The relation between the maximum contact stress ratio and deflection angle is derived from Hertz contact theory when the deflection of rotary kiln supporting wheel happens. According to the analysis of practical examp...The relation between the maximum contact stress ratio and deflection angle is derived from Hertz contact theory when the deflection of rotary kiln supporting wheel happens. According to the analysis of practical example, the maximum contact stress ratio within the deflection range of rotary kiln supporting wheel is listed. The contact stress will increase largely when rotary kiln supporting wheel deflects with little angle, which probably will result in accidents correlating to safety. This will provide theory conference for the design, the operating condition analysis and adjusting of the rotary kiln.展开更多
The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process o...The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process of collision that often occurs in gear system. Focus on the contact-impact events, this paper proposes an improved gear contact force model for dynamic analysis in helical gear transmission system. In this model, a new factor associated with hysteresis damping is developed for contact-impact state, whereas the traditional linear damping factor is utilized for normal meshing state. For determining the selection strategy of these two damping factors, the fundamental contact mechanics of contact-impact event a ected by supporting forces are analyzed. During this analysis, an e ect factor is proposed for evaluating the influence of supporting forces on collision. Meanwhile, a new restitution of coe cient is deduced for calculating hysteresis damping factor, which suitable for both separation and non-separation states at the end of collision. In addition, the time-varying meshing sti ness(TVMS) is obtained based on the potential energy approach and the slice theory. Finally, a dynamic analysis of a helical gear system is carried out to better understand the contact force model proposed in this paper. The analysis results show that the contribution of supporting forces to the dynamic response of contact-impact event within gear pair is important. The supporting forces and dissipative energy are the main reasons for gear system to enter a steady contact state from repeated contact-impact state. This research proposes an improved contact force model which distinguishes meshing and collision states in gear system.展开更多
Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier...Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.展开更多
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has differe...To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.展开更多
模态分析是水电机组故障诊断的重要方法,但其传统方法缺少对接触部分非线性接触的模拟手段,直接影响模态分析的准确性,也无法对链接部位的失效过程及趋势进行分析。该文基于用户自定义单元子程序接口(user-defined element subroutine i...模态分析是水电机组故障诊断的重要方法,但其传统方法缺少对接触部分非线性接触的模拟手段,直接影响模态分析的准确性,也无法对链接部位的失效过程及趋势进行分析。该文基于用户自定义单元子程序接口(user-defined element subroutine interface,UEL),建立了结合部三维非线性专用分析单元模型。推导所提模型有限元格式的基本方程,获得表征材料非线性特性的本构关系;给出螺栓连接的固定结合部的静态分析,以及立式水轮发电机导轴承支架的模态分析算例;给出导轴承支架的支臂末端螺栓连接变刚度计算的工程应用实例。实验与仿真对比结果表明了建立的UEL三维非线性接触分析专用单元模型的正确性;连接失效分析表明了随着导轴承支架接触刚度的下降,会在整机模态频率计算中引入新的频率段这一结果的重要性。展开更多
基金Supported by Hunan Provincial Natural Science Foundation(04JJ3050)Supported by Key ScientificResearch Projectof Hunan Provincial Education Bureau(03A052)
文摘The relation between the maximum contact stress ratio and deflection angle is derived from Hertz contact theory when the deflection of rotary kiln supporting wheel happens. According to the analysis of practical example, the maximum contact stress ratio within the deflection range of rotary kiln supporting wheel is listed. The contact stress will increase largely when rotary kiln supporting wheel deflects with little angle, which probably will result in accidents correlating to safety. This will provide theory conference for the design, the operating condition analysis and adjusting of the rotary kiln.
基金Supported by National Natural Science Foundation of China(Grant No.51475263)
文摘The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process of collision that often occurs in gear system. Focus on the contact-impact events, this paper proposes an improved gear contact force model for dynamic analysis in helical gear transmission system. In this model, a new factor associated with hysteresis damping is developed for contact-impact state, whereas the traditional linear damping factor is utilized for normal meshing state. For determining the selection strategy of these two damping factors, the fundamental contact mechanics of contact-impact event a ected by supporting forces are analyzed. During this analysis, an e ect factor is proposed for evaluating the influence of supporting forces on collision. Meanwhile, a new restitution of coe cient is deduced for calculating hysteresis damping factor, which suitable for both separation and non-separation states at the end of collision. In addition, the time-varying meshing sti ness(TVMS) is obtained based on the potential energy approach and the slice theory. Finally, a dynamic analysis of a helical gear system is carried out to better understand the contact force model proposed in this paper. The analysis results show that the contribution of supporting forces to the dynamic response of contact-impact event within gear pair is important. The supporting forces and dissipative energy are the main reasons for gear system to enter a steady contact state from repeated contact-impact state. This research proposes an improved contact force model which distinguishes meshing and collision states in gear system.
基金This project is supported by National Natural Science Foundation of China(No.6997S014) China 863 Robot Automatic Assembly Topic (No.863512972004).
文摘Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.
文摘To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
文摘模态分析是水电机组故障诊断的重要方法,但其传统方法缺少对接触部分非线性接触的模拟手段,直接影响模态分析的准确性,也无法对链接部位的失效过程及趋势进行分析。该文基于用户自定义单元子程序接口(user-defined element subroutine interface,UEL),建立了结合部三维非线性专用分析单元模型。推导所提模型有限元格式的基本方程,获得表征材料非线性特性的本构关系;给出螺栓连接的固定结合部的静态分析,以及立式水轮发电机导轴承支架的模态分析算例;给出导轴承支架的支臂末端螺栓连接变刚度计算的工程应用实例。实验与仿真对比结果表明了建立的UEL三维非线性接触分析专用单元模型的正确性;连接失效分析表明了随着导轴承支架接触刚度的下降,会在整机模态频率计算中引入新的频率段这一结果的重要性。
