Force/Moment Isotropy of 8/4-4 Parallel Six-Axis Force Sensor Based on Performance Atlases

A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.

A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.

Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

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.

Analysis of longitudinal forces of coupler devices in emergency braking process for heavy haul trains

To reduce the longitudinal coupler forces of heavy haul trains and improve the running safety, the velocity method and New-mark method were used for the coupler simulation and numerical integration, and a numerical model on the longitudinal dynamics of heavy haul trains was established. Validation was performed against the experimental data. Using this model, the emergency braking process for a combined marshalling heavy haul train was investigated to obtain the distributions of the longitudinal compressive forces and strokes of coupler devices. Then, the influences of the initial braking velocity, the synchronization time of master and slave locomotives, the coupler stiffness and the vibrator mass on the longitudinal forces and strokes were analyzed. The results show that it should be avoided that the emergency braking starts at a low initial speed. Keeping synchronism between master locomotive and slave locomotives effectively helps to reduce the longitudinal forces. Reducing the coupler stiffness appropriately and adding rigid arm connections, the longitudinal vibration frequency can be brought down and the longitudinal forces will be decreased, which improves the running safety of heavy haul trains. All of these research results can provide a reference for the operation and development of heavy haul trains.

Effects of forced cooling on mechanical properties and fracture behavior of heavy section ductile iron

To develop materials suitable for spent-nuclear-fuel containers, the effect of forced cooling on mechanical properties and fracture toughness of heavy section ductile iron was investigated. Two cubic castings with different cooling processes were prepared: casting A was prepared in a totally sand mold, and casting B was prepared in a sand mold with two chilling blocks placed on the left and right sides of the mold. Three positions in each casting with different solidification cooling rates were chosen. In-situ SEM tensile experiment was used to observe the dynamic tensile process. Fracture analysis was conducted to study the influence of vermicular and slightly irregular spheroidal graphite on the fracture behavior of heavy section ductile iron. Results show that the tensile strength, elongation, impact toughness and fracture toughness at different positions of the two castings all decrease with decreasing cooling rate. With the increase of solidification time, the fracture mechanism of conventional casting A changes from ductile fracture to brittle fracture, and that of casting B with forced cooling changes from ductile fracture to a mixture of ductile-brittle fracture.

Influence of quick release valve on braking performance and coupler force of heavy haul train

We establish a simulation model based on the theory of air flow to analyze the accelerated release effect of the quick release valve inside the air brake control valve.In addition, the combined simulation system of train air brake system and longitudinal train dynamics is used to analyze how the parameters of the quick release valve in the 120/120–1 brake control valve affect the propagation characteristics of the train brake pipe pressure wave, the release action range of the accelerated brake, and the longitudinal coupler force for a 20,000-ton heavy haul train on the section of the Datong–Qinhuangdao Railway. The results show that the quick release valve can effectively accelerate the rising speed of the train brake pipe pressure during the initial release, as the accelerated release effect is evident before the train brake pipe pressure reaches582 k Pa. The quick release valve can effectively accelerate the release of the rear cars, reducing the longitudinal coupler force impact due to time delay of the release process. The quick release valve can effectively reduce the tensile coupler force in the train by as much as 20% in certain cases.

RUIN PROBABILITY IN A SEMI-MARKOV RISK MODEL WITH CONSTANT INTEREST FORCE AND HEAVY-TAILED CLAIMS

In the present paper, we consider a kind of semi-Markov risk model （SMRM） with constant interest force and heavy-tailed claims~ in which the claim rates and sizes are conditionally independent, both fluctuating according to the state of the risk business. First, we derive a matrix integro-differential equation satisfied by the survival probabilities. Second, we analyze the asymptotic behaviors of ruin probabilities in a two-state SMRM with special claim amounts. It is shown that the asymptotic behaviors of ruin probabilities depend only on the state 2 with heavy-tailed claim amounts, not on the state 1 with exponential claim sizes.

Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

Wheel/rail-force–based maintenance interval extension of the C80 series wagon

Purpose–This study aims to introduce the achievements and benefits of applying wheel/rail-force–based maintenance interval extension of the C80 series wagon in China.Design/methodology/approach–Chinese wagons’existing maintenance strategy had left a certain safety margin for the characteristics of widely running range,unstable service environment and submission to transportation organization requirements.To reduce maintenance costs,China railway(CR)has attempted to extend the maintenance interval since 2020.The maintenance cycle of C80 series heavy haul wagons is extended by three months(no stable routing)or 50,000 km(regular routing).However,in the meantime,the alarming rate of the running state,a key index to reflect the severe degree of hunting stability,by the train performance detection system(TPDS)for the C80 series heavy haul wagons has increased significantly.Findings–The present paper addresses a big data statistical way to evaluate the risk of allowing the C80 series heavy haul wagons to remain in operation longer than stipulated by the maintenance interval initial set.Through the maintenance and wayside-detectordata,whichis divided intothreestages,the extension period(three months),the current maintenance period and the previous maintenance period,this method reveals the alarming rate of hunting was correlated with maintenance interval.The maintainability of wagons will be achieved by utilizing wagon performance degradation modeling with the state of the wheelset and the often-contact side bearing.This paper also proposes a statistical model to return to the average safety level of the previous maintenance period’s baseline through correct alarming thresholds for unplanned corrective maintenance.Originality/value–The paper proposes an approach to reduce safety risk due to maintenance interval extension by effective maintenance program.The results are expected to help the railway company make the optimal solution to balance safety and the economy.

关键参数对缓圆点波磨区段轮轨力的影响分析

以探究重载线路运行参数对车辆通过缓和曲线低轨侧波磨区轮轨力的影响规律为目的,基于Simpack多体动力学软件搭建了C80车辆-轨道耦合多体动力学模型,利用Matlab生成美国五级轨道随机不平顺,叠加缓圆点前钢轨波磨时域激励作为模型输入,仿真得到在缓圆点处不同波长、波深波磨状态下,缓和曲线长度、曲线半径、超高、行驶速度等关键参数对轮轨力的影响。通过分析一位轮对的轮轨力变化趋势和其最大增长率,发现波磨侧的轮轨力受波磨影响较大;无波磨一侧轮轨横向力受波磨的影响比垂向力大;曲线参数中,各指标最大增长率均随速度的增加而下降;除高轨侧轮轨横向力外,其余指标均随曲线半径的增大而减小;缓和曲线长度和超高的变化,对各指标最大增长率没有明显的降低作用,甚至随着运行参数的增加,指标最大增长率反而增加。

Heavy ion and X-ray irradiation alter the cytoskeleton and cytomechanics of cortical neurons

Heavy ion beams with high linear energy transfer exhibit more beneifcial physical and biological performance than conventional X-rays, thus improving the potential of this type of radiotherapy in the treatment of cancer. However, these two radiotherapy modalities both cause inevitable brain injury. The objective of this study was to evaluate the effects of heavy ion and X-ray irra-diation on the cytoskeleton and cytomechanical properties of rat cortical neurons, as well as to determine the potential mechanism of neuronal injury after irradiation. Cortical neurons from 30 new-born mice were irradiated with heavy ion beams at a single dose of 2 Gy and X-rays at a single dose of 4 Gy;subsequent evaluation of their effects were carried out at 24 hours after irradiation. An immunolfuorescence assay showed that after irradiation with both the heavy ion beam and X-rays, the number of primary neurons was signiifcantly decreased, and there was ev-idence of apoptosis. Radiation-induced neuronal injury was more apparent after X-irradiation. Under atomic force microscopy, the neuronal membrane appeared rough and neuronal rigidity had increased. These cell changes were more apparent following exposure to X-rays. Our ifnd-ings indicated that damage caused by heavy ion and X-ray irradiation resulted in the structural distortion and rearrangement of the cytoskeleton, and affected the cytomechanical properties of the cortical neurons. Moreover, this radiation injury to normal neurons was much severer after irradiation with X-rays than after heavy ion beam irradiation.

NONLINEAR STABILITY AND BIFURCATIONS OF SYMMETRIC HEAVY GYROSCOPE

The complete solutions of the upright and oblique permanent rotations of a symmetric heavy gyroscope with perfect dissipation are given.The asymptotic stability criteria and unstability criteria for these rotations in the sense of Liapunov and the sense of Movchan are also given on the basis of exact nonlinear motion equations respectively.The related oblique rotations are non-isolated.The main subdomains of the re- gions of asymptotic stability are obtained.The related bifurcation phenomena are discussed in detail.

