Working Model FEA在GANTRY机器人模块化设计中的应用

WorkingModelFEA是在AUTOCAD平台上开发的用于机械结构有限元分析的专用软件。由于软件本身的缺陷 ,对较复杂截面形状零件的网格划分以及部件装配约束关系向有限元分析模型的传递存在问题。本文主要讨论了如何实现对较复杂截面形状零件的网格划分 ,提出了如何把较复杂截面形状零件转化成便于进行有限元计算的零件模型的方法以及部件装配约束关系向有限元分析模型的传递及如何添加变形协调约束关系等技术问题 ,并对原来的中文菜单文件作了一些修改 。

基于Gantry驱动的双直线电动机高速动态同步误差性能测试研究

分析高速龙门机床中应用双直线电动机驱动同步进给轴的优越性。给出了基于SIMUERIK 840D的Gantry龙门同步功能控制双直线电动机高速同步驱动的实现方法。探讨通过应用双频激光干涉仪测量动态同步误差方法,并在自构建的龙门驱动实验台上,对主从轴的动态同步误差进行测试实验。测试结果表明:在Gantry控制驱动下,主从轴的动态同步误差随进给速度增大而增大;不同的龙门负载会在直线电动机加速和减速阶段对同步性能产生影响。

离子治疗装置Gantry超导线圈小尺寸样机的设计及高精度成型

离子治疗装置Gantry超导线圈的高精度成型问题的研究,可以一台小尺寸斜绕线螺线管型超导四极磁体样机为目标,开展倾斜螺线管型超导线圈的三维设计、复杂线圈成型设备研制、超导线圈成型工艺研究和超导线圈样机性能测试等工作,旨在验证三维线圈高精度成型设备系统及工艺方案的可行性,为倾斜螺线管型线圈应用于离子治疗装置积累宝贵经验。通过分析测试数据,确认小尺寸倾斜螺线管型四极磁体制作工艺符合预期目标。

基于ANSYSWorkbench的Gantry机架模态分析

Gantry机架作为源探及滑环等旋转部件的载体,其模态分析对于减小整机设备振动,防止整机系统振动具有重要意义。论文以Gantry机架为研究对象,使用Pro/E软件建立实体模型,应用ANSYSWorkbench15.0有限元分析软件进行模态分析,得到Gantry机架的固有频率、振型云图,为Gantry机架和整机的结构优化设计和振动分析提供参考和依据。

Oil Pocket's Bearing Capacity Analysis of Liquid Hydrostatic Worktable in Gantry Moving Milling Center

Durning the design process of hydrostatic rotary worktable,the processing and assembly tolerance,（the offset of worktable and the gap of the oil film’s thickness）is ignored.But it will cause that the real bearing of oil pocket deviates from the initial design value,and then the performance of rotary worktable will be reduced significantly.Up to now,no effort is found toward the research of influence of the processing and assembly tolerance on the performance of the rotary worktable.So the hydrostatic oil film is assumed as the elastomer in this paper,and then the bearing capacity of the oil pocket is studied with and without the mass offset of the worktable by taking an expression between the bearing capacity and the oil film’s thickness of the oil pocket as the deform compatibility equation.The influence of the processing tolerance of the oil sealing belt’s gap on the bearing capacity of the oil pocket is analyzed.In the light of the liquid hydrostatic worktable of Gantry Moving Milling Center using on the scene,the oil pocket’s pressure of the worktable is tested using Rotary Worktable Test System under the circumstance of the mass offset of the worktable and the gap tolerance of the oil sealing belt,and then the equivalent offset of worktable,the average pressure of the oil pocket and the actual thickness of the oil film are analyzed respectively.The test results show that the bearing capacity component of the oil pocket caused by G is consistent,and the component caused by M is relative to the position of the oil pocket.When the oil sealing belt’s gap is larger than the theoretical value,the bearing capacity of the oil pocket is smaller than the others;whereas the bearing capacity of the oil pocket is larger than the others.The maximum and minimum equivalent offsets are 0.256 4 mm and 0.047 5 mm,respectively,and the average oil pocket pressure varies from 0.345 MPa to 0.460 MPa,the maximum and minimum value of the actual oil film thickness are 109.976？m（No.7 oil pocket）and 93.467？m（No.10 oil pocket）,respectively.The research results can be used to detect the offset of the worktable and the actual thickness of the oil film under processing and assembly tolerance,and provides a basis way for detecting the processing and assembly tolerance of rotary worktable signing reasonably of Gantry Moving Milling Center.

