The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in...The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.展开更多
As there is no need of permanent magnet(PM)material and only silicon steel sheet required on the rotor,synchronous reluctance machine(SynRM)can be used for many applications and draws a great research interest.For the...As there is no need of permanent magnet(PM)material and only silicon steel sheet required on the rotor,synchronous reluctance machine(SynRM)can be used for many applications and draws a great research interest.For the SynRM,the torque ripple is a big issue and a great of work could been done on reducing it.In this paper,asymmetrical magnetic flux barriers in the SynRM rotor were studied comprehensively,including angle and width of each layer and each side of the magnetic barrier.The SynRMb with asymmetrical and parallel magnetic flux barrier was found as the best way to design SynRM based on the multi-objective design optimization method.Moreover,each parameter was studied to show the design rule of the asymmetrical magnetic flux barrier.As the average torque will be reduced with the asymmetrical barrier is used,the grain-oriented silicon steel is used on stator teeth of the SynRMb(SynRMbG)was proposed and studied.The analysis results show that the proposed new method can make the SynRM have better performance.展开更多
The chief aim of the present work was to achieve drag reduction in stator blades with liquid using boundary layer control. A stator blade of hydraulic torque converter with bionic grooves in suction side and hydrophob...The chief aim of the present work was to achieve drag reduction in stator blades with liquid using boundary layer control. A stator blade of hydraulic torque converter with bionic grooves in suction side and hydrophobic surface in pressure side was designed. The hydrophobic surface was created using anodic oxidation method and irregular A1203 thin films were found on the surface. They formed hierarchical structure consisting of mini porous structures and microscopic pore spaces, resulting in the hydrophobicity. The bionic groove was designed by Computational Fluids Dynamics （CFD） method. Multi-Island Genetic Algorithm （MIGA） was adopted for groove multi-objective optimization. Through optimization, the maximum drag reduction was close to 12% in oil. In addition, the drag reduction calculation was verified by closed channel experiment and ＂Tire Vortex＂ was proposed to explain the drag reduction mechanism. The bionic Janus blade could maintain its initial profile without any additional device, which had lower risk and less cost. The results are encouraging and show great potential to apply in other flow machineries.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51105089)Shenzhen Engineering Laboratory of Industrial Robots and Systems(Grant No.A224412028)Shenzhen Engineering Laboratory of Performance Robots at Digital Stage(Grant No.[2014]1507)
文摘The conventional linkage mechanisms with compliant joint have been widely studied and implemented for increasing the adaptability of the mechanism to external contacts. However, the analysis of how compliant joints in linkage mechanism can reduce the energy consumption isn＇t still studied deeply. In a mobile service robot head, the actions of blinking the eyes and moving the eyeballs are realized by the planar linkage mechanism respectively. Therefore, minimizing the driving torques through motion trajectories for the linkage mechanism, which will be beneficial to extend the working time for mobile service robots. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing the max value of driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy. Compared with previous efforts, this is the first attempt that the linkage mechanism with complaint joint is applied in the robot head for reducing the driving torque.
基金the National Natural Science Foundation of China under Project 52007047,in part by the National Natural Science Foundation of China under Project 51877065,and in part by Natural Science Foundation of Hebei Province under Project E2019202220.
文摘As there is no need of permanent magnet(PM)material and only silicon steel sheet required on the rotor,synchronous reluctance machine(SynRM)can be used for many applications and draws a great research interest.For the SynRM,the torque ripple is a big issue and a great of work could been done on reducing it.In this paper,asymmetrical magnetic flux barriers in the SynRM rotor were studied comprehensively,including angle and width of each layer and each side of the magnetic barrier.The SynRMb with asymmetrical and parallel magnetic flux barrier was found as the best way to design SynRM based on the multi-objective design optimization method.Moreover,each parameter was studied to show the design rule of the asymmetrical magnetic flux barrier.As the average torque will be reduced with the asymmetrical barrier is used,the grain-oriented silicon steel is used on stator teeth of the SynRMb(SynRMbG)was proposed and studied.The analysis results show that the proposed new method can make the SynRM have better performance.
文摘The chief aim of the present work was to achieve drag reduction in stator blades with liquid using boundary layer control. A stator blade of hydraulic torque converter with bionic grooves in suction side and hydrophobic surface in pressure side was designed. The hydrophobic surface was created using anodic oxidation method and irregular A1203 thin films were found on the surface. They formed hierarchical structure consisting of mini porous structures and microscopic pore spaces, resulting in the hydrophobicity. The bionic groove was designed by Computational Fluids Dynamics （CFD） method. Multi-Island Genetic Algorithm （MIGA） was adopted for groove multi-objective optimization. Through optimization, the maximum drag reduction was close to 12% in oil. In addition, the drag reduction calculation was verified by closed channel experiment and ＂Tire Vortex＂ was proposed to explain the drag reduction mechanism. The bionic Janus blade could maintain its initial profile without any additional device, which had lower risk and less cost. The results are encouraging and show great potential to apply in other flow machineries.
