Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking control.Therefore,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method.Moreover,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory.The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved.With the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

Model Building of Backup Roller Diameter Effect Rate in 4-High Mill

Software for calculating the strip profile in 4-high hot rolling mill was developed using influence coefficient method. Regularity of backup roller diameter effect rate was studied systematically using the software. The results show that backup roller diameter effect rates decrease versus the increase of strip width, increase significantly versus the increase of backup roller diameter and obscurely increase versus the increase of reduction. The difference between backup roller diameter effect rate and it is reference value increases versus strip width increasing. When backup rollers diameter is set to be 1.64 m and strip width is 1.85 m, the error of strip profile calculated using the model of backup roller diameter effect rate reference value will be 3.55μm. Based on the results, reference values of roller diameter effect rate and six power polynomial fitting coefficients of modification coefficients were determined considering coherent parameters. The high precision model of backup roller diameter effect rate was established. When the model is used to predict strip profile, the accuracy is less than 5.0 μm.

Collaborative force and shape control for large composite fuselage panels assembly

This study proposed a force and shape collaborative control method that combined method of influence coefficients(MIC)and the elitist nondominated sorting genetic algorithm(NSGA-II)to reduce the shape deviation caused by manufacturing errors,gravity deformation,and fixturing errors and improve the shape accuracy of the assembled large composite fuselage panel.This study used a multi-point flexible assembly system driven by hexapod parallel robots.The proposed method simultaneously considers the shape deviation and assembly load of the panel.First,a multi-point flexible assembly system driven by hexapod parallel robots was introduced,with the relevant variables defined in the control process.In addition,the corresponding mathematical model was constructed.Subsequently,MIC was used to establish the prediction models between the displacements of actuators and displacements of panel shape control points,deformation loads applied by the actuators.Following the modeling,the shape deviation of the panel and the assembly load were used as the optimization objectives,and the displacements of actuators were optimized using NSGA-II.Finally,a typical composite fuselage panel case study was considered to demonstrate the effectiveness of the proposed method.

Efficient Determination of Turbomachinery Blade Aero-Damping Curves for Flutter Assessment via Trigonometric Interpolation

Proposed in the paper is a trigonometric interpolation method for efficient determination of turbomachinery blade aero-damping curves which are required in a flutter assessment.The trigonometric interpolation method was proposed to be incorporated with the widely used travelling wave method to replace the influence coefficient method.Through analyzing aero-damping/worksum at a few carefully chosen nodal diameters,trigonometric interpolation was applied through existing data points to get aero-damping/worksum at the rest nodal diameters.The proposed approach is much more efficient than the travelling wave method for determining the aero-damping curve of a blade.In principle,the method can be as efficient as the influence coefficient method.Unlike the influence coefficient method,the trigonometric interpolation method does not involve linear superposition,and it can include nonlinear effect and is expected to be more accurate.Two test cases were provided to validate the proposed method and demonstrate its effectiveness.The method is not only effective,but also very easy to be incorporated into existing widely used aero-damping/worksum analysis system using the travelling wave method.

Drum of CTP Device Dynamic Balance Based on Theory of Wavelet Transform

Conclusion is that the soft threshold de-noising effect is better than hard threshold de-noising though the signal to noise ratio and Root Mean Square error. After analyzing, de-noising and reconstructing signal through wavelet packet from Matlab software, the average value of peak extracted from signal reconstruction is gotten to provide data for dynamic balance. Making use of the influence coefficient method to adjust drum of CTP dynamic balance, the program of Matlab is used to find phase position and weight of the mass block quickly, which can provide evidence for software for dynamic balance developed.

Effect of Initial Crown on Shape of Hot Rolled Strip

Based on the influence coefficient method, the effect of entry strip crown on the shape of hot rolled strip was analyzed using the software of roll elastic deformation simulation. According to the practical condition of a domestic hot rolled strip plant, the unit strip crown change from the first stand to the last stand was calculated when the entry crown of hot strip varies. The calculated result shows that the entry strip crown does not significantly affect the target strip crown at the exit of the last finishing stand in respect to a fixed strip shape control reference （such as bending force）. The calculation was analyzed, and the research is helpful in modeling strip shape setup and shape control.