Variational analysis of mid-span deflection of gantry cranes

In practical application, it is very important to master the influence of structure parameters on the mid-span deflection quantificationally. For large-span and heavy-duty gantry cranes, the influence of the rigid leg and the soft leg on mid-span deflection has not been considered in the past. In the paper, the mathematical model is established for universal large-span and heavy-duty gantry cranes. The analytical solution for the mid-span deflection of gantry-frame structure girder is derived and obtained based on the variation principle by considering the coupling effect of the bending moments of girder and legs, the axial force and the secondary bending moments. The relation between the load and the deflection on the mid-span of the gantry-frame structure girder is known. Then, the experimental model is designed according to dimensional analysis method. And experiments were performed on the WEW-600 B type testing machine. Hackling experimental data, the regular of the load and deflection on the girder mid-span is obtained, namely, the deformation of the gantry-frame structure resists the external load to do work. The validity of the nonlinear analytical solution of the girder deflection is verified. Experimental results show that the analytical solution of the gantry-frame structure deflection has much higher calculation accuracy than previous calculation method. This work provides a theoretical basis for the design and inspection of gantry-frame structures.

Reducing Fuel Consumption Using Flywheel Battery Technology for Rubber Tyred Gantry Cranes in Container Terminals

Flywheel Energy Storage System (FESS) is used as an energy regeneration system to help with reducing peak power requirements on RTG cranes that are used to load or unload container ships. Nevertheless, with the use of FESS, Port Operator can deploy undersized generator for new RTG as this will further reduce fuel consumption. This paper presents the investigation of the amount of energy and fuel consumption that can be reduced in Rubber Tyred Gantry (RTG) cranes in container terminals by the use of simulation. In addition, Variable Speed Generator is integrated to the simulation-hybridized RTG. Simulation results reveal that the total energy saving exceeded 30% relatively to conventional RTG. A hardware-in-loop system is introduced for the purpose of validating the simulation results. The hardware components procured include a FESS, a Variable Frequency Drive (VFD) and brake resistors.

SIEMENS840D GANTRY功能在瑞士SIP5000立式加工中心的应用

详细介绍SIEMENS840D

Finite Element Analysis and Optimal Design Based on ANSYS in a XH2408 Gantry Style NC Machining Center

ANSYS, the software of construction analysis, is used to analyze static and dynamic performances of a XH2408 gantry style numerical control （NC） milling machining center and optimize its construction using the finite element method. First, a finite element model is established and the static and dynamic analysis are completed as constraints and loads applied on the finite element model. It is found that both spindle box and gantry are the worst components of assembly in performance. Secondly, the spindle box and gantry are chosen as objects of optimal design separately, aiming to improve their performance. The optimal plans are accomplished on the basis of the minimum volume for the spindle box and the maximum inherent frequency for the gantry subject to the constrains. Finally, the machine tool improved is analyzed statically and dynamically based on the optimal results of the spindle box and gantry. The results show that optimal design with the finite element method increases static and dynamical performances of the XH2408 gantry style numerical control milling machining center and the technique is effective and practical in engineering applications.

Beam optics and isocenter property of SC200 proton therapy gantry

Studies on beam optics and the isocenter property in the gantry system for the SC200(Superconducting Isochronous Cyclotron of 200 Me V in Hefei,China) are presented in this paper.The physical design of the isocentric gantry system is developed with the software TRANSPORT,which realizes a beam with a circular shape at the isocenter and a full width at half maximum of4–10 mm.For stereotactic radiosurgery,the isocenter deviation of the gantry system should be less than 1 mm in diameter.In order to explore the property of the isocenter,an electromagnetic structure coupling analysis has been conducted given the self-gravity and the electromagnetic(EM) force of the magnets on the gantry beam line.The correlation between the isocenter property and the EM force has also been carefully studied.This paper puts forward two methods to obtain the isocenter deviation based on the characteristics of the nozzle installation structure and the calculation of the optical path after the nozzle,respectively.The results show that the maximum isocenter deviation is less than 0.33 mm with a safety factor of 1.5,and the deviation caused by the EM force is 0.05 mm.The latter result indicates that the impact of the EM force is negligible.This paper puts forward one possible way to realize real-time acquisition of the isocenter deviation in practical application.The gantry of SC200 is under construction at ASIPP.

