The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF trans...The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF transformation processes as an alternative to them-DOF transformation process. Two static state transformation processes are studied in detail.First, a single-DOF transformation process is established using a newly defined concept, referred toas transformation planning, and the definite integral of conservation of angular momentum. Second,the governing equation of the single-DOF transformation process is established using the dynamicequations of motion of the robot. This allows the joint torques to be computed to effect the statetransformation. Finally, an extension of the single-DOF transformation process is proposed to extendthe application of this proposed transformation methodology to create a transformation net whichallows the reconfiguration of a robot from one state to many other possible states.展开更多
To investigate the role of pre-twins in Mg alloy sheets during warm planar deformation, the stretch forming is conducted at 200 ℃. Results suggest the formability of the pre-twinned AZ31 Mg alloy sheet is enhanced to...To investigate the role of pre-twins in Mg alloy sheets during warm planar deformation, the stretch forming is conducted at 200 ℃. Results suggest the formability of the pre-twinned AZ31 Mg alloy sheet is enhanced to 11.30 mm. The mechanisms for the improved formability and the deformation behaviors during the planar stretch forming are systematically investigated based on the planar stress states. The Schmid factor for deformation mechanisms are calculated, the results reveal that planar stress states extremely affect the Schmid factor for {10-12}twinning. The detwinning is activated and the prismatic slip is enhanced in the pre-twinned sheet, especially under the planar extension stress state in the outer region. Consequently, the thickness-direction strain is accommodated better. The dynamic recrystallization(DRX) type is continuous DRX(CDRX) regardless of the planar stress state. However, the CDRX degree is greater under the planar extension stress state.Some twin lattices deviate from the perfect {10-12} twinning relation due to the planar compression stress state and the CDRX. The basal texture is weakened when the planar stress state tends to change the texture components.展开更多
文摘The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF transformation processes as an alternative to them-DOF transformation process. Two static state transformation processes are studied in detail.First, a single-DOF transformation process is established using a newly defined concept, referred toas transformation planning, and the definite integral of conservation of angular momentum. Second,the governing equation of the single-DOF transformation process is established using the dynamicequations of motion of the robot. This allows the joint torques to be computed to effect the statetransformation. Finally, an extension of the single-DOF transformation process is proposed to extendthe application of this proposed transformation methodology to create a transformation net whichallows the reconfiguration of a robot from one state to many other possible states.
基金the Central Government Guided Local Science and Technology Development Projects (YDZJSX2021A010)China Postdoctoral Science Foundation (No.2022M710541)+5 种基金the National Natural Science Foundation of China (51704209,52274397,U1810208)the Projects of International Cooperation in Shanxi (201803D421086)Shanxi Province Patent Promotion Implementation Fund (20200718)Research Project Supported by Shanxi Scholarship Council of China (2022-038)Science and Technology Major Project of Shanxi Province (20191102008,20191102007,20181101008)Taishan Scholars Project Special Fund (2021)。
文摘To investigate the role of pre-twins in Mg alloy sheets during warm planar deformation, the stretch forming is conducted at 200 ℃. Results suggest the formability of the pre-twinned AZ31 Mg alloy sheet is enhanced to 11.30 mm. The mechanisms for the improved formability and the deformation behaviors during the planar stretch forming are systematically investigated based on the planar stress states. The Schmid factor for deformation mechanisms are calculated, the results reveal that planar stress states extremely affect the Schmid factor for {10-12}twinning. The detwinning is activated and the prismatic slip is enhanced in the pre-twinned sheet, especially under the planar extension stress state in the outer region. Consequently, the thickness-direction strain is accommodated better. The dynamic recrystallization(DRX) type is continuous DRX(CDRX) regardless of the planar stress state. However, the CDRX degree is greater under the planar extension stress state.Some twin lattices deviate from the perfect {10-12} twinning relation due to the planar compression stress state and the CDRX. The basal texture is weakened when the planar stress state tends to change the texture components.
基金supported by Beijing Tongzhou District Science and Technology Innovation Talent Foundation(No.JCQN2023030)National Science Foundation of China(No.42274037)+1 种基金Aeronautical Science Foundation of China(No.2022Z022051001)Beijing Wuzi University Youth Research Foundation(No.2022XJQN22)。