On the Development of Meso-Scale Heavy Rain Parcels in China

Heavy rains occur in China frequently, which often bring us floods and serious disasters in the summer half-year. The meso-scale heavy rain parcels (MHRP) in the mid-latitude are usually developed in following cases:I.By the approaching, meeting and / or overlapping of different weather systems, when two or more different rainfall systems are getting to conjugate, some MHRPs could be developed, such as: 1) a new cold/warm front or squall line approaches an old front or squall, even when the old one is somewhat decrepit; 2) at the places where two or more synoptic systems with different characteristics are meeting together, such as the meeting of tropical cyclone with the cold airs coming from the mid- and / or high-latitudes, or the low latitude vortex meeting with the westerly trough; 3) at the intersections of some different weather systems, such as the intersection of drylines, squall lines or fronts moving from different directions; and 4) by the overlapping of rainfall parcels produced continuously from a meso-generation centre.II.Resonance Effect and Tibetan Plateau Influence are two reasons why high frequency of heavy and torrential rains arround the meiyu front is discussed also.

Upgradation of Heavy Crude Oil Via Hydrodynamic Cavitation Through Variations in Asphaltenes

In this work,Saudi heavy crude oil(SHCO)was upgraded by the hydrodynamic cavitation technique.The collapse of cavitation bubbles instantly produces extreme conditions such as high temperature,pressure,and jet flow and strong shear forces,which can play a significant role in the upgradation process.The results revealed that the viscosity and Conradson carbon residue of SHCO decreased from 13.61 to 7.22 mm^(2)/s and from 7.16%to 6.48%,respectively.True boiling point distillation findings showed that the vacuum residue(VR)decreased by 1%.Atmospheric-pressure photoionization Fourier-transform ion cyclotron resonance mass spectrometry,X-ray diffraction,dynamic light scattering,Fourier-transform infrared spectroscopy,and scanning electron microscopy were employed to characterize the molecular composition,crystalline structure,asphaltene aggregate particle size distribution,functional groups,and morphology,respectively,to understand the effects of hydrodynamic cavitation on asphaltenes.The obtained results demonstrate that hydrodynamic cavitation upgradation reduced the interaction forces between the asphaltene molecules,weakening the crystalline structure of the asphaltene aggregates,reducing the degree of association of the aromatic compounds in SHCO and asphaltenes,and decreasing the average particle size.The delayed coking properties of the VR were further investigated,and the cavitation treatment was found to decrease the coke yield by 1.85%and increase the liquid and gas yields by 1.52%and 0.33%,respectively.Hence,hydrodynamic cavitation can effectively enhance the processing performance of crude oil by improving the properties and structural characteristics of asphaltenes.

机车充风能力对重载列车缓解性能及车钩力影响研究

机车充气与排气性能是列车制动系统重要指标,目前机车制动系统验收指标仅对排气性能有明确要求,对充气性能无要求。机车供风能力不仅影响重载列车缓解特性和车钩力,而且严重制约重载列车在循环制动中的操纵方法。了解机车充气能力对缓解特性和车钩力的影响规律,以及重载列车安全运行和制动系统设计具有重要意义。通过建立列车空气制动系统仿真模型,分析机车充风能力对重载列车缓解特性和车钩力的影响。分析发现,机车充风能力对列车再充风时间、缓解波传播和车钩力都有明显影响;充风能力越弱,则缓解波传递越慢,车钩力越大。在本文研究范围内,合适的充气能力将比弱充风能力首尾车缓解时间差缩短3 s,最大车钩力降低16.2%。建议机车验收时增加机车充风能力检测,并给出了建议检测标准。针对重载列车充风能力,建议多部门联合系统性开展实验与仿真研究,制订重载列车制动系统检测标准与方法。

