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.

Joint Beamforming Design for Dual-Functional Radar-Communication Systems Under Beampattern Gain Constraints

The joint beamforming design challenge for dual-functional radar-communication systems is addressed in this paper.The base station in these systems is tasked with simultaneously sending shared signals for both multi-user communication and target sensing.The primary objective is to maximize the sum rate of multi-user communication,while also ensuring sufficient beampattern gain at particular angles that are of interest for sensing,all within the constraints of the transmit power budget.To tackle this complex non-convex problem,an effective algorithm that iteratively optimizes the joint beamformers is developed.This algorithm leverages the techniques of fractional programming and semidefinite relaxation to achieve its goals.The numerical results confirm the effectiveness of the proposed algorithm.

Joint Transceiver Designs for Full-Duplex MIMO SWIPT Systems Based on MSE Criterion

For the simultaneous wireless information and power transfer(SWIPT), the full-duplex MIMO system can achieve simultaneous transmission of information and energy more efficiently than the half-duplex. Based on the mean-square-error(MSE) criterion, the optimization problem of joint transceiver design with transmitting power constraint and energy harvesting constraint is formulated. Next, by semidefinite relaxation(SDR) and randomization method, the SDRbased scheme is proposed. In order to reduce the complexity, the closed-form scheme is presented with some simplified measures. Robust beamforming is then studied considering the practical condition. The simulation results such as MSE versus signal-noise-ratio(SNR), MSE versus the iteration number, well prove the performance of the proposed schemes for the system model.

Study on solder joint reliability of ceramic ball grid array component based on design of experiment method

Four process parameters, pad diameter, stencil thickness, ball diameter and stand-off were chosen as four control factors. By using an L25 （5^6 ） orthogonal array the ceramic ball grid array （ CBGA ） solder joints which have 25 different combinations of process parameters were designed. The numerical models of all the 25 CBGA solder joints were developed using the Sugrace Evolver. Utilizing the sugrace coordinate exported from the 25 CBGA solder joints numerical models, the finite element analysis models were set up and the nonlinear finite element analysis of the CBGA solder joints under thermal cycles were pegrormed by ANSYS. The thermal fatigue life of CBGA solder joint was calculated using Coffin-Manson equation. Based on the calculated thermal fatigue life results, the range analysis and the variance analysis were pegrormed. The results show that the fatigue life of CBGA solder joint is affected by the pad diameter, the stencil thickness, the ball diameter and the stand-off in a descending order, the best combination of process parameters results in the longest fatigue life is 0.07 mm stand-off, 0.125 mm stencil thickness of, 0.85 mm ball diameter and 0. 89 mm pad diameter. With 95% confidence the pad diameter has a significant effect on the reliability of CBGA solder joints whereas the stand-off, the stencil thickness and the ball diameter have little effect on the reliability of CBGA solder joints.

Pushover analysis of reinforced concrete frames considering shear failure at beam-column joints

Since most current seismic capacity evaluations of reinforced concrete （RC） frame structures are implemented by either static pushover analysis （PA） or dynamic time history analysis, with diverse settings of the plastic hinges （PHs） on such main structural components as columns, beams and walls, the complex behavior of shear failure at beam-column joints （BCJs） during major earthquakes is commonly neglected. This study proposes new nonlinear PA procedures that consider shear failure at BCJs and seek to assess the actual damage to RC structures. Based on the specifications of FEMA-356, a simplified joint model composed of two nonlinear cross struts placed diagonally over the location of the plastic hinge is established, allowing a sophisticated PA to be performed. To verify the validity of this method, the analytical results for the capacity curves and the failure mechanism derived from three different full-size RC frames are compared with the experimental measurements. By considering shear failure at BCJs, the proposed nonlinear analytical procedures can be used to estimate the structural behavior of RC frames, including seismic capacity and the progressive failure sequence of joints, in a precise and effective manner.

