任务驱动教学法在机电一体化专业中的应用

本文以广东三向教学仪器设备有限公司的SX-815Q机电—体化设备为载体阐述了任务驱动教学法在高职一院校机电一体化专业教学改革中的具体应用。

现代汽车维修技术的特点与提高质量的对策

汽车诞生100多年来．以其惊人的发展速度、卓越的性能和多种多样的用途渗透到了人类活动的各个领域，并以其日趋完美的艺术造型和舒适的内部设施而深得人们的喜爱，为现代社会提供了灵活、快速、便捷、高效的交通工具。汽车维修服务成为社会关注的焦点，为汽车维修业提供了新的需求和发展机遇。

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.

Electrochemical performances of Mg_(45)M_5Co_(50)(M=Pd, Zr) ternary hydrogen storage electrodes

In order to improve the discharge capacity and cyclic life of Mg-Co-based alloy, ternary Mg45M5Co50 （M=Pd, Zr） alloys were synthesized via mechanical alloying. TEM analysis demonstrates that these alloys all possess body-centered cubic （BCC） phase in nano-crystalline. Electrochemical experiments show that Mg45Zr5Co50 electrode exhibits the highest capacity （425 mA·h/g） among the Mg45M5Co50 （M=Mg, Pd, Zr） alloys. And Mg45Pd5Co50 electrode lifts not only the initial discharge capacity （379 mA·h/g）, but also the discharge kinetics, e.g., exchange current density and hydrogen diffusion ability from that of Mg50Co50. It could be concluded that the electrochemical performances were enhanced by substituting Zr and Pd for Mg in Mg-Co-based alloy.

Dynamics of mechanical system for electromechanical integrated toroidal drive under electric disturbance

Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.

Hydrometallurgical process for extracting bismuth from by-product of lead smelting based on methanesulfonic acid system

A new hydrometallurgical process based on the methanesulfonic acid system was proposed to extract the bismuth efficiently from by-products of lead smelting.The bismuth extraction process included electrorefining,oxidation leaching,and electrodeposition.The optimum conditions of the bismuth extraction process were determined by a single-factor test.The bismuth plate with a purity of 99.8%was obtained under the optimum conditions.Cyclic voltammetry and linear sweep voltammetry were applied to investigating the cathode reaction mechanism of electrorefining.The results show that lead deposition,bismuth deposition,and hydrogen evolution occur at the cathode,and the reactions of metals deposition are irreversible and diffusion-controlled.In addition,decreasing the temperature and acidity can improve the purity of the cathodic product(lead powder)in the electrorefining process.

Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

Microscopic mechanism of perfluorocarbon gas formation in aluminum electrolysis process

In view of the unclear cause of perfluorocarbons(PFCs)emission in the anode effect stage of aluminum electrolysis,the microscopic formation mechanism of PFCs was studied by density functional theory calculation and X-ray photoelectron spectroscopy(XPS).It is found that the discharge of fluorine containing anions([F]−)on carbon anode first causes the substitution of C—H by C—F and further results in the saturation of aromatic C—C bonds,leading to the appearance of—CF_(3)or—C_(2)F_(5)group through six-carbon-ring opening.Elimination of—CF_(3)and—C_(2)F_(5) with F atom could be a likely mechanism of CF_(4) and C_(2)F_(6) formation.XPS results confirm that different types of—CF_(x) group can be formed on anode surface during electrolysis,and the possibility that[F]−discharges continuously at the C edge and finally forms different C—F bonds in quantum mechanical calculation was verified.

Robotics and mechatronics for planetary surface exploration

The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-light weight arms and multifingered hands. The third arm generation is nearly finished now, approaching thelimits of what is technologically achievable today with respect to light-weight and power losses. In a similar wayDLR' s second generation of artificial 4-fingered hands was a big step towards higher reliability, manipulabilityand overall performance.

Numerical Study on Influence of Key Parameters of Aerodynamic Characteristics of Shaftless Ducted Rotor

Shaftless ducted rotor(SDR)is a new type of ducted rotor system designed with ducted-rotor-motor integration,which is quite different from traditional ducted rotor(DR)in aerodynamic characteristics.The sliding mesh based on unstructured grid is used to simulate the aerodynamic characteristics of SDR and DR.Then,the effects of five key parameters,namely,the rotor disk height,the number of blades,the spread angle of the duct,the central hole radius and the ducted lip radius on the aerodynamic characteristics of the SDR are investigated.It is found that the same-sized SDR produces a larger total lift than the DR in hovering,but the lift proportion of its duct is reduced.In the forward flight,a large low-speed region is generated behind the SDR duct,and the reflux vortex in blade root above the advancing blade has the trend for inward diffusion.The rotor disk height has similar effects on SDR and DR.Increasing the number of blades can effectively increase the total lift of SDR,which also increases the lift proportion of duct.Increasing the spread angle of the duct will lead to the rotor lift coefficient decrease,reducing the central hole radius can increase the total lift,but the component lift coefficient decreases.Appropriately increasing the ducted lip radius can increase the total lift,which begins to decrease after reaching a certain value.

System design of a dexterous lightweight robot arm with remote control

This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.

Simultaneous removal of ethyl acetate, benzene and toluene with gliding arc gas discharge

The simultaneous removal of ethyl acetate, benzene and toluene with relatively low or high initial concentration is studied using a laboratory scale gliding arc gas discharge (GA) reactor. Good decomposition efficiencies are obtained which proves that the GA is effective for the treatment of volatile organic compounds (VOCs) with either low or high concentration. A theoretical decomposition mechanism is proposed based on detection of the species in the plasma region and analysis of the decomposition by-products. This preliminary investigation reveals that the GA has potential to be applied to the treatment of exhaust air during color printing and coating works, by either direct removal or combination with activated carbon adsorption/desorption process.

