Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varietie...Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.展开更多
Conventional pneumatic tires exhibit disadvantages such as puncture,blowout at high speed,pressure maintenance,etc.Owing to these structural inevitable weaknesses,non?pneumatic tires have been developed and are invest...Conventional pneumatic tires exhibit disadvantages such as puncture,blowout at high speed,pressure maintenance,etc.Owing to these structural inevitable weaknesses,non?pneumatic tires have been developed and are investigated.A non?pneumatic mechanical elastic wheel(NPMEW)is introduced and investigated as a function of static radical stiffness characteristics and contact behavior.A bench test method is utilized to improve the riding comfort and the traction traffic ability of NPMEW based on tire characteristics test rig,and the static radical stiffness characteristics and the contact behavior of NPMEW are compared with that of an insert supporting run?flat tire(ISRFT).The vertical force?deformation curves and deformed shapes and contact areas of the NPMEW and ISRFT are obtained using a set of vertical loads.The contact behavior is evaluated using extracted geometrical and mechanical feature parameters of the two tires.The results indicate that the NPMEW appears to exhibit considerably high radical stiffness,and the numerical value is dependent on the mechanical characteristic of the flexible tire body and hinge units.NPMEW demonstrates more uniform contact pressure than ISRFT within a certain loading range,and it can efficiently mitigate the problem of stress concentration in ISRFT shoulder under heavy load and enhance the wear resistance and ground grip performances.展开更多
Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on ro...Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects： One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures： The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and （hydro-） pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.展开更多
文摘Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.
基金supported in part by the National Natural Science Foundations of China (Nos.51605215, 11672127)the National Science Foundations for Post-Doctoral Scientists of China (Nos.2018M630593, 2019T120450)+1 种基金Research Foundations of Nanjing Institute of Technology (Nos. QKJ201707, PTKJ201702)the Qing Lan Project
文摘Conventional pneumatic tires exhibit disadvantages such as puncture,blowout at high speed,pressure maintenance,etc.Owing to these structural inevitable weaknesses,non?pneumatic tires have been developed and are investigated.A non?pneumatic mechanical elastic wheel(NPMEW)is introduced and investigated as a function of static radical stiffness characteristics and contact behavior.A bench test method is utilized to improve the riding comfort and the traction traffic ability of NPMEW based on tire characteristics test rig,and the static radical stiffness characteristics and the contact behavior of NPMEW are compared with that of an insert supporting run?flat tire(ISRFT).The vertical force?deformation curves and deformed shapes and contact areas of the NPMEW and ISRFT are obtained using a set of vertical loads.The contact behavior is evaluated using extracted geometrical and mechanical feature parameters of the two tires.The results indicate that the NPMEW appears to exhibit considerably high radical stiffness,and the numerical value is dependent on the mechanical characteristic of the flexible tire body and hinge units.NPMEW demonstrates more uniform contact pressure than ISRFT within a certain loading range,and it can efficiently mitigate the problem of stress concentration in ISRFT shoulder under heavy load and enhance the wear resistance and ground grip performances.
文摘Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects： One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures： The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and （hydro-） pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.
