Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

The Impulse Excitation Joint Servo Drive Design and Adaptive Backstepping Control of Humanoid Robots

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

DIRECT DIGITAL DESIGN AND SIMULATION OF MESHING IN WORM-GEAR DRIVE

A direct digital design method （DDDM） of worm-gear drive is proposed. It is directly based on the simulation of manufacturing process and completely different from the conventional modeling method. The loaded tooth contact analysis （LTCA） method is analyzed, in which the advanced surface to surface searching technique is included. The influence of misalignment errors and contact deformations on contact zone and transmission error （TE） is discussed. Combined modification approach on worm tooth surface is presented. By means of DDDM and LTCA, it is very conven- ient to verify the effect of worm-gear drive＇s modification approach. The analysis results show that, the modification in profile direction reduces the sensitivity of worm-gear drive to misalignment errors and the modification in longitudinal direction decreases the TE. Thus the optimization design of worm-gear drive can be achieved prior to the actual manufacturing process.

Robust Optimum Design of Thrust Hydrodynamic Bearings for Hard Disk Drives

This paper describes the robust optimum design which combines the geometrical optimization method proposed by Hashimoto and statistical method. Recently, 2.5″ hard disk drives (HDDs) are widely used for mobile devices such as laptops, video cameras and car navigation systems. In mobile applications, high durability towards external vibrations and shocks are essentials to the bearings of HDD spindle motor. In addition, the bearing characteristics are influenced by manufacturing error because of small size of the bearings of HDD. In this paper, the geometrical optimization is carried out to maximize the bearing stiffness using sequential quadratic programming to improve vibration characteristics. Additionally, the bearing stiffness is analyzed considering dimensional tolerance of the bearing using statistical method. The dimensional tolerance is assumed to distribute according to the Gaussian distribution, and then the bearing stiffness is estimated by combining the expectation and standard deviation. As a result, in the robust optimum design, new groove geometry of bearing can be obtained in which the bearing stiffness is four times higher than the stiffness of conventional spiral groove bearing. Moreover, the bearing has lower variability compared with the result of optimum design neglecting dimensional tolerance.

Lightweight Design of Automobile Drive Shaft Based on the Characteristics of Low Amplitude Load Strengthening

There are two kinds of internationally recognized approaches in terms of lightweight design.One is based on fatigue accumulated damage theory to achieve better reliability by optimal structural design; another is to use high performance lightweight materials.The former method takes very few considerations on the structural strengthening effects caused by the massive small loads in service.In order to ensure safety,the design is usually conservative,but the strength potential of the component is not fully exerted.In the latter method,cost is the biggest obstacle to lightweight materials in automotive applications.For the purpose of light weighting design on a fuel cell vehicle,the new design method is applied on drive shafts.The method is based on the low amplitude load strengthening characteristics of the material,and allows the stress,corresponding to test load,to enter into the strengthened range of the material.Under this condition,the light weighting design should assure that the reliability of the shaft is not impaired,even maximizes the strength potential of machine part in order to achieve the weight reduction and eventually to reduce the cost.At last,the feasibility of the design is verified by means of strength analysis and modal analysis based on the CAD model of light weighted shaft.The design applies to the load case of half shaft in independent axle,also provides technological reference for the structural lightweight design of vehicles and other machineries.

Design Research on Drive System of Underwater Tapping Machine

The underwater tapping machine is composed of a center bit, a tapping cutter, a seal box, a main drive box, a boring bar assembly, a envelop, a gear case, a counter and so on. The drive system in underwater tapping machine consists of a worm drive, a gear drive system and a screw drive. The worm drive is in the main drive box. The worm is connected with a hydraulic motor and driven by the hydraulic motor. The gear drive system is a combined gear train which is the combinations of the fixed axes and differential gear train in the gear case. On the one hand, by means of the fixed axes gear trains the turn and power of transmission shaft are transferred to the boring bar and the screw rod, causing differential turn between the boring bar and the screw rod. On the other hand, the turns of the boring bar and the screw rod are transferred to the differential gear train. The differential gear train is used to drive a special counter to count axial travel of the boring bar. The screw drive is composed of a feed screw and a nut on the boring bar. There is the differential turn between the boring bar and the feed screw. By means of the nut, the boring bar can feed automatically. With the movement of the sliding gear 7 in the gear case, the designed drive system can also be provided with the ability of fast forward and fast backward movement of the boring bar in its idle motion, resulting in the increase of the tapping efficiency.

