HNF) toward a high permeability horizontal flat plate incorporated in Darcy porous medium has been explored in this research to determine how Cu-Al2O3/H2O hybrid fluid will respond thermodynamically when physical factors like suction/injection and slip boundary conditions are present. In addition, the effects of radiation, dissipations, energy engagement, and inclined magnetized field associated with the fluid flow were studied. The governing system is transformed by similarity transformations to a solvable ordinary differential equation by employing HAM (Homotopy Analysis Method) scheme. The main results show that Cu-Al2O3/H2O has high thermal conductivity compared to Cu/H2O. As a result, hybrid fluids are essential for the development of thermal phenomena.
混合纳米流体(HNF)最大限度地提高热传输的潜力引起了许多研究人员的注意,激励他们进一步研究普通基础流体的性能。本研究探索了Cu-Al2O3/H2O混合纳米流体(HNF)中向达西多孔介质中的高渗透水平平板的常规流动,以确定当存在抽吸/注入和滑移边界条件等物理因素时,Cu-Al2O3/H2O混合流体将如何在热力学上响应。此外,还研究了与流体流动相关的辐射、耗散、能量吸收和倾斜磁场的影响。通过相似变换将控制系统转化为一个可解常微分方程,并采用HAM(Homotopy Analysis Method)格式。主要结果表明,与Cu/H2O相比,Cu-Al2O3/H2O具有较高的热导率。因此,混合流体对热现象的发展至关重要。
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引用次数: 4
Making the optimal grade 做出最佳成绩
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231187797
James Baldwin
Researchers in Vietnam and Canada have developed a ready to use model to predict critical loads for functionally graded materials. Their neural network-based technique is ideal for users working on functionally graded plates and does not require advanced coding skill to implement [Le T-T, Duong HT, Phan HC. Optimization of Neural Network architecture and derivation of closed-form equation to predict ultimate load of functionally graded material plate. Advances in Mechanical Engineering. 2023;15(5). doi:10.1177/16878132231175002].
越南和加拿大的研究人员开发了一个现成的模型来预测功能梯度材料的临界载荷。他们的神经网络技术非常适合在功能梯度板上工作的用户,不需要高级编码技能即可实现[Le T-T,Duong HT,Phan HC。神经网络结构的优化和闭合方程的推导,以预测功能梯度材料板的极限载荷。机械工程进展。2023;15(5)doi:10.1177/16878132232175002]。
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引用次数: 0
Q-rung orthopair normal fuzzy Maclaurin symmetric mean aggregation operators based on Schweizer-Skla operations 基于Schweizer-Skla运算的Q-rung正态正规模糊Maclaurin对称均值聚合算子
IF 2.1 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2023-08-01 DOI: 10.1177/16878132231190996
Dongwei Liu, Xiaomin Zhu, Runtong Zhang
In order to be able to make a good decision, we need to evaluate the uncertainty information of multiple attributes of different alternatives that obey the normal distribution, and the interrelationship among multiple attributes should be considered in the process of evaluating. This paper aims to propose a new multiple attribute decision-making (MADM) method, which uses a new aggregation operator to evaluate the uncertainty information that obey normal distribution comprehensively. We firstly extended Schweizer-Sklar (SS) t-norm (TN) and t-conorm (TCN) to q-rung orthopair normal fuzzy number (q-RONFN) and defined the Schweizer-Skla operational laws of q-rung orthopair normal fuzzy set (q-RONFs). Secondly, we developed q-rung orthopair normal fuzzy Maclaurin symmetric mean aggregation operators based on SS operations considering that the Maclaurin symmetric mean operator can reflect the interrelationship among multiple input variables. Furthermore, we discussed some desirable properties of the above operators, such as monotonicity, commutativity, and idempotency. Lastly, we proposed a novel MADM method based on developed aggregation operators. A numerical example on enterprise partner selection is given to testify the effectiveness of the developed method. The results of analysis indicated that our proposed aggregation operators have stronger information aggregation ability and are more general and flexible for MADM problems.
为了能够做出好的决策,我们需要评估服从正态分布的不同备选方案的多个属性的不确定性信息,并且在评估过程中应该考虑多个属性之间的相互关系。本文提出了一种新的多属性决策方法,该方法使用一个新的聚合算子来综合评估服从正态分布的不确定性信息。我们首先将Schweizer—Sklar(SS)的t-范数(TN)和t-锥型(TCN)推广到q阶正态正规模糊数(q-RONFN),并定义了q阶正模正规模糊集(q-RONFs)的Schweizer-Skla运算律。其次,考虑到Maclaurin对称均值算子能够反映多个输入变量之间的相互关系,我们在SS运算的基础上开发了q-rung正态正态模糊Maclaurin对称均值聚合算子。此外,我们还讨论了上述算子的一些理想性质,如单调性、交换性和幂等性。最后,我们提出了一种新的基于聚合算子的MADM方法。通过一个企业合作伙伴选择的算例验证了该方法的有效性。分析结果表明,我们提出的聚合算子具有更强的信息聚合能力,对MADM问题更具通用性和灵活性。
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引用次数: 0
期刊
Advances in Mechanical Engineering
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