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.

Measured dynamic load distribution within the in situ axlebox bearing of high-speed trains under polygonal wheel–rail excitation

The dynamic load distribution within in-service axlebox bearings of high-speed trains is crucial for the fatigue reliability assessment and forward design of axlebox bearings. This paper presents an in situ measurement of the dynamic load distribution in the four rows of two axlebox bearings on a bogie wheelset of a high-speed train under polygonal wheel–rail excitation. The measurement employed an improved strain-based method to measure the dynamic radial load distribution of roller bearings. The four rows of two axlebox bearings on a wheelset exhibited different ranges of loaded zones and different means of distributed loads. Besides, the mean value and standard deviation of measured roller–raceway contact loads showed non-monotonic variations with the frequency of wheel–rail excitation. The fatigue life of the four bearing rows under polygonal wheel–rail excitation was quantitatively predicted by compiling the measured roller–raceway contact load spectra of the most loaded position and considering the load spectra as input.

Measured load spectra of the bearing in high-speed train gearbox under different gear meshing conditions

The load spectrum is a crucial factor for assess-ing the fatigue reliability of in-service rolling element bear-ings in transmission systems.For a bearing in a high-speed train gearbox,a measurement technique based on strain detection of bearing outer ring was used to instrument the bearing and determine the time histories of the distributed load in the bearing under different gear meshing conditions.Accordingly,the load spectrum of the total radial load car-ried by the bearing was compiled.The mean value and class interval of the obtained load spectrum were found to vary non-monotonously with the speed and torque of gear mesh-ing,which was considered to be caused by the vibration of the shaft and the bearing cage.As the realistic service load input of bearing life assessment,the measured load spectrum under different gear meshing conditions can be used to pre-dict gearbox bearing life realistically based on the damage-equivalent principle and actual operating conditions.

Numerical analysis of moving train induced vibrations on tunnel,surrounding ground and structure

This study is focused on the effect of vibration induced by moving trains in tunnels on the surrounding ground and structures.A three-dimensional finite element model is established for a one-track railway tunnel and an adjacent twelve-storey building frame by using commercial software Midas GTS-NX(2019)and Midas Gen.This study considered the moving load effect of a complete train,which varies with space as well as with time.The effect of factors such as train speed,overburden pressure on the tunnel and variation in soil properties are studied in the time domain.As a result,the variations in horizontal and vertical acceleration for two different sites,i.e.,the free ground surface(without structure)and the area containing the structure,are compared.Also,the displacement pattern of the raft foundation is plotted for different train velocities.At lower speeds,the heaving phenomenon is negligible,but as the speed increases,both the heaving and differential settlement increase in the foundation.This study demonstrates that the effect of moving train vibrations should be considered in the design of new nearby structures and proper ground improvement should be considered for existing structures.

Dynamic soil arching in piled embankment under train load of high-speed railways

Piled embankments have many advantages that have been applied in high-speed railway construction engineering.However,the load transfer mechanism of piled embankments,such as soil arching and tension membranes,is still unclear,especially under dynamic loads.To investigate the soil arching and tension membrane under dynamic train loads on high-speed railways,a large-scale piled embankment model test with X-shaped piles as vertical reinforcement was performed,in which twenty-eight earth pressure cells were installed in the piled embankment and an M-shaped wave was adopted to simulate the high-speed railway train load.The results show that dynamic soil arching only occurs when two bogies of a carriage pass by and disappears at other times.The dynamic soil arching and membrane effect are the most significant under the concrete base.The arching height,stress concentration ratio and pile-soil load sharing ratio have a minimal value at 25 Hz.The dynamic soil arching degrades severely at 25 Hz,whose height at 25 Hz is only 0.35 times that at 5 Hz.The arching height fluctuates over a narrow range with increasing loading amplitude.The stress concentration ratio and the pile-soil load sharing ratio increase monotonically as the loading amplitude increases.

