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基于抓取稳定性的手指接触力规划算法 被引量:8
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作者 刘庆运 岑豫皖 +2 位作者 谢能刚 蒋波 钱瑞明 《机械工程学报》 EI CAS CSCD 北大核心 2010年第7期57-62,共6页
在手指指端与物体构成有摩擦固定点接触模型的前提下,通过对三指灵巧手抓取内力与抓取稳定性关系的分析,构建指端接触力的规划算法。在接触点摩擦锥内将指端接触力分解为操作力和抓取内力,分析抓取内力对于接触稳定性的作用和内力汇交... 在手指指端与物体构成有摩擦固定点接触模型的前提下,通过对三指灵巧手抓取内力与抓取稳定性关系的分析,构建指端接触力的规划算法。在接触点摩擦锥内将指端接触力分解为操作力和抓取内力,分析抓取内力对于接触稳定性的作用和内力汇交点与汇交多边形的相互位置,建立抓取内力与抓取稳定性之间的关系,通过合理规划内力汇交点的位置获得较高的抓取稳定性。通过使内力汇交点到汇交多边形各条边的最短距离达到最大,建立基于抓取稳定性的内力汇交点优化模型和指端接触力的规划算法。该算法将抓取布局规划和接触力分配融为一个统一的过程,可以有效提高抓取的规划效率,有利于抓取的在线规划。结合抓取实例说明了算法的有效性。 展开更多
关键词 三指手 内力汇交点 抓取稳定性 接触力优化 算法
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重载夹持装置接触力的封闭性 被引量:9
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作者 李群明 高丹 邓华 《机械工程学报》 EI CAS CSCD 北大核心 2010年第11期36-42,共7页
对钳口欠约束的重载锻造操作机夹持机构的结构特点进行分析,指出重载夹持装置夹持接触力的封闭性及优化计算的重要性和困难性。在比较分析重载夹持操作和多指手抓取作业的力封闭性特点基础上,将重载夹持装置的钳口与锻件接触界面之间复... 对钳口欠约束的重载锻造操作机夹持机构的结构特点进行分析,指出重载夹持装置夹持接触力的封闭性及优化计算的重要性和困难性。在比较分析重载夹持操作和多指手抓取作业的力封闭性特点基础上,将重载夹持装置的钳口与锻件接触界面之间复杂的分布式动接触作用等效为接触约束区合成的集中力的摩擦点接触模型,基于BUSS等发现的摩擦点约束与正定对称矩阵的等价性,研究重载夹持装置的力封闭性判别方法。结合重载夹持接触的特点,对动态作业过程中满足力封闭条件的夹持接触界面的等效合力接触点位置进行搜索,并采用线性约束梯度流的迭代优化算法实现对钳口接触力的优化和所需最优夹紧力的计算。仿真和试验结果的比较分析表明计算方法的有效性。 展开更多
关键词 重载锻造操作机 夹持装置 接触力优化 力封闭性 线性梯度流
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Contact pressure distribution and support angle optimization of kiln tyre 被引量:1
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作者 肖友刚 潘迪夫 雷先明 《Journal of Central South University of Technology》 2006年第3期246-250,共5页
According to the shearing force character and the deformation coordination condition of shell at the station of supports, the mathematical models to calculate contact angle and contact pressure distribution between ty... According to the shearing force character and the deformation coordination condition of shell at the station of supports, the mathematical models to calculate contact angle and contact pressure distribution between tyre and shell were set up, the formulae of bending moment and bending stress of tyre were obtained. Taking the maximum of tyre fatigue life as the optimal objective, the optimization model of tyre support angle was built. The computational results show that when tyre support angle is 30°, tyre life is far less than that when tyre support angle is optimal, which is 35.6°, and it is unsuitable to stipulate tyre support angle to be 30° in traditional design. The larger the load, the less the nominal stress amplitude increment of tyre, the more favorable the tyre fatigue life when tyre support angle is optimal. 展开更多
关键词 TYRE contact pressure support angle OPTIMIZATION
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Optimal rotor wear design in hypotrochoidal gear pump using genetic algorithm 被引量:9
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作者 KWON Soon-man KIM Chang-Hyun SHIN Joong-ho 《Journal of Central South University》 SCIE EI CAS 2011年第3期718-725,共8页
The wear rate between the rotors of a hypotrochoidal gear pump is characterized.Using the knowledge of shape design on the rotors,the contact stresses without hydrodynamic effect between the rotor teeth were evaluated... The wear rate between the rotors of a hypotrochoidal gear pump is characterized.Using the knowledge of shape design on the rotors,the contact stresses without hydrodynamic effect between the rotor teeth were evaluated through the calculation of the Hertzian contact stress.Based on the above results and the sliding velocity between the rotors,a genetic algorithm (GA) was used as an optimization technique forminimizing the wear rate proportional factor (WRPF).The result shows that the wear rate or the WRPF can be reduced considerably,e.g.approximately 12.8%,throughout the optimization using GA. 展开更多
关键词 gerotor hypotrochoidal gear pump Hertzian contact stress wear rate proportional factor genetic algorithm
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