Design and Analysis of Tapered Stress Joint for Top Tensioned Riser System

Stress Joint （SJ） plays a key role in the Top Tensioned Riser （TTR） system for deep water engineering. A preliminary design method of tapered SJ is proposed in the paper, which could help designers obtain accurate design data. After a further sensitive analysis is carried out, the related parameters choice and control methods are recommended in the engineering practice. By taking the extreme environment conditions into consideration, the effects of bending stress reduction and curve control are analyzed, and the 3-D FE models are established by ABQOUS for numerical evaluation to verify the correctness of design results. At last, dynamic analysis and fatigue analysis, based on actual project, are carried out with designed stress joint. The analysis results prove the feasibility and guidance of this method in the practical engineering applications.

A novel approach to structural anisotropy classification for jointed rock masses using theoretical rock quality designation formulation adjusted to joint spacing

Rock quality designation(RQD)has been considered as a one-dimensional jointing degree property since it should be determined by measuring the core lengths obtained from drilling.Anisotropy index of jointing degree(AI_(jd))was formulated by Zheng et al.(2018)by considering maximum and minimum values of RQD for a jointed rock medium in three-dimensional space.In accordance with spacing terminology by ISRM(1981),defining the jointing degree for the rock masses composed of extremely closely spaced joints as well as for the rock masses including widely to extremely widely spaced joints is practically impossible because of the use of 10 cm as a threshold value in the conventional form of RQD.To overcome this limitation,theoretical RQD(TRQD_(t))introduced by Priest and Hudson(1976)can be taken into consideration only when the statistical distribution of discontinuity spacing has a negative exponential distribution.Anisotropy index of the jointing degree was improved using TRQD_(t) which was adjusted to wider joint spacing by considering Priest(1993)’s recommendation on the use of variable threshold value(t)in TRQD_(t) formulation.After applications of the improved anisotropy index of a jointing degree(AI'_(jd))to hypothetical jointed rock mass cases,the effect of persistency of joints on structural anisotropy of rock mass was introduced to the improved AI'_(jd) formulation by considering the ratings of persistency of joints as proposed by Bieniawski(1989)’s rock mass rating(RMR)classification.Two real cases were assessed in the stratified marl and the columnar basalt using the weighted anisotropy index of jointing degree(W_AI'_(jd)).A structural anisotropy classification was developed using the RQD classification proposed by Deere(1963).The proposed methodology is capable of defining the structural anisotropy of a rock mass including joint pattern from extremely closely to extremely widely spaced joints.

Subsection method of fatigue design for welded joints treated by ultrasonic peening

Concerning the notable difference between the S-N curve slope of welded joints treated by ultrasonic peening treatment （UPT） and that of as-welded joints, the subsection method is put forward for fatigue design of welded joints treated by UPT, using the design method of nominal S-N curves. Results show that, in medium life zone, strength grade of the fatigue design curves for UPT welded joints is two grades higher than that for as-welded joints. Furthermore, in medium life zone, strength grade of the fatigue design curves for UPT welded joints is three grades lower than that in long life zone. Conclusion of the comparison is that as for different joint types in different life zones, fatigue design should be processed according to different S-N curves respectively.

Shape design of the reinforcement for bending load-carrying capacity of under-matched butt joint under four-point bending load

To improve the bending load-carrying capacity （ BLCC） of under-matched butt joint under four-point bending load in the elastic stage, the shape design of the reinforcement is studied based on the theoretics of mechanics of materials. The concept, criterion, realization condition and design proposal of equal bending load-carrying capacity （EBLCC） are put forward. The theoretical analysis results have been verified by the finite element method. The simulation results are coincident basically with the ones of theoretical analysis. The research results show that the shape design of the reinforcement of EBLCC can improve BLCC of under-matched butt joint and the unilateral-side type reinforcement can replace double-side symmetry

Seismic Behaviour of Beam-Column Joints of Precast and Partial Steel Reinforced Concrete