A discussion about the limitations of the Eurocode’s high-speed load model for railway bridges

High-speed railway bridges are subjected to normative limitations concerning maximum permissible deck accelerations.For the design of these structures,the European norm EN 1991-2 introduces the high-speed load model(HSLM)—a set of point loads intended to include the effects of existing high-speed trains.Yet,the evolution of current trains and the recent development of new load models motivate a discussion regarding the limits of validity of the HSLM.For this study,a large number of randomly generated load models of articulated,conventional,and regular trains are tested and compared with the envelope of HSLM effects.For each type of train,two sets of 100,000 load models are considered:one abiding by the limits of the EN 1991-2 and another considering wider limits.This comparison is achieved using both a bridge-independent metric(train signatures)and dynamic analyses on a case study bridge(the Canelas bridge of the Portuguese Railway Network).For the latter,a methodology to decrease the computational cost of moving loads analysis is introduced.Results show that some theoretical load models constructed within the stipulated limits of the norm can lead to effects not covered by the HSLM.This is especially noted in conventional trains,where there is a relation with larger distances between centres of adjacent vehicle bogies.

Theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains

One of the major problems in structural fatigue life analysis is establishing structural load spectra under actual operating conditions.This study conducts theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains.The quasistatic load series that corresponds to quasi-static deformation modes are identified according to the structural form and bearing conditions of high-speed train bogie frames.Moreover,a force-measuring frame is designed and manufactured based on the quasi-static load series.The load decoupling model of the quasi-static load series is then established via calibration tests.Quasi-static load–time histories,together with online tests and decoupling analysis,are obtained for the intermediate range of the Beijing—Shanghai dedicated passenger line.The damage consistency calibration of the quasi-static discrete load spectra is performed according to a damage consistency criterion and a genetic algorithm.The calibrated damage that corresponds with the quasi-static discrete load spectra satisfies the safety requirements of bogie frames.

Dynamic analysis of slab track on multi-layered transversely isotropic saturated soils subjected to train loads

The dynamic responses of a slab track on transversely isotropic saturated soils subjected to moving train loads are investigated by a semi-analytical approach. The track model is described as an upper Euler beam to simulate the rails and a lower Euler beam to model the slab. Rail pads between the rails and slab are represented by a continuous layer of springs and dashpots. A series of point loads are formulated to describe the moving train loads. The governing equations of track-ground systems are solved using the double Fourier transform, and the dynamic responses in the time domain are obtained by the inverse Fourier transform. The results show that a train load with high velocity will generate a larger response in transversely isotropic saturated soil than the lower velocity load, and special attention should be paid on the pore pressure in the vicinity of the ground surface. The anisotropic parameters of a surface soil layer will have greater influence on the displacement and excess pore water pressure than those of the subsoil layer. The traditional design method taking ground soil as homogeneous isotropic soil is unsafe for the case of RE 〈 1 and RG 〈 1, so a transversely isotropic foundation model is of great significance to the design for high train velocities.

Model tests on XCC-piled embankment under dynamic train load of high-speed railways

Piled embankments,which offer many advantages,are increasingly popular in construction of high-speed railways in China.Although the performance of piled embankment under static loading is well-known,the behavior under the dynamic train load of a high-speed railway is not yet understood.In light of this,a heavily instrumented piled embankment model was set up,and a model test was carried out,in which a servo-hydraulic actuator outputting M-shaped waves was adopted to simulate the process of a running train.Earth pressure,settlement,strain in the geogrid and pile and excess pore water pressure were measured.The results show that the soil arching height under the dynamic train load of a high-speed railway is shorter than under static loading.The growth trend for accumulated settlement slowed down after long-term vibration although there was still a tendency for it to increase.Accumulated geogrid strain has an increasing tendency after long-term vibration.The closer the embankment edge,the greater the geogrid strain over the subsoil.Strains in the pile were smaller under dynamic train loads,and their distribution was different from that under static loading.At the same elevation,excess pore water pressure under the track slab was greater than that under the embankment shoulder.