The Application of Mechatronics Technology in Mechanical Engineering and Its Developing Direction

The development of modern science and technology has promoted the overlapping and mutual penetration among different disciplines, which led to the technological innovations in the field of mechanical engineering. The mechatronics technology conforms to the law of development of science and technology in today, and combines the mechanical technology and electronic technology together to integrate the logistics, energy flow and information flow. This paper briefly describes the concept of mechatronics and the elements of mechatronics technology, and elaborates on the application of mechatronics technology in three different areas of the Machinery Industry in the form of living examples, finally introduces the future developing direction of mechatronics technology.

Main Stages of Evolution from Mechanical Automatic Systems to Humanoid Robot

Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.

Analysis on the Application of Electrical New Technology of in Electromechanical Integration

The electrical new technology is a new frontier science.This kind of technology, with the development and progress of society, makes the continuous development and innovation.It is the future development trend of electrical engineering system,which plays a very important role in technological innovation.The principle and theoretical support for the development of electrical new technology includes Bio- electro magnetics, plasma physics, electromagnetic fluid mechanics and gas discharge physics etc.In addition, under the application of permanent magnetic materials and other new materials, the electrical new technology and obtained further development also promote the development and application of electronic power supply, strong magnetic field technology, solar photovoltaic power generation, and superconducting power technology.This paper mainly analyzes the application of electrical new technology in electromechanical integration.

Research on Flexible Manufacturing System in Mechatronics Professional Comprehensive Training

According to the characteristics of flexible manufacturing systems, the article describes the equipment components and hardware architecture of flexible manufacturing systems in school. Taking welding assemble process as an example to elaborate production process automation, the paper put forward a flexible manufacaxring system combined with laboratory equipment and various grades, professional knowledge and teaching characteristics and differentiated teaching programs, the creation of the laboratory project was planned and implemented to specific engineering training programs, so that students has been expanded in the depth of expertise and breadth, experimental skills and innovation capacity has been improved, the teaching effect has also been significantly improved..

Research and Review on the Development of Mechanical and Electrical Integration of System Function Principle and Related Technologies

In this paper, we conduct research on the development of mechanical and electrical integration of system function principle and related technologies. Along with the rapid and continuous development of modem science and technology, it ＇ s for the penetration and cross of different subjects great push, the more important is caused by technological revolution in the field of engineering and mechanical engineering field under the rapid development of computer technology and microelectronic technology and penetration to the mechanical and electrical integration, which is formed by the mechanical industry lead to trigger a particularly large changes in the mechanical industry management system and mode of production, product and technical structure, composition and function, thus result in industrial production from the previous mechanical electrification progressively electromechanical integration which lead the trend of the current technology.

Fundamental aspects in CO_(2) electroreduction reaction and solutions from in situ vibrational spectroscopies

Using renewable energy to drive carbon dioxide reduction reaction(CO_(2)RR)electrochemically into chemicals with high energy density is an efficient way to achieve carbon neutrality,where the effective utilization of CO_(2) and the storage of renewable energy are realized.The reactivity and selectivity of CO_(2)RR depend on the structure and composition of the catalyst,applied potential,electrolyte,and pH of the solution.Besides,multiple electron and proton transfer steps are involved in CO_(2)RR,making the reaction pathways even more complicated.In pursuit of molecular-level insights into the CO_(2)RR processes,in situ vibrational methods including infrared,Raman and sum frequency generation spectroscopies have been deployed to monitor the dynamic evolution of catalyst structure,to identify reactive intermediates as well as to investigate the effect of local reaction environment on CO_(2)RR performance.This review summarizes key findings from recent electrochemical vibrational spectrosopic studies of CO_(2)RR in addressing the following issues:the CO_(2)RR mechanisms of different pathways,the role of surface-bound CO species,the compositional and structural effects of catalysts and electrolytes on CO_(2)RR activity and selectivity.Our perspectives on developing high sensitivity wide-frequency infrared spectroscopy,coupling different spectroelectrochemical methods and implementing operando vibrational spectroscopies to tackle the CO_(2)RR process in pilot reactors are offered at the end.

In-Pipe Mobile Minimachine and Its Control

This paper deals with utilization possibility of a kinematical couple of screw-matrix in minimachine mechatronic concept which is assigned to move within the pipes having less than 25 mm of the inner diameter. The principle of the movement for a straightforward motion consists in transformation of the actuator rotary movement through a screw and a nut to the linear motion. It causes a change of distance between the front and rear parts of the minimachine modules. Due to minimization of the dimensions, the electrical control and power supply components are placed outside of the minimachine operating area. The control module is based on a programmable integrated circuit （PIC）.

Development of a Small Scale Magnetically Levitated Train as Demonstrator for Undergraduate Mechatronics Students

At the Institute of Electrical Machines of the Rheinisch Westfalilische Technische Hochschule Aachen University, there is a project financed by student fees for the realization of a magnetically levitated train in the scale of 1：50. Undergraduate students are supposed to get the possibility to design and build up a real train which serves as demonstrator for a mechatronic system. This project strengthens the motivation of students, since a practical demonstration of electromagnetic forces is given in addition to theoretical courses. This paper introduces the major project steps and explains the learning targets for the students. It focuses on analytical magnetic circuit design, numerical field simulation, modeling and control of a multi degree of freedom system, electronic circuit design, measurement setups and a first prototype test bench.