A beam-column joint of precast and partial steel reinforced concrete( PPSRC) is proposed for precast reinforced concrete frames. The PPSRC consists of partial steel and reinforced concrete. The partial steel is located in the core joint region and the connections between concrete members. This paper presents an experimental study of a series of PPSRC specimens. These specimens are tested under low cyclic loading.Experimental results demonstrate that the bearing capacity of the PPSRC specimens is 3 times that of the ordinary reinforced concrete( RC) beam-column joints. The strength and stiffness degradation rates are slower compared with that of the RC beam-column joints. In addition,the strength of the core joint region and the connections is higher than other parts of the PPSRC specimens. Beam failure occurs firstly for the PPSRC specimens,followed by column failure and connections failure. The failure of the core joint region occurs finally.Test results show that the seismic performance of the PPSRC is better than that of the ordinary RC beam-column joints.

Design on the Prestressed Concrete Frame Beam-column

A bidirectional ribbed concrete beam slab structure was widly adopted for the upper space of industrial buildings.To maintain ample space and minimize the presence of conventional columns,a bidirectional prestressed concrete beam is often employed.The intersection node of the prestressed concrete frame beam column was characterized by a high density of steel reinforcement,significant structural loads,and complex construction requirements.To ensure the quality,safety,and progress of prestressed frame beamcolumn intersection nodes during construction,this article proposed a new technology for constructing such nodes,which includes setting the tensioning and haunching ends of nodes at different positions,using ABAQUS finite element software to optimize the design of cross-sectional dimensions,conducting stress analysis simulations.

Design of a Modified Cassegrain System Used in Joint Transform Correlator

In order to detect and recognize infrared target with joint transform correlator,a modified Cassegrain optical system is designed.The main advantages of the system are large field-of-view,infrared dual-band common optical path and compact structure.In the modified Cassegrain optical system,the working wavelengths are 3.7~4.8μm and 8~12μm,the field-of-view is 4° and the aperture is 240mm.The paraboloidal primary mirror and hyperboloidal secondary mirror are all replaced by spherical surfaces.So the problems of high machining accuracy and alignment become much easier.In order to balance the aberrations,three compensating lenses are used in the system.The total length of the system is 183mm,and the ratio of the total length to focal length is 0.68.Moreover,the system has a good performance of athermalization between negative 40℃ and positive 60℃.The design results of the system show that the MTF value of each field is greater than 0.72 when the cut-off frequency is 11lp/mm.Due to the excellent image quality of the modified optical system,the ability of Joint transform correlator(JTC)applied in target tracking and identification has been improved for further.

Nonlinear Finite Element Analysis and Optimum Design of Spot-Welded Joints and Weld-Bonded Joints

Resistance spot welding and hybrid weld bonding have wide applications in the body work construction within the automobile industry. The integrity of the spot welds and applied adhesives determines the body assembly rigidity and dynamic performance. Incorporating contact nonlinearity and geometric nonlinearity, finite element analysis (FEA) have been carried out to investigate the structural stiffness and strength of both spot-welded and weld-bonded assemblies. Topology optimization has been performed to reveal the distributions of material effectiveness in the overlap regions and suggest a feasible method for removing underutilized material for weight reduction. Design optimization has been conducted with an aim to reduce the maximum von Mises stress in the assembly to minimum by choosing optimum values for a set of design variables, including the weld spacing, weld diameter and overlap width.