Optimization Design for Fixed Table of Gantry Machining Center Based on Sensitivity and Topology Analyses

In order to decrease the deformation and stress and increase the natural frequency of the fixed table,a method of optimization driven by the sensitivity and topology analyses is proposed.The finite element model of the fixed table is constructed and analyzed by using ANSYS software.Based on the results of static analysis and modal analysis,the maximum deformation,the maximum stress,and natural frequencies are obtained.Then,the sensitivity analysis and topology optimization are carried out to find out the parameters to be optimized.The fixed table is reconstructed according to optimal design scheme.In the comparison of the results between original model and the optimized one,the maximum deformation and stress are decreased by 71.73%and 60.27%respectively.At the same time,the natural frequencies from the first mode to the sixth mode are increased by 30.28%,29.57%,29.51%,31.52%,22.19%,and 21.80%,respectively.The method can provide technology guide for the design and optimization of machining structure.

Gantry optimization of the Shanghai Advanced Proton Therapy facility

A proton therapy system is a large medical device to treat tumors.Its gantry is of large structure and high precision.A new half-gantry was designed in the Shanghai Advanced Proton Therapy(SAPT)project.In this paper,the weight of gantry in design is reduced significantly by size and structure optimizations,to improve its cost-effectiveness,while guaranteeing the functions and precision.The processes of physics optimization,empirical design optimization,topological optimization and size optimization,together with factors of consideration,are described.The gantry weight is reduced by 30%,with the same precision.

GANTRY轴与主从轴控制在西门子系统上的应用比较

基于西门子840D数控系统,对GANTRY轴与主从轴在该系统上的应用做了分析与比较,同时,结合调试经验,给出这两种控制方式常用及扩展的参数设定与调整。

Research of Supercapacitor Voltage Equalization Strategy on Rubber-Tyred Gantry Crane Energy Saving System

A model for supercapacitor voltage equalization strategy is analyzed, and on this basis a supercapacitor voltage equalization method for Rubber Tyred Gantry Crane (RTG) energy saving system is proposed, namely active voltage equalization method based on Buck-Boost converter. The equalizing speed of the proposed method is fast. Firstly, the working principle and process of the voltage equalization circuit is analyzed in detail. In addition, design of active voltage equalization circuit parameters and control strategy are given. Finally, simulation analysis of the series connection of supercapacitors module is performed. Results show that this method for equalizing voltage can avoid over-voltage of each cell and possess practicable and high value for supercapacitor RTG energy saving system.

Gantry Robot位置的异步电机驱动控制研究

针对Gantry Robot位置控制效果不佳的问题,本文提出了PD加重力补偿控制与反步法相结合的控制方法。建立了机器人空间变换与动力学模型,外环控制采用PD加重力补偿控制,内环采用以转速误差和磁链误差为输入的反步控制,同时考虑异步电动机运行过程中转子磁链和负载转矩未知情况,引入转子磁链观测器和负载转矩观测器,并用Lyapunov理论判别整个系统的稳定性。仿真结果表明,机器人位置控制具有较好的跟踪效果,响应时间较短,静态和动态性能都很好,转子磁链观测器和负载转矩观测器可以精确跟踪转子磁链和负载转矩。该方法解决了异步电动机运行过程中转子电阻变化带来的负载转矩观测效果不佳问题,具有一定的理论意义和实际应用价值。

Comparison of Different Control Algorithms for a Gantry Crane System

For a gantry crane system, this paper presents a comparison between four control algorithms. These algo-rithms are being compared on simplicity, stability and robustness. Goal for the controller is to move the load on a gantry crane to a new position with minimal overshoot of the load and maximal speed of the load. An-other goal is to provide an insight in the behaviour of the possible controllers. In this article a parallel P-controller, cascade P-controller, fuzzy controller and an internal model controller are used. To be able to validate and design the controllers a model is derived from the gantry crane. The controllers and the model are being implemented in Matlab Simulink. Finally the controllers are validated and tuned in Labview on a laboratory gantry scrane scale model. Main conclusion is that all presented controllers can be used as a con-troller for the gantry crane system but the fuzzy controller is showing the best performance.