Active Design Method of Tooth Profiles for Cycloid Drive Based on Meshing Efficiency

An active design method of tooth profiles for cycloid gears based on their meshing efficiency is proposed.This method takes the meshing efficiency as one of the design variables to determine the tooth profiles.The calculation method for the meshing efficiency of planetary transmission is analyzed and the equation of the meshing efficiency is deduced.Relationships between the meshing efficiency,the radius of the pin wheel and the eccentric distance are revealed.The design constraint quations and the strength constraint quations are deduced.On the basis of this,a design procedure is laid out.Some examples using different input parameters are conducted to demonstrate the feasibility of the approach.A dynamic simulation of the rigid flexible coupling of cycloid gears is also presented.The results show that the proposed design method is more flexible to control the tooth profiles by changing the input values of the transmission efficiency.

Design and Test Analysis of a Solar Array Root Hinge Drive Assembly

A root hinge drive assembly is preferred in place of the classical viscous damper in a large solar array system.It has advantages including better deployment control and higher reliability.But the traditional single degree of freedom model should be improved.A multiple degrees of freedom dynamics model is presented for the solar arrays deployment to guide the drive assembly design.The established model includes the functions of the torsion springs,the synchronization mechanism and the lock-up impact.A numerical computation method is proposed to solve the dynamics coupling problem.Then considering the drive torque requirement calculated by the proposed model,a root hinge drive assembly is developed based on the reliability engineering design methods,and dual actuators are used as a redundancy design.Pseudo-efficiency is introduced and the major factors influencing the（pseudo-）efficiency of the gear mechanism designed with high reduction ratio are studied for further test data analysis.A ground prototype deployment test is conducted to verify the capacity of the drive assembly.The test device consists of a large-area solar array system and a root hinge drive assembly.The RHDA development time is about 43 s.The theoretical drive torque is compared with the test values which are obtained according to the current data and the reduction efficiency analysis,and the results show that the presented model and the calibration methods are proper enough.

The Research on Toroidal Drive

This paper presents the basic principle, meshing, structural design, manufacturing, installation and test on toroidal drive.

Optimum Structural Design of a Chain-Driving Pumping Unit

In this paper the pumping unit of type QLCJ14-6 is studied.Through the belt driving unit,the mo-tor drives the driving sprocket in which the rotation rate has been reduced by the reduction ge arbox.The locus chain moves between the driving sprocket and upper sprocket which are vertically set.There's a special chain element in the locus chain,which drives the reciprocating holster with the main shaft linchpin and slide block.The r reciprocating g holster could only move up and down when the locus chain moves in a circle.In this way the up and down stroke of the sucker rod and the mac hine is realized.The lower end of the reciprocating holster is con-nected with the equilibrium system to make the structure balance.The balancing cylinder is re-placed by the balancing block to make the structure simplified.

技术与商业驱动的群智创新设计

目的结合人工智能时代下社会面临的新问题及现代设计的新使命,提出了技术与商业驱动的群智创新设计思维。方法以设计全球化、新一代人工智能及数字化生存现状为时代背景,阐述了群智创新设计在新时代下的创新本质,并从技术和商业的多元视角阐述了群智创新设计的多元内涵。结果构建了以设计为牵引,技术与商业驱动的群智创新设计模型,并结合具体案例阐述了群智创新设计的优势。结论群智创新设计注重智能技术和群体智慧的结合,是一场复杂系统层面的螺旋式创新演化。以设计为牵引、技术为支撑、商业为激励的群智创新设计方法借用现代网络平台优势及大数据、人工智能、区块链等信息技术赋能,利用群体智慧的协同作用,聚集社会中更多、更好的知识源,以助力创新创造,为社会创造共赢价值。