Numerical simulation of sand load applied on high-speed train in sand environment

High-speed train running in the sand environment is different from the general environment. In the former situation, there will be sand load applied on high-speed train(SLAHT) caused by sand particles hitting train surface. This will have a great impact on the train stability, running drag and surface corrosion. Numerical simulation method of SLAHT in sand environment is studied. The velocity and mass flow rate models of saltation and suspension sand particles and the calculation model of SLAHT caused by sand particles hitting train surface are established. The discrete phase method is adopted for numerical simulating the process of saltation and suspension sand particles moving to train surface and generating sand load. By comparison with the field tests, the numerical simulation reliability is analysed. The theoretical formula of SLAHT changing with cross-wind and train speed is proposed. SLAHT changing law is analyzed. Research results indicate that SLAHT changing with cross-wind and train speed is a quadratic relationship. When train speed is constant, SLAHT increases quadratically with cross-wind speed improvement. When cross-wind speed is constant, SLAHT increases quadratically with train speed improvement.

Analysis of the Dynamic Response of a Shield Tunnel in Soft Soil Under a Metro-Train Vibrating Load

This paper concerns the impact of an operating metro train on the structure of a shield tunnel lining and its soft foundation. An elastoplastic 3D dynamic finite difference model was established by using the FLAC3D numerical soft- ware. By fully considering the joints, the A-B-K segments and the soft stratum, the dynamic response of the shield tunnel buried in thick, soft soil under the vibrating load induced by a metro train was numerically simulated. The simulation result, for which the joint was considered, was compared with the result when the joint was not considered. The results show that an operating metro train induces a significant dynamic response in the structure of the lining of the shield tunnel and its soft foundation. The severe dynamic response zones of the lining structure are largely distributed in the range of the lower half of the segment-ring and the nearer to the bottom of the segment-ring, the more severe the response. Of two horizontally symmetric, corresponding places on the segment lining, the one near the joint is more severe in its dynamic response than that of the one far from the joint; the nearer the zone of the foundation soil to the lower half of the seg- ment-ring, the more severe the dynamic response. The maximum shear strain of the foundation soil takes place near the joint between two normal segments at the bottom. The dynamic response influenced by joints is more severe than the response not influenced by joints, showing that the non-joint assumption is somewhat impractical.

Theoretical Research and Experimental Validation of Elastic Dynamic Load Spectra on Bogie Frame of High-speed Train

When a train runs at high speeds, the external exciting frequencies approach the natural frequencies of bogie critical components, thereby inducing strong elastic vibrations. The present international reliability test evaluation standard and design criteria of bogie frames are all based on the quasi-static deformation hypothesis. Structural fatigue damage generated by structural elastic vibrations has not yet been included. In this paper, theoretical research and experimental validation are done on elastic dynamic load spectra on bogie frame of high-speed train. The construction of the load series that correspond to elastic dynamic deformation modes is studied. The simplified form of the load series is obtained. A theory of simplified dynamic load–time histories is then deduced. Measured data from the Beijing–Shanghai Dedicated Passenger Line are introduced to derive the simplified dynamic load–time histories. The simplified dynamic discrete load spectra of bogie frame are established. Based on the damage consistency criterion and a genetic algorithm, damage consistency calibration of the simplified dynamic load spectra is finally performed. The computed result proves that the simplified load series is reasonable. The calibrated damage that corresponds to the elastic dynamic discrete load spectra can cover the actual damage at the operating conditions. The calibrated damage satisfies the safety requirement of damage consistency criterion for bogie frame. This research is helpful for investigating the standardized load spectra of bogie frame of high-speed train.

Recovery Slope of Heart Rate Variability as an Indicator of Internal Training Load

The way in which the Root Mean Square of the Successive Differences between adjacent RR intervals (RMSSD) recovers immediately after exercise could be a good indicator of internal training load (ITL). The aim of this study is to design a recovery index based on RMSSD. Forteen healthy men took part in this study. The experiment lasted 2 weeks, with 4 separate (48 - 72 h) sessions. First session was an incremental treadmill test to determine ventilatory thresholds (VT1 and VT2) and maximal aerobic speed (MAS). Each subject ran at VT1 speed (second day), VT2 speed (third day) and a time-to-exhaustion test at MAS (fourth day). The duration of VT1 and VT2 loads was selected in such a way that the product intensity-duration (training load) was the same. HRV was measured from 10’ prior to test (Rest) to 30’ after completed (Recovery). Recovery slopes were calculated from RMSSD values at 10 and 30 minutes. Borg scale was recorded at the end of every test and the Training Impulse (TRIMP) values were calculated using Banister equations. The RMSSD values dropped substantially regardless of the intensity and the duration of exercise (average 4 ms). The RMSSD recovery was linear during the 30 min and different depending on the intensity of exercise. To propose a recovery index, we calculated the slope of RMSDD over the 30 minutes (slope-30) and also the first 10 minutes (slope-10). Given that the slopes presented an exponential behavior in relation with effort intensity, three curves were obtained (average values, plus SD and minus SD) defining a nomogram. For practical application, we propose: 1) to measure RMSSD the last 5 minutes of exercise and any period of 5 minutes during the first 30 minutes recovery;2) to calculate the slope of RMSSD between exercise and recovery;3) to compare with the nomogram.

