On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs

Being di erent from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear sti ness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear sti ness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring sti ness on the toque-position angle relation are analyzed. It indicates that corresponding spring sti ness may generate one of four types of nonlinear sti ness characteristics including the bi-stable, local negative-sti ness, zero-sti ness or positive-sti ness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected sti ness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated,where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.

Elasticity Forces in Tourism Under Covid-19:The Model of the Imaginary Mechanical Tourist Spring

The forces of contraction and expansion about the seasons in tourism behave like an imaginary mechanical tourist spring.The article discusses tourist activities in Bulgaria from 2009 to 2020,predictions concerning Covid-19,and tendencies expected in the last quarter of 2021 till the end of 2022 on data published by the National Statistics Institute and Eurostat.The system’s dynamics observed before the pandemic crisis in tourism resembles the action of a mechanical spring that shrinks and extends,and we can empirically analyze the process of tourism activities.The study of this elasticity process of the system allows establishing a model with positive characteristics of the dynamics and further dealing with problems,better clarity in analysis and modeling of prognosis based on the potential of an imaginary mechanical spring concerning the possibility of the tourist destination.

Design of Na-K Alloy Differential Pressure Sensor with On-line Monitoring Function

Because the melting point of the alkalis is very high and the metal activity is strong, the common pressure sensor can＇t be used to measure pressure of liquid metal. In this paper, a differential transformer differential pressure sensor for measuring liquid alkalis pressure is designed, the working principle and specific design plan of the sensor are introduced, the standard current signal （ 4 -20 mA） or digital communication RS485 can be output according to the needs, and the functions of remote monitoring and data optimization can be realized through the LAN interface.

Inclusion evolution in 50CrVA spring steel by optimization of refining slag

In order to control the CaO-Al;O;-SiO;-MgO system inclusions in 50 CrVA spring steel in a lower melting temperature region,high temperature equilibrium experiments between steel and slag were performed in the laboratory,under the conditions of the initial slag basicity within 3-7and the content of Al;O;between 18-35mass%,to investigate the formation and evolution of this type of inclusion.The results indicate that the total oxygen content in the steel decreases with the increase of slag basicity and the decrease of Al;O;content in slags,and CaO-Al;O;-SiO2-MgO inclusions tend to deviate from the low melting point region with the increase of Al;O;content in slags.The most favorable composition for the refining slag is composed of 51-56mass% CaO,9-13mass% SiO;,20-25mass% Al;O;and 6mass% MgO.In this case,the inclusions in 50 CrVA spring steel are mostly in the low melting point regions,in which their plasticities are expected to improve during steel rolling.The MgO-based inclusions were observed in the steel matrix and the formation mechanism was theoretically and schematically revealed.It is also found that adding around 11mass% of MgO into the refining slags is beneficial to reducing the refractory corrosion.Further work should be carried out focusing on the evolution rates of MgO-based inclusions.

Static balancing of planar articulated robots

Static balancing for a manipulator＇s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects： One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures： The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and （hydro-） pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.