A motion planning strategy. tor the assembly task of inserting a dissymmetrical T-snaped putt into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis d...A motion planning strategy. tor the assembly task of inserting a dissymmetrical T-snaped putt into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis diagram decreases the unnecessary configuration states and optimizes the planning strategy. Due to the uncertainties, force sensing and force control is indispensable for motion planning. Combining the coarse motion planning strategy with fine motion planning strategy, the task of assembling a dissymmetrical T-shaped part can be completed successfully.展开更多
For the purpose of analyzing the torsional vibration caused by the gravitational unbalance torque arisen in a spindle system when it is machining heavy work piece,a 10-DOF lumped parameter model was made for the machi...For the purpose of analyzing the torsional vibration caused by the gravitational unbalance torque arisen in a spindle system when it is machining heavy work piece,a 10-DOF lumped parameter model was made for the machine tool spindle system with geared transmission.By using the elementary method and Runge-Kutta method in Matlab,the eigenvalue problem was solved and the pure torsional vibration responses were obtained and examined.The results show that the spindle system cannot operate in the desired constant rotating speed as far as the gravitational unbalance torque is engaged,so it may cause bad effect on machining accuracy.And the torsional vibration increases infinitely near the resonant frequencies,so the spindle system cannot operate normally during these spindle speed ranges.展开更多
In order to solve fretting instability problem of gear shaft shoulder due to torsional vibration in mechanical system, the mathematical model of fretting instability vibration of gear shaft shoulder was established by...In order to solve fretting instability problem of gear shaft shoulder due to torsional vibration in mechanical system, the mathematical model of fretting instability vibration of gear shaft shoulder was established by adopting the method of combining kinematics and tribology, and the numerical analysis was applied to the fretting instability mechanism of gear shaft shoulder by introducing the friction instability damping ratio. The numerical results show that the main factors causing the unstable and vibrating gear shaft shoulder are the large tightening torque and too large static friction coefficient. The reasonable values of the static friction coefficient, the amount of interference and tightening torque can effectively mitigate the fretting instability phenomenon of gear shaft shoulder. The experimental results verify that damping plays a significant role in eliminating the vibration of gear shaft control system.展开更多
The paper investigates effects of operating conditions, tip clearance sizes and external unsteady excitations on the unsteady tip clearance flow in an isolated axial compressor rotor by unsteady 3D Navier-Stokes simul...The paper investigates effects of operating conditions, tip clearance sizes and external unsteady excitations on the unsteady tip clearance flow in an isolated axial compressor rotor by unsteady 3D Navier-Stokes simulations. The results show that the unsteady tip clearance vortex takes a periodic flow behavior in the rotor tip region. With the decrease of the flow coefficient, the unsteady tip clearance vortex is enhanced and its frequency becomes lower. A larger tip clearance size can cause bigger unsteady fluctuation amplitude and a lower fluctuation frequency of the tip clearance vortex at the near stall operating condition. The unsteady excitation with the natural frequency of the tip clearance vortex can enhance the unsteadiness of the tip clearance vortex and improve the overall rotor performance. The frequency of the unsteady tip clearance vortex is independent of external unsteady excitations with different frequencies.展开更多
In this study, a series of undrained tests were conducted on both intact and reconstituted clay using an automatic hollow cylinder apparatus. Monotonic shearing tests with fixed principal stress directions were carrie...In this study, a series of undrained tests were conducted on both intact and reconstituted clay using an automatic hollow cylinder apparatus. Monotonic shearing tests with fixed principal stress directions were carried out, pure and cyclic prin- cipal stress rotation tests were also performed. The non-coaxiality, defined as the non-coincidence of the principal plastic strain increment direction and the corresponding principal stress direction, of clayey soil was studied experimentally. The effects of the intermediate principal stress, shear stress level, and inherent anisotropy were highlighted. Clear non-coaxiality was observed during pure principal stress rotation, in both intact and reconstituted clay. The influence of the intermediate principal stress pa- rameter, shear stress level, and inherent anisotropy on the non-coaxial behavior of the clayey soil was found to be insignificant when compared with the sand. The non-coaxial behavior of the clayey soil depended more on the stress paths. Under undrained conditions, the contribution of elastic strain to the direction of the total principal strain increment cannot be ignored.展开更多
Unsteady behaviors as well as unsteady cascade flow fields of a single-stage axial flow compressor were experi- mentally investigated by detail measurements of unsteady performance characteristics and casing wall pres...Unsteady behaviors as well as unsteady cascade flow fields of a single-stage axial flow compressor were experi- mentally investigated by detail measurements of unsteady performance characteristics and casing wall pressure and internal flow velocity fluctuations. The main feature of the test compressor is a capacity tank connected di- rectly to the compressor outlet in series through slits and a concentric duplex pipe, and also jet nozzles in order to inject compressed air toward the rotor tip region. Research attention is focused on the post-stall characteristics of surge and rotating stall which occur simultaneously. When the compressor was connected to the capacity tank, surge was generated with rotating stall in accordance with the capacitance increment of whole compressor system The surge behavior changed irregularly with throttling valve installed behind the compressor, and several types of surge cycles were observed. In addition, the surge cycle changed by jet injection to the rotor tip region. The re- suits suggested that the blockages of the cascade flow which were generated by a stall cell play an important role in deciding the surge behaviors.展开更多
文摘A motion planning strategy. tor the assembly task of inserting a dissymmetrical T-snaped putt into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis diagram decreases the unnecessary configuration states and optimizes the planning strategy. Due to the uncertainties, force sensing and force control is indispensable for motion planning. Combining the coarse motion planning strategy with fine motion planning strategy, the task of assembling a dissymmetrical T-shaped part can be completed successfully.