Neuropsychological Aspects of Aging and Driving for Inclusive Automotive Interior Design

As people grow older, their cognitive functions undergo changes which may result in uncomfortable driving situations and even increase the risk of accidents. This research aims to understand the neuropsychological aspects of healthy aging and their possible relationship in changes in motor performance or ability. The research methodology is descriptive and includes a collection of basic studies in the scope of neuroscience, driving tasks, and older driver behavior. The final analysis points to certain changes in the functioning of the cerebral cortex and its connections as being responsible for poor performance in some basic driving tasks, but which can be compensated for by means of adapted mechanisms in motor vehicles. This study may contribute as a methodological tool, to the automobile design process, for the selection of Advanced Driver Assistance Systems (ADAS) or other emerging technologies which can compensate cognitive changes, improve safety, comfort and inclusion of older drivers in the future of automobile interior design. We conclude that in normal aging, people may present some cognitive deficits especially linked to the frontal and parietal lobe, which interfere with the necessary driving skills albeit not with the dangerous ones and can be compensated by technological solutions. The main innovation of this article is related to the bibliographical compilation and critical analysis in terms of identifying the neuropsychological aspects of normal human aging and car driving and its relationship with possible contributions from vehicular technology, as well its consider future trends in automotive interior design that should be analysed with caution in order to users inclusion.

促进幼儿深度学习的项目式活动中驱动性问题链的设计

驱动性问题是项目式学习的核心与灵魂,是项目式活动的抓手,能够促进幼儿的深度学习,是培养幼儿核心素养的重要途径。探讨驱动性问题的内涵及设计,从教与学角度及项目学习的基本要素角度着手,分析驱动性问题在项目式活动中的引领作用,形成驱动性问题解决模式,用驱动性问题链引领项目活动的开展,促进幼儿的学习及深层次发展。

基于驾驶模拟的超车仿真教学实验设计

道路交通运输专业具有多学科融合、紧密结合实践的特点,但许多交通专业课程的实践教学环节往往会受到场地大小、条件不可控、重复性差和实际道路危险性等不利因素的限制而无法顺利开展。为提升学生的实践能力与课程参与度,基于驾驶模拟技术,探讨可用于交通仿真、道路交通安全及交通行为分析等课程教学的超车仿真教学实验项目,教学实验以锻炼学生分析解决问题能力和实践操作能力为目标,详细地设计实验流程与实践教学内容,并将该实验项目在道路交通安全、交通仿真等课程的实践环节进行应用,为驾驶模拟系统在教学实验中的应用提供参考。

基于文献计量学的我国图书馆服务设计研究综述

目的以国内图书馆服务为本体对象,厘清图书馆服务设计现状与发展脉络,探索图书馆协同服务设计发展趋势。方法以中国知网(CNKI)学术期刊库为数据源,采用文献计量学方法,选择CiteSpace软件作为可视化工具,从年度发文量、研究机构、作者、发文期刊等方面对国内图书馆服务设计领域的研究现状进行分析。结果该领域研究热点集中在信息服务、服务系统、学科服务等;通过关键词归类发现图书馆服务提升的4个驱动因素及其内在逻辑:需求驱动提供方向,制度驱动促进创新,技术驱动提升效率,资源驱动完善体系。同时总结了图书馆服务创新中服务设计思维体现的5个维度:用户需求、利益相关者、服务协同、价值共创、服务交付与服务迭代。结论我国图书馆服务趋势正在向数字化、智能化、集成化、社交化和个性化服务发展,需加强图书馆用户与利益相关者研究,更新图书馆间服务协同关系,提升用户及所有服务参与者共同创造价值的过程体验。服务质量评估体系的完善有助于为图书馆服务的迭代升级提供方向,此领域研究仍有较大发展空间。