Joint Transceiver Design for OFDM Systems

Orthogonal Frequency Division Multiplexing(OFDM) is an effective technique to deal with a frequency selective channel since it can convert the channel into some flat fading subchannels.However,very different output SNR values of the subchannels will lead to poor bit error performance when a linear equalizer and Equal Bit Allocation(EBA) are adopted in OFDM systems.So,we proposed three novel nonlinear Joint Transceiver(JT) schemes based on Zero-Forcing(ZF) criterion and Minimum Mean Square Error(MMSE) criterion respectively,which can transform all subchannels of an OFDM system into subchannels with identical channel gain.Thus,EBA is equivalent to the Optimum Bit Allocation(OBA) for these subchannels.Numerical analysis helps us to obtain the theoretical approximate BER values of the JT scheme.Simulation results verify the numerical analysis and confirm that the performance of our proposed JT scheme greatly outperforms the traditional linear equalizer with EBA at moderate and high SNR values.

Finite Element Analysis (FEA) for the Beam-Column Joint Subjected to Cyclic Loading Was Performed Using ANSYS

This paper analyses the seismic performance of exterior beam-column joints strengthened with unconventional reinforcement detailing. The beam-column joint specimens were tested with reverse cyclic loading applied at the beam end. The samples were divided into two groups based on the joint reinforcement detailing. The first group (Group A) of three non-ductility specimens had joint detailing in accordance with the construction code of practice in India IS456-2000, and the second group (Group B) of three ductility specimens had joint reinforcement detailed as per IS13920-1993, with similar axial load cases as the first group. The experimental studies are proven with the analytical studies carried out by finite element models using ANSYS. The results show that the hysteresis simulation is satisfactory for both un-strengthened and ferrocement strengthened specimens. Furthermore, when ferrocement strengthening is employed, the strengthened beam-column joints exhibit better structural performance than the un-strengthened specimens of about 31.56% and 38.98 for DD-T1 and DD-T2 respectively. The analytical shear strength predictions were in line with the test results reported in the literature, thus adding confidence to the validity of the proposed models.

非对称型假体设计及全膝关节置换后的力学分析

背景:全膝关节置换是治疗膝关节晚期病症的有效手段,但假体衬垫容易因内部应力变化而产生磨损失效,寿命有限且术后患者的活动能力降低。如何对假体进行改进设计来满足患者更多的需求是假体研究的重要方向。目的:基于半月板的形态设计一种非对称型假体,并与对称设计的后稳定型假体进行比较,分析2种假体的应力分布情况和衬垫的接触面积变化,以探究非对称型假体设计是否存在优势。方法:通过有限元方法对1例膝骨关节炎患者进行模拟截骨和假体装配,建立基于非对称型假体及对称设计的后稳定型假体的全膝关节置换术后膝关节模型。在0°,10°,20°,30°的屈膝条件下,探究股骨假体、胫骨假体以及衬垫上的Mises应力,并通过对比衬垫内外侧的接触面积,分析全膝关节置换后膝关节生物力学变化和运动行为的改变。结果与结论:(1)在0°-30°的屈膝过程中,2种假体衬垫上的Mises应力峰值均表现出先减小后增大的趋势,且内侧始终大于外侧。(2)非对称型设计的假体与后稳定型假体相比,应力峰值更低;在屈膝30°时,非对称型假体衬垫内外侧的Mises应力峰值分别为15.81 MPa和11.95 MPa,后稳定型衬垫为16.70 MPa和13.76 MPa,两者内侧差值约为5.33%,而外侧则相差13.15%;对比股骨假体和胫骨假体上的Mises应力峰值,非对称型假体在屈膝过程中始终低于后稳定型假体。(3)在0°站立位时,后稳定型假体衬垫的内侧接触面积为17.96 mm^(2)、外侧为34.10 mm^(2);而非对称型假体衬垫的内外侧接触面积分别为105.47 mm^(2)和107.80 mm^(2),具有更大的接触面积且两侧差距更小。(4)结果表明,非对称型假体的生物力学表现更好,且能够对维持膝关节稳定性、提升关节活动度有所帮助。这种设计能够在一定程度上还原膝关节以内侧髁为轴进行外旋的运动机制,是一种更为有效的膝关节假体选择方案。