基金Project(10033135-2009-11) supported by the Korean Ministry of Knowledge Economy (MKE) through HNK. Co,Ltd.
文摘For the purpose of analyzing the torsional vibration caused by the gravitational unbalance torque arisen in a spindle system when it is machining heavy work piece,a 10-DOF lumped parameter model was made for the machine tool spindle system with geared transmission.By using the elementary method and Runge-Kutta method in Matlab,the eigenvalue problem was solved and the pure torsional vibration responses were obtained and examined.The results show that the spindle system cannot operate in the desired constant rotating speed as far as the gravitational unbalance torque is engaged,so it may cause bad effect on machining accuracy.And the torsional vibration increases infinitely near the resonant frequencies,so the spindle system cannot operate normally during these spindle speed ranges.
基金Project(2008AA11A116)supported by the National High Technology Research and Development Program of ChinaProject(9140A2011QT4801)supported by advanced research of the Weapon Equipment Key Fund Program,ChinaProject(61075002)supported by the Independent Subject of State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body of Hunan University,China
文摘In order to solve fretting instability problem of gear shaft shoulder due to torsional vibration in mechanical system, the mathematical model of fretting instability vibration of gear shaft shoulder was established by adopting the method of combining kinematics and tribology, and the numerical analysis was applied to the fretting instability mechanism of gear shaft shoulder by introducing the friction instability damping ratio. The numerical results show that the main factors causing the unstable and vibrating gear shaft shoulder are the large tightening torque and too large static friction coefficient. The reasonable values of the static friction coefficient, the amount of interference and tightening torque can effectively mitigate the fretting instability phenomenon of gear shaft shoulder. The experimental results verify that damping plays a significant role in eliminating the vibration of gear shaft control system.
文摘The paper investigates effects of operating conditions, tip clearance sizes and external unsteady excitations on the unsteady tip clearance flow in an isolated axial compressor rotor by unsteady 3D Navier-Stokes simulations. The results show that the unsteady tip clearance vortex takes a periodic flow behavior in the rotor tip region. With the decrease of the flow coefficient, the unsteady tip clearance vortex is enhanced and its frequency becomes lower. A larger tip clearance size can cause bigger unsteady fluctuation amplitude and a lower fluctuation frequency of the tip clearance vortex at the near stall operating condition. The unsteady excitation with the natural frequency of the tip clearance vortex can enhance the unsteadiness of the tip clearance vortex and improve the overall rotor performance. The frequency of the unsteady tip clearance vortex is independent of external unsteady excitations with different frequencies.
基金Project supported by the National Natural Science Foundation of China (Nos. 51338009, 51078329, and 51178422)
文摘In this study, a series of undrained tests were conducted on both intact and reconstituted clay using an automatic hollow cylinder apparatus. Monotonic shearing tests with fixed principal stress directions were carried out, pure and cyclic prin- cipal stress rotation tests were also performed. The non-coaxiality, defined as the non-coincidence of the principal plastic strain increment direction and the corresponding principal stress direction, of clayey soil was studied experimentally. The effects of the intermediate principal stress, shear stress level, and inherent anisotropy were highlighted. Clear non-coaxiality was observed during pure principal stress rotation, in both intact and reconstituted clay. The influence of the intermediate principal stress pa- rameter, shear stress level, and inherent anisotropy on the non-coaxial behavior of the clayey soil was found to be insignificant when compared with the sand. The non-coaxial behavior of the clayey soil depended more on the stress paths. Under undrained conditions, the contribution of elastic strain to the direction of the total principal strain increment cannot be ignored.
基金supported by a Grant-in-Aid for Scientific Research through grant number 20560171 from Japanese Society for the Promotion of Science
文摘Unsteady behaviors as well as unsteady cascade flow fields of a single-stage axial flow compressor were experi- mentally investigated by detail measurements of unsteady performance characteristics and casing wall pressure and internal flow velocity fluctuations. The main feature of the test compressor is a capacity tank connected di- rectly to the compressor outlet in series through slits and a concentric duplex pipe, and also jet nozzles in order to inject compressed air toward the rotor tip region. Research attention is focused on the post-stall characteristics of surge and rotating stall which occur simultaneously. When the compressor was connected to the capacity tank, surge was generated with rotating stall in accordance with the capacitance increment of whole compressor system The surge behavior changed irregularly with throttling valve installed behind the compressor, and several types of surge cycles were observed. In addition, the surge cycle changed by jet injection to the rotor tip region. The re- suits suggested that the blockages of the cascade flow which were generated by a stall cell play an important role in deciding the surge behaviors.