Dynamic load sharing behavior of transverse-torsional coupled planetary gear train with multiple clearances

A new nonlinear transverse-torsional coupled model with backlash and bearing clearance was proposed for planetary gear set. Meanwhile, sun gear and planet's eccentricity errors, static transmission error, and time-varying meshing stiffness were taken into consideration. The differential governing equations of motion were solved by employing variable step-size Rung-Kutta numerical integration method. The behavior of dynamic load sharing characteristics affected by the system parameters including input rate, sun gear's supporting stiffness and eccentricity error, planet's eccentricity error, sun gear's bearing clearance, backlashes of sun-planet and planet-ring meshes were investigated qualitatively and systematically. Some theoretical results are summarized at last which extend the current understanding of the dynamic load sharing behavior of planet gear train, enrich the related literature and provide references for the design of planetary gear train.

Effects of sudden change in wind loads on running performance of trains on a highway-railway one-story bridge in crosswinds

To investigate the effects of sudden change in wind loads on the running performance of trains on the bridge in crosswinds,a highway-railway one-story bridge was taken as the research object.Aerodynamic coefficients of the train and the bridge were measured in a series of train-bridge system segment models through wind tunnel tests when two trains passed each other on the bridge and when a train entered and left the wind barrier section of the bridge.Based on the improved SIMPACK and ANSYS rigid-flexible coupling simulation method,a wind-double train-track-bridge system coupled vibration model was established.The dynamic responses of the train were analyzed under the effects of sudden change in wind loads caused by two trains passing each other and a train entering and leaving the wind barrier section of the bridge.The results show that the effects of sudden wind load change caused by the trains passing each other had less effects on the running safety of the leeward-side train than the wind shielding effect caused by the windward-side train in the wind speed range of 10−25 m/s.With the decrease in the porosity of wind barriers,the effects of the sudden wind load change played an increasingly important role in the running safety and comfort of the train.With the increase in wind speed,the lateral response of the train increased obviously because of the effects of sudden wind load change,which affects both the lateral running stability and the comfort of the train.

Determination method of load balance ranges for train operation safety under strong wind

The aerodynamic performances of a passenger car and a box car with different heights of windbreak walls under strong wind were studied using the numerical simulations, and the changes of aerodynamic side force, lift force and overturning moment with different wind speeds and wall heights were calculated. According to the principle of static moment balance of vehicles, the overturning coefficients of trains with different wind speeds and wall heights were obtained. Based on the influence of wind speed and wall height on the aerodynamic performance and the overturning stability of trains, a method of determination of the load balance ranges for the train operation safety was proposed, which made the overturning coefficient have nearly closed interval. A min(|A1|+|A2|), s.t. |A1|→|A2|(A1 refers to the downwind overturning coefficient and A2 refers to the upwind overturning coefficient)was found. This minimum value helps to lower the wall height as much as possible, and meanwhile, guarantees the operation safety of various types of trains under strong wind. This method has been used for the construction and improvement of the windbreak walls along the Lanzhou–Xinjiang railway(from Lanzhou to Urumqi, China).