港口重载AGV驱动防滑设计

针对港口重载自动导引运输车(AGV)工作中遇到的过度滑转危险,文中提出一种基于最佳滑转率控制的驱动防滑设计。该设计根据港口环境特点建立路面附着特性模型;选用T-S型模糊控制器进行港口路面模糊识别设计,对峰值纵向附着系数及最佳滑转率进行识别,并将识别结果用于最佳滑转率控制中,进而提升港口AGV驱动防滑性能。通过单一路面与对接路面识别试验,验证了港口路面模糊识别器具有准确识别能力。

长途货运司机疲劳驾驶原因分析及对策

为减少长途运输中驾驶员因疲劳驾驶对个人和社会造成的严重损失,从驾驶员生理和心理两大因素、车辆和环境三个角度对货运司机疲劳驾驶原因进行分析,并针对不同问题对驾驶员开展安全教育活动、优化座椅和驾驶室设计、采取多种措施来改善长途运输的环境条件以及在货车上设置主动安全装置等提出了相应的改进对策,为以后的驾驶室设计提供了参考依据。

运动解耦且大工作空间三平移机构拓扑设计

根据基于方位特征(POC)方程的并联机构拓扑设计方法和运动解耦设计原理,提出一个运动解耦性优异的单回路三平移子并联机构;设计一类4个具有正向位置符号化、部分运动解耦性且具有较大工作空间的三平移(3T)并联机构;对这类机构进行拓扑特性分析,得到相同的方位特征集(POC)、自由度(DOF)、耦合度(κ)、运动解耦性等主要拓扑特性;对其中一个机构进行运动学、动力学性能分析。根据基于拓扑特征运动学建模原理,求出其符号化位置正反解,以及速度、加速度曲线;基于推导出的位置逆解公式,分析机构的奇异位形及工作空间;根据基于序单开链的虚功原理,进行其动力学建模与分析,求解出机构的驱动力。

基于设计运行条件的实际道路测试场景复杂度计算模型

自动驾驶车辆在实际道路行驶的安全性与外部交通要素、驾驶员状态以及本车状态密切相关。自动驾驶面临的一大难题是实际交通环境具有道路形态、自然环境、交通参与者及事件等在时间和空间维度的随机性特征,测试场景复杂度存在的差异造成了自动驾驶测试过程的不可复现性和测试结果的不可对比性,导致自动驾驶评价缺乏统一量化的测试环境基准。本文提出了一种基于设计运行条件的实际道路测试场景复杂度计算模型,系统考虑了网联功能、驾驶员感知能力、本车执行能力对自动驾驶车辆在实际道路中面临相关场景时的复杂度影响,建立了以道路等级、交通设施、临时交通变化、交通参与者、自然环境、网联信息、驾驶员状态和本车状态等8个要素大类为基础的自动驾驶实际道路测试场景复杂度计算模型要素库,建立了基于设计运行条件和层次分析法的自动驾驶功能实际道路测试场景复杂度计算模型。采用基于智能化网联化的技术逻辑影响传递机制计算场景要素权重系数,并在实际道路测试中验证了本文方法的可行性和合理性。

产教融合背景下基于“四轮驱动”机制的高职建筑设计类课程教学创新与实践

根据高职人才的创新创业能力培养要求,结合建筑设计专业的特点,针对传统课程项目化教学模式的不足,提出构建高职院校“建筑设计”课程项目“意识引动”“平台助动”“教学推动”“研赛带动”的“四轮驱动”教学机制;深化产教融合,以培养学生创新创业能力为目标,以“双师型”建筑设计大师创新创业工作室为平台,针对学生个性化需求,进行分学期阶段、分阶段项目、分项目任务、分任务内容的分类培养,使“建筑设计”课程项目教学实现“产、教、学、研、赛、创”相互融合,为高职建筑设计类课程项目教学模式的创新与实践提供参考。