A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of ort...A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.展开更多
Some representative working conditions were measured, and the amplitude distribution rule of each representative working condition after analysis of measured data was got. The building of 2 D distributing function be...Some representative working conditions were measured, and the amplitude distribution rule of each representative working condition after analysis of measured data was got. The building of 2 D distributing function between the range and the mean of random load was discussed. Experiment was carried out to get the fatigue strength data of the material of transmission component. Accessing the P S a S m N camber of combined load of bending and torsion on this material after analysis. And the process of calculating the 2 D fatigue life in multi working condition was discussed.展开更多
Large-scale cryogenic air separation units(ASUs),which are widely used in global petrochemical and semiconductor industries,are being developed with high operating elasticity under variable working conditions.Differen...Large-scale cryogenic air separation units(ASUs),which are widely used in global petrochemical and semiconductor industries,are being developed with high operating elasticity under variable working conditions.Different from discrete processes in traditional machinery manufacturing,the ASU process is continuous and involves the compression,adsorption,cooling,condensation,liquefaction,evaporation,and distillation of multiple streams.This feature indicates that thousands of technical parameters in adsorption,heat transfer,and distillation processes are correlated and merged into a large-scale complex system.A lumped parameter model(LPM)of ASU is proposed by lumping the main factors together and simplifying the secondary ones to achieve accurate and fast performance design.On the basis of material and energy conservation laws,the piecewise-lumped parameters are extracted under variable working conditions by using LPM.Takagi–Sugeno(T–S)fuzzy interval detection is recursively utilized to determine whether the critical point is detected or not by using different thresholds.Compared with the traditional method,LPM is particularly suitable for“rough first then precise”modeling by expanding the feasible domain using fuzzy intervals.With LPM,the performance of the air compressor,molecular sieve adsorber,turbo expander,main plate-fin heat exchangers,and packing column of a 100000 Nm3 O2/h large-scale ASU is enhanced to adapt to variable working conditions.The designed value of net power consumption per unit of oxygen production(kW/(Nm3 O2))is reduced by 6.45%.展开更多
基金Supported by the National Natural Science Foundation of China(No.51505124)Foster Fund Projects of North China University of Science and Technology(No.JP201505)the Science and Technology Research Project of Hebei Province(No.ZD2020151).
文摘A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.
文摘Some representative working conditions were measured, and the amplitude distribution rule of each representative working condition after analysis of measured data was got. The building of 2 D distributing function between the range and the mean of random load was discussed. Experiment was carried out to get the fatigue strength data of the material of transmission component. Accessing the P S a S m N camber of combined load of bending and torsion on this material after analysis. And the process of calculating the 2 D fatigue life in multi working condition was discussed.
基金This work was funded by the National Natural Science Foundation of China(Grant Nos.51775494,51821093,and 51935009)the National Key Research and Development Project(Grant No.2018YFB1700701)Zhejiang Key Research and Development Project(Grant No.2019C01141).
文摘Large-scale cryogenic air separation units(ASUs),which are widely used in global petrochemical and semiconductor industries,are being developed with high operating elasticity under variable working conditions.Different from discrete processes in traditional machinery manufacturing,the ASU process is continuous and involves the compression,adsorption,cooling,condensation,liquefaction,evaporation,and distillation of multiple streams.This feature indicates that thousands of technical parameters in adsorption,heat transfer,and distillation processes are correlated and merged into a large-scale complex system.A lumped parameter model(LPM)of ASU is proposed by lumping the main factors together and simplifying the secondary ones to achieve accurate and fast performance design.On the basis of material and energy conservation laws,the piecewise-lumped parameters are extracted under variable working conditions by using LPM.Takagi–Sugeno(T–S)fuzzy interval detection is recursively utilized to determine whether the critical point is detected or not by using different thresholds.Compared with the traditional method,LPM is particularly suitable for“rough first then precise”modeling by expanding the feasible domain using fuzzy intervals.With LPM,the performance of the air compressor,molecular sieve adsorber,turbo expander,main plate-fin heat exchangers,and packing column of a 100000 Nm3 O2/h large-scale ASU is enhanced to adapt to variable working conditions.The designed value of net power consumption per unit of oxygen production(kW/(Nm3 O2))is reduced by 6.45%.