Variable Parameter Nonlinear Control for Maximum Power Point Tracking Considering Mitigation of Drive-train Load

Since mechanical loads exert a significant influence on the life span of wind turbines, the reduction of transient load on drive-train shaft has received more attention when implementing a maximum power point tracking U+0028 MPPT U+0029 controller. Moreover, a trade-off between the efficiency of wind energy extraction and the load level of drive-train shaft becomes a key issue. However, for the existing control strategies based on nonlinear model of wind turbines, the MPPT efficiencies are improved at the cost of the intensive fluctuation of generator torque and significant increase of transient load on drive train shaft. Hence, in this paper, a nonlinear controller with variable parameter is proposed for improving MPPT efficiency and mitigating transient load on drive-train simultaneously. Then, simulations on FAST U+0028 Fatigue, Aerodynamics, Structures, and Turbulence U+0029 code and experiments on the wind turbine simulator U+0028 WTS U+0029 based test bench are presented to verify the efficiency improvement of the proposed control strategy with less cost of drive-train load. © 2017 Chinese Association of Automation.

Training load characteristics and injury and illness risk identification in elite youth ski racing:A prospective study

Purpose:The study aimed to investigate the role of training load characteristics and injury and illness risk in youth ski racing.Methods:The training load characteristics as well as traumatic injuries,overuse injuries,and illnesses of 91 elite youth ski racers(age=12.1±1.3 years,mean±SD)were prospectively recorded over a period of 1 season by using a sport-specific online database.Multiple linear regression analyses were performed to monitor the influence of training load on injuries and illnesses.Differences in mean training load characteristics between preseason,in-season,and post-season were calculated using multivariate analyses of variance.Results:Differences were discovered in the number of weekly training sessions(p=0.005)between pre-season(4.97±1.57)and post-season(3.24±0.71),in the mean training volume(p=0.022)between in-season(865.8±197.8 min)and post-season(497.0±225.5 min)and in the mean weekly training intensity(Index)(p=0.012)between in-season(11.7±1.8)and post-season(8.9±1.7).A total of 185 medical problems were reported(41 traumatic injuries,12 overuse injuries,and 132 illnesses).The weekly training volume and training intensity was not a significant risk factor for injuries(p>0.05).Training intensity was found to be a significant risk factor for illnesses in the same week(β=0.348;p=0.044;R^(2)=0.121)and training volume represents a risk factor for illnesses in the following week(β=0.397;p=0.027;R^(2)=0.157).Conclusion:A higher training intensity and volume were associated with increased illnesses,but not with a higher risk of injury.Monitoring training and ensuring appropriate progression of training load between weeks may decrease incidents of illness in-season.

Study on the subgrade deformation under high-speed train loading and water–soil interaction

It is important to study the subgrade characteristics of high-speed railways in consideration of the water–soil coupling dynamic problem,especially when high-speed trains operate in rainy regions.This study develops a nonlinear water–soil interaction dynamic model of slab track coupling with subgrade under high-speed train loading based on vehicle–track coupling dynamics.By using this model,the basic dynamic characteristics,including water–soil interaction and without water induced by the high-speed train loading,are studied.The main factors-the permeability coefficien and the porosity-influencin the subgrade deformation are investigated.The developed model can characterize the soil dynamic behaviour more realistically,especially when considering the influenc of water-rich soil.

雪上项目训练分期研究评述及启示

训练分期是对运动训练过程进行有目的和针对性的设置与控制模型。通过文献资料调研,在梳理越野滑雪、冬季两项、跳台滑雪、北欧两项、高山滑雪和单板滑雪运动员竞技表现影响因素的基础上,评述上述项目的年度训练分期特征。在一般准备期,越野滑雪、冬季两项、北欧两项宜采用经典分期模式,可分阶段加入短期高强度耐力板块训练或高原训练;高山滑雪和单板滑雪宜采用不同素质板块分期组合的形式。特殊准备期,各项目的总负荷量均有所降低,其中越野滑雪提高高强度耐力并降低中等强度耐力;冬季两项减少力量和速度,并保持中低强度射击;北欧两项减少低强度耐力;跳台滑雪加强爆发力并避免体重增加;高山滑雪和单板滑雪在保持多种能力板块转化之后,以维持性训练为主。比赛期,各项目均以专项训练为主,但身体素质训练存在差异,越野滑雪可选择高低强度耐力训练的变化组合;冬季两项加强高强度射击并保持一定的低强度力量和耐力练习;北欧两项保持极限强度练习;跳台滑雪加强力量维持训练;高山滑雪和单板滑雪的训练密度和低强度耐力训练有所增高。