针对拟人机械手在给定约束下提升运动性能的需求,根据可操作性和端部刚度性能指标对拟人机械手的连杆长度进行优化。首先,通过分析人体手臂的运动机理得到了手臂关节的运动范围。然后利用螺旋理论建立机械手的运动学模型,并基于运动学...针对拟人机械手在给定约束下提升运动性能的需求,根据可操作性和端部刚度性能指标对拟人机械手的连杆长度进行优化。首先,通过分析人体手臂的运动机理得到了手臂关节的运动范围。然后利用螺旋理论建立机械手的运动学模型,并基于运动学模型得到可操作性和端部刚度性能指标。考虑到提升可操作性与提高端部刚度性能之间的矛盾,建立了相应的多目标优化模型对连杆长度进行优化。基于MOGWO(multi-object grey wolf optimization)算法求解多目标优化模型实现了拟人机械手的连杆长度优化。展开更多
Semi-solid squeeze casting（SSSC） and liquid squeeze casting（LSC） processes were used to fabricate a ZL104 connecting rod, and the influences of the process parameters on the microstructures and mechanical properti...Semi-solid squeeze casting（SSSC） and liquid squeeze casting（LSC） processes were used to fabricate a ZL104 connecting rod, and the influences of the process parameters on the microstructures and mechanical properties were investigated. Results showed that the tensile strength and elongation of the SSSC-fabricated rod were improved by 22% and 17%, respectively, compared with those of the LSC-fabricated rod. For SSSC, the average particle size（APS） and the shape factor（SF） increased with the increase of re-melting temperature（Tr）, whereas the tensile strength and elongation increased first and then decreased. The APS increased with increasing the mold temperature（Tm）, whereas the SF increased initially and then decreased, which caused the tensile strength and elongation to increase initially and then decrease. The APS decreased and the SF increased as squeezing pressure（ps） increased, and the mechanical properties were enhanced. Moreover, the optimal Tr, ps and Tm are 848 K, 100 MPa and 523 K, respectively.展开更多
文摘针对拟人机械手在给定约束下提升运动性能的需求,根据可操作性和端部刚度性能指标对拟人机械手的连杆长度进行优化。首先,通过分析人体手臂的运动机理得到了手臂关节的运动范围。然后利用螺旋理论建立机械手的运动学模型,并基于运动学模型得到可操作性和端部刚度性能指标。考虑到提升可操作性与提高端部刚度性能之间的矛盾,建立了相应的多目标优化模型对连杆长度进行优化。基于MOGWO(multi-object grey wolf optimization)算法求解多目标优化模型实现了拟人机械手的连杆长度优化。
基金Project(51335009)supported by the National Natural Science Foundation of ChinaProject(2014JQ7273)supported by the Natural Science Foundation of Shaanxi Province of ChinaProject(CXY1514(1))supported by the Xi’an Science and Technology Plan Projects,China
文摘Semi-solid squeeze casting（SSSC） and liquid squeeze casting（LSC） processes were used to fabricate a ZL104 connecting rod, and the influences of the process parameters on the microstructures and mechanical properties were investigated. Results showed that the tensile strength and elongation of the SSSC-fabricated rod were improved by 22% and 17%, respectively, compared with those of the LSC-fabricated rod. For SSSC, the average particle size（APS） and the shape factor（SF） increased with the increase of re-melting temperature（Tr）, whereas the tensile strength and elongation increased first and then decreased. The APS increased with increasing the mold temperature（Tm）, whereas the SF increased initially and then decreased, which caused the tensile strength and elongation to increase initially and then decrease. The APS decreased and the SF increased as squeezing pressure（ps） increased, and the mechanical properties were enhanced. Moreover, the optimal Tr, ps and Tm are 848 K, 100 MPa and 523 K, respectively.
