Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Experimental Study on Response Performance of VIV of A Flexible Riser with Helical Strakes

Laboratory tests were conducted on a flexible riser with and without helical strakes. The aim of the present work is to further understand the response performance of the vortex induced vibration（VIV） for a riser with helical strakes. The experiment was accomplished in the towing tank and the relative current was simulated by towing a flexible riser in one direction. Based on the modal analysis method, the displacement responses can be obtained by the measured strain. The strakes with different heights are analyzed here, and the response parameters like strain response and displacement response are studied. The experimental results show that the in-line（IL） response is as important as the cross-flow（CF） response, however, many industrial analysis methods usually ignore the IL response due to VIV. The results also indicate that the response characteristics of a bare riser can be quite distinct from that of a riser with helical strakes, and the response performance depends on the geometry on the helical strakes closely. The fatigue damage is further discussed and the results show that the fatigue damage in the CF direction is of the same order as that in the IL direction for the bare riser. However, for the riser with helical strakes, the fatigue damage in the CF direction is much smaller than that in the IL direction.

WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

INVESTIGATION ON THE DYNAMIC RESPONSE PERFORMANCE OF A NOVEL THREE-WAY SOLENOID VALVE

Objective A novel high-speed three-way solenoid valve is developed, which is used for the common-rail injection system equipped on DME powered engine. In order to improve the dynamic response performance of the three-way solenoid. Methods Experimental studies have been conducted to investigate the effects of spool stroke, drive voltage, negative demagnetizing pulse and two drive schemes on the dynamic response performance of the three-way solenoid valve. Results The results show that the dynamic response performance of the three-way solenoid valve can be remarkably improved by shortening the spool stroke and increasing the drive voltage. Simultaneously, the difference between the response time of closing valve and that of opening valve decreases. At each different drive voltage, there exists an optimal negative demagnetizing pulse corresponding to the same positive exciting pulse. At this optimal pulse, the dynamic response performance of the three-way solenoid valve is the best. In addition, the high drive voltage can lead to the smaller optimal negative demagnetizing pulse. It is also indicated from the experiments that the dynamic response performance of the three-way solenoid valve is better when the NO.1 drive scheme is adopted. The lower drive voltage results in the larger difference between the dynamic response performances for the two drive schemes. Conclusion The dynamic response performance of a novel three-way solenoid valve is good.

Simulation research on dynamic performance of the new type high-pressure solenoid valve

To improve energy density,the transportation,storage,and operations of hydrogen,methane,and compressed air vehicles currently require high-pressure compression.High-pressure solenoid valve becomes the vital element to above system.In order to reduce leakage and aerodynamic force influence,a new type high-pressure solenoid valve was proposed.The simulation model which included electromagnetic model,aerodynamic force model was established by means of the nonlinear mathematic models.Using the software MATLAB/Simulink for simulation,the dynamic response characteristics of high-pressure pneumatic solenoid valve were obtained under different pulse width modulation(PWM)input control signals.Results show that,first of all,the new type of high-pressure solenoid valve can meet the switch requirement.Secondly,the opening movement and closing movement of the spool lags the PWM rising signal,and the coil current fluctuates significantly during the movement of the spool.Lastly,on/off status of high-pressure valve cannot be represented by the duty cycle.This research can be referred in the design of the high-pressure solenoid valve..

Photoconductive properties of lead iodide films prepared by electron beam evaporation

Lead iodide（PbI_2） films have been prepared by the electron beam evaporation technique,and their photoconductive response to visible light was investigated under different deposition and illumination conditions.It is found that the films＇ photoconductive response speed increases and the relative sensitivity decreases with the increase of substrate temperature due to the opposite requests for photo-carrier lifetime.Further,appropriately increasing the film＇s thickness and rising substrate temperature simultaneously can effectively balance the opposite demands.Under optimized conditions of a substrate temperature of 200℃,a source-substrate distance of 30 cm and a deposition time of 10 min,the prepared films exhibit the best response properties.In addition,the response to illumination with different wavelengths was also measured,revealing that the decline of response performance with increasing wavelength is due to the lower photon energy of incident light.