New Technology of Installing the Attached Self-Climbing Tower Steel Gantry Cranes

The Liujiaxia Bridge is 536 m span steel truss stiffening Girder Bridge, tower with double-column steel concrete slructure, which is the world＇s largest diameter, the largest steel plate thickness of concrete pylon. Sarasota manufactured using standard pipe segment, group fight scene segment piecewise hoisting tower segment perfusion within the micro-expansion concrete construction technology, tower maximum height of 61.5 meters. This paper describes a piecewise Sarasota steel installation, piecewise perfusion within the micro-expansion concrete tower new construction method - attached to a self-climbing tower bridge ganlry crane mounted pylon construction technology of large steel components. Of the ＂entity attached to the pylon installation of equipment by section climb＂ design, composition and construction applications are described in detail.

Structure Improvement and Optimization of Gantry Milling System for Complex Boring and Milling Machining Center

To enhance the efficiency and machining precision of the TX1600G complex boring and milling machining center,a study was conducted on the structure of its gantry milling system.This study aimed to mitigate the influence of factors such as structural quality,natural frequency,and stiffness.The approach employed for this investigation involved mechanism topology optimization.To initiate this process,a finite element model of the gantry milling system structure was established.Subsequently,an objective function,comprising strain energy and modal eigenvalues,was synthesized.This objective function was optimized through multi-objective topology optimization,taking into account certain mass fraction constraints and considering various factors,including processing technology.The ultimate goal of this optimization was to create a gantry milling structure that exhibited high levels of dynamic and static stiffness,a superior natural frequency,and reduced mass.To validate the effectiveness of these topology optimization results,a comparison was made between the new and previous structures.The findings of this study serve as a valuable reference for optimizing the structure of other components within the machining center.

液压门式起重机受力及稳定性监测系统研究与应用

提出了一种液压门式起重机受力及稳定性预测监测系统。根据实际参数建立了起重机结构起升单元有限元模型,分析起升单元在不同步状态下起重机相关结构的受力情况,使用有限元分析得出的数据训练BP神经网络预测模型,最终结合测量数据来快速获取任意状态下起重机相关结构的受力情况。通过实验验证了该系统的可行性,提高了液压门式起重机的安全监测能力。

容积旋转调强放疗计划中优化分组角度对头颈部单、双侧靶区的影响

目的:研究Monaco计划系统中优化分组角度(increment of gantry,INC)对容积旋转调强放疗(volumetric modulated arc therapy,VMAT)计划的影响,为肿瘤放射治疗的计划优化参数提供参考。方法:选择2022年1月—12月上海交通大学医学院附属第九人民医院收治的需术后放疗的腮腺癌和舌癌患者各15例。其中,舌癌组采用双侧照射,腮腺癌组采用单侧照射。除更改Inc参数外,同一病例的计划设计参数均不改变,计划剂量优化结果要求达到临床使用要求。分别采用20、25、30、35、40优化分组角度进行对比,并以30的优化分组角度所做出的计划作为参考计划。统计并比较靶区的体积剂量D98%、D5%和D2%,以及适形度指数(conformity index,CI)与均匀性指数(homogeneity index,HI)。比较不同Inc参数计划导致的危及器官体积剂量参数和计划跳数。采用SPSS 22.0软件包对数据进行统计学分析。结果:双侧照射的舌癌组计划结果显示,Inc参数设置为30时,靶区的归一性更好。与对照组相比,其余Inc参数计划的靶区HI均有统计学意义;除Inc35计划外,其余CI均有统计学差异。危及器官方面,除左侧腮腺外,右侧腮腺、喉选择优化角度为30的效果最佳(P<0.05),左侧腮腺则20和35的效果最佳(P<0.05)。单侧照射的腮腺癌组计划结果显示,优化角度选择为30时表现更佳,靶区的归一性更好。HI评价结果存在统计差异(P<0.05),同侧中耳Inc为20,25表现较为优秀(P<0.05),喉组织角间距为20、25、40时结果更为优秀(P<0.05),下颌骨角间距为25时表现最为优秀(P<0.05),脊髓、脑干以及对侧腮腺无显著差异。所有计划的跳数随着Inc的增大而减小,单侧照射和双侧照射计划跳数均无统计学差异。结论:容积旋转调强放疗计划优化角度需要根据照射范围和肿瘤类型进行合理选择,Inc默认值30在双侧照射的舌癌靶区计划表现出更多优势;但对于单侧照射的腮腺肿瘤,除靶区存在一定优势外,其他优势并不明显。