应用Designer与HFSS对激光焊接工艺的联合仿真

应用Designer与HFSS联合仿真技术研究激光焊接工艺对连接性能的影响。首先,在HFSS中建立一个标准的BGA焊点模型,通过改变其尺寸参数仿真,得到使回波损耗最小的参数组合;随后,在Designer中建立激光模型,把HFSS中的焊接连接工艺模型以N端口元件的形式嵌入到Designer建立的激光中,进行联合仿真;最后,对嵌入焊接连接工艺前后的仿真结果进行对比分析,得出焊点及焊点尺寸的改变对激光性能的影响。在高频段,随着焊点高度的增加,焊点的回波损耗随之减小,当焊点高度为0.50 mm时,回波损耗最小,因而应优先选择0.50 mm的焊点高度。

Practical Structural Design Approach of Multiconfiguration Planar Single‑Loop Metamorphic Mechanism with a Single Actuator

As a type of multiconfiguration mechanism that can operate in an under-actuated state,metamorphic mechanisms were proposed more than two decades ago and attracted significant interest.Studies on structural synthesis of metamorphic mechanisms tend to focus more on metamorphic techniques and the structural synthesis of source mechanisms for metamorphic mechanisms.By designing different constraint architectures of metamorphic joints,multistructures can be obtained from the same source metamorphic mechanism.To determine the constraint architectures of metamorphic joints and their different assembly combinations,a kinematic status matrix and a corresponding constraint status matrix are constructed based on the metamorphic cyclogram of a source mechanism.According to the equivalent resistance gradient model and the constraint status matrix,an equivalent resistance matrix for the metamorphic joints is proposed.A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint form vectors of the metamorphic joints.Furthermore,a kinematic diagram synthesis of the source metamorphic mechanism of a planar single-loop metamorphic mechanism is proposed,which is based on only the 14 one-or zero-degrees-of-freedom linkage groups.The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and is presented as a systematic process.Finally,the proposed structural design approach is illustrated by two examples to verify its feasibility and practicality.This study provides an effective method for designing a practical multi-mobility and multiconfiguration planar single-loop metamorphic mechanism with a single actuator.

Seismic performance of steel reinforced ultra high-strength concrete composite frame joints

To investigate the seismic performance of a composite frame comprised of steel reinforced ultra high-strength concrete （SRUHSC） columns and steel reinforced concrete （SRC） beams, six interior frame joint specimens were designed and tested under low cyclically lateral load. The effects of the axial load ratio and volumetric stirrup ratio were studied on the characteristics of the frame joint performance including crack pattern, failure mode, ductility, energy dissipation capacity, strength degradation and rigidity degradation. It was found that all joint specimens behaved in a ductile manner with flexural-shear failure in the joint core region while plastic hinges appeared at the beam ends. The ductility and energy absorption capacity of joints increased as the axial load ratio decreased and the volumetric stirIup ratio increased. The displacement ductility coefficient and equivalent damping coefficient of the joints fell between the corresponding coefficients of the steel reinforced concrete （SRC） frame joint and RC frame joint. The axial load ratio and volumetric stirrup ratio have less influence on the strength degradation and more influence on the stiffness degradation. The stiffness of the joint degrades more significantly for a low volumetric stirrup ratio and high axial load ratio. The characteristics obtained from the SRUHSC composite frame joint specimens with better seismic performance may be a useful reference in future engineering applications.

Uncertainty and joint probability of sea ice loads

Ice load is one of the most important factors for design of marine stuctures in cold sea area.The designcriteria of ice loads for marine structures consist of two parts: level ice thickness and crushing strength. Due to thestrong randomness of the affecting factors on ice thickness and crushing strength, such as ice temperature,air temperature, water temperature,salinity,wind field, numerical simulation method method can not produce satisfactory results. Thispaper proposes a method of uncertainty analysis and joint probabilistic prediction of level ice thickness and crushingstrength instead of traditional ice load criteria for marine structures.