表贴式高速永磁同步电机失磁故障及磁体选区渗重稀土研究

针对表贴式高速永磁同步电机永磁体在受到高温、强退磁磁场等因素影响易产生局部不可逆失磁故障问题,本文基于有限元分析方法,分别建立了一台24 kW表贴式高速永磁同步电机的二维和三维仿真计算模型,在计及该电机在各类不同的退磁因素作用下,确定了电机磁体发生局部不可逆失磁故障的位置,并预测了磁体的进一步失磁扩散趋势。对比了电机在有无失磁故障情况下的空载气隙磁密和反电动势,并研究磁体不可逆失磁故障对电机运行的影响。由于永磁体易在部分区域发生不可逆失磁,故本文将磁体材料更换为较低牌号,并运用选区渗重稀土技术改善易失磁区域材料特性来提升磁体整体抗失磁能力。在此基础上,探究了更为合理的重稀土渗入区域及渗入梯度,从而保证在不失电机性能的前提下,实现了重稀土元素的极限应用,为表贴式永磁电机磁体选区渗重稀土技术提供了参考。

电动汽车用永磁同步电机失磁机理与选区渗重稀土研究

由于电动汽车用永磁同步电机(PMSM)具有高功率密度的设计要求,使得磁钢更易受到电磁以及高温影响致使出现不可逆失磁,为此常在磁钢制备时加入大量镝、铽等贵重稀土元素,但该方法使得磁钢材料价格激增。本文以一台“三角”型内置式永磁同步电机为研究对象,分别研究了温度、电枢电流大小以及弱磁角这三个因素对电机磁钢的失磁特性影响,进而确定磁钢的易失磁位置及失磁扩散规律。在此基础上,通过将电机磁钢材料的牌号更改为较低的牌号,并提出合理的选区渗重稀土设计方案,实现了在不损失电机性能的情况下,减少重稀土元素用量的目的。最后,提出一种适用于计算选区渗重稀土设计方案中最大内禀矫顽力提升倍数的方法,可为电动汽车用永磁同步电机磁钢减重稀土研发设计提供参考。

基于Simulink轮胎跳动对重型车转向特性影响分析

转向过程轮胎受地面载荷影响呈现跳动,而其对车辆稳定转向产生重要影响。车辆与地面间的接触是通过轮胎得以实现,轮胎受力直接影响到车辆转向稳定性。选用重型车辆轮胎外倾时的受力进行分析,基于此,对空载和满载工况下,高低速转向时的转角偏差进行分析;并对空载和满载工况下,转向时,车轮的摆动误差及滑移量进行分析,获取不同工况下各参数最优的数学模型;根据数学模型分析,基于Simulink搭建包含承载特性的转向系统模型,以此分析不同转速条件下轮胎的受力和轮胎跳动对转向的影响;应用实际车辆,选取双移线转向工况,对比分析运行轨迹和转角关系的差异,以此验证数学模型和仿真分析的可靠性。结果可知:在转向过程中,各轮胎的侧向力变化趋势基本一致;随着车速的增加,在转向过程中各轮胎所受的侧向力也呈现增加的趋势;随着速度的增加,前轴内侧轮胎受力先减小后增加;满载时,车轮跳动对车轮摆动误差的影响随着车轮转角增大而增大,而空载时,则影响更大,变化趋势也更复杂;实车测试与仿真轨迹基本保持一致,且外侧轮转向角曲线基本无较大变化,保持一致特性,误差小于3%,表明数学模型和仿真分析的准确性,为此类设计提供参考。

重型载货汽车长下坡制动控制策略

单一制动器温度升高出现制动热衰退现象后,其余制动器热负荷增加会影响整车制动效能,针对此问题提出了基于制动力观测模型的重型载货汽车长大下坡制动控制策略。首先,利用制动鼓温度能够准确表征制动力的特性建立了制动力观测模型;其次,依据整车制动器热衰退演变机理及车辆制动失稳机理,提出了结合散热量、地面附着率、滑移率及轴载的控制策略;然后,为了实现制动力的跟踪控制,建立了基于MPC制动力优化控制模型;为了验证提出的控制策略,建立了基于TruckSim和Matlab联合仿真模型;最后,进行低温制动工况、高温制动工况和基于滑移率的制动控制策略仿真验证。结果表明:低温工况能够抑制制动器温度的快速升高;高温工况能够降低制动器提前出现热衰退的风险,在保证整车制动效能的同时,预留了必要安全措施时间;基于滑移率的控制策略可以保证车辆制动稳定性。结果表明:所提出的控制策略既能相对均衡地控制制动器温度上升速度,又能避免因某一制动器温度快速升高而增加其余制动器热负荷,且保证制动稳定性,从而提高了重型载货汽车长下坡制动安全性。