The ITER （international thermonuclear experimental reactor） tractor is an in-cask remote handling equipment, its tilting and lifting mechanism is important for the tractor operated with forty-five-ton plug in front ...The ITER （international thermonuclear experimental reactor） tractor is an in-cask remote handling equipment, its tilting and lifting mechanism is important for the tractor operated with forty-five-ton plug in front of the ports of Hot Cell and VV （vacuum vessel） successfully. In order to better analyse the movement of this mechanism and decide the key design parameters accurately, a mathematical model of 7-1ink complicated plane mechanism was built up, and the calculation of design and kinematics simulation were implemented. The established mathematical model was proved to be valid by comparing the calculated result with that of kinematics simulation. Finally, the structure analysis and the optimization of its key part, tilting and lifting frame, were performed to guarantee the frame＇s strength in bearing the heavy load of plug.展开更多
Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to...Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.展开更多
Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the ...Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the end operating point and two workspaces are analyzed and compared. The kinematics models of the end operating point of two mechanisms are simulated by Matlab examples obtaining variation of kinematics parameters of these two mechanisms. The research of this paper provides the basis for the selection of mechanism, trajectory planning of the end operating point on the sprayer and often some practical value for trajectory analysis and structure design of the plane sprayer.展开更多
This project to state cocoon to pick up object,by studying the cocoon stress performance and structure characteristics.On the basis of the picking up work process,vig virtual prototype technology to design and study a...This project to state cocoon to pick up object,by studying the cocoon stress performance and structure characteristics.On the basis of the picking up work process,vig virtual prototype technology to design and study a kind of mechanical used to cocoon picking,by using ADAMS,Soliworks software to complete the whole process of mechanical system design,simulation,can meet the premise of stable,reliable cocoon picking,and cocoon picking mechanical system design,low cost and simple structure.展开更多
By means of Solid Works, three-dimensional model of automated assembly system was established, and kinematic simulation based on Solid Works Motion of assembly process for relay was performed. The simulation results p...By means of Solid Works, three-dimensional model of automated assembly system was established, and kinematic simulation based on Solid Works Motion of assembly process for relay was performed. The simulation results proved the feasibility of mechanical design. Eventually, the productivity was estimated based on simulation analysis. The mechanical design provided a solution with high reference value to practical design of automated assembly system for relay.展开更多
Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The softwa...Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The software Solidworks and MSC. ADAMS are adopted to simulate and analyze the prototype model of the robot. By the simulations used in our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foot＇s path is feasible. The principles, methods, and processes of the simulation of hexapod robot are illustrated. A methodology is proposed to get the robot inverse solution in ADAMS, and to simplify the theoretical calculation, and further more to improve the efficiency of the design.展开更多
Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the compl...Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts - single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation.展开更多
Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the ...Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.展开更多
This study carried out detailed structural analyses of the plane structural deformation pattern and sectional structural deformation styles of the Fauqi Anticline by the 3D seismic section with full cover collection, ...This study carried out detailed structural analyses of the plane structural deformation pattern and sectional structural deformation styles of the Fauqi Anticline by the 3D seismic section with full cover collection, and carried out the kinematical simulation of the Fauqi anticlinal deep decollement coupling shallow growth folds and faults based on the fault decollement fold model and the forward balanced geological section technique. The study subsequently evaluated the differentiated petroleum enrichment mechanism of the Fauqi Anticline by utilizing the results of the structural analysis and combining the spatial-temporal relationship analysis of the source, the reservoir, and the caprock. The results showed that the differentiated plane structural deformation pattern and hierarchical sectional structural deformation style were developed by the superposed coupling of deep decollement, syntectonic sedimentation of shallow growth strata, and the compression of the south-west horizontal tectonic stress from the Zagros Mountains. It was found that the differentiated structural deformation caused the differentiated enrichment of petroleum in the Fauqi Anticline. It was also found that the horizontal slip distance of the Fauqi Anticlinal Folds reached around 3.5 km by the simulation of deep decollement coupling the movement of the shallow growth folds and the faults.展开更多
Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homo...Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.展开更多
The motion of a particle on a screen is directly affected by the motion of the screen if airflow and inter- granular friction are ignored. To study this effect, a mathematical model was established to analyze the moti...The motion of a particle on a screen is directly affected by the motion of the screen if airflow and inter- granular friction are ignored. To study this effect, a mathematical model was established to analyze the motion of a planar reciprocating vibrating screen, and a matrix method was employed to derive its equa- tion of motion. The motion of the screen was simulated numerically and analyzed using MATLAB. The results show that the screen undergoes non-simple harmonic motion and the law of motion of each point in the screen is different. The tilt angle of the screen during screening is not constant but varies according to a specific periodic function. The results of numerical simulations were verified through experiments. A high-speed camera was used to track the motion of three points in the longitudinal direction of the screen. The balance equation for forces acting on a single particle on the screen was derived based on the non-simple harmonic motion of the screen, These forces were simulated using MATLAB. Different types of particle motion like slipping forward, moving backward, and being tossed to different parts of the screen were analyzed. A vibro-impact motion model for a particle on the non-simple harmonic vibrating screen was established based on the nonlinear law of motion of the particle. The stability of fixed points of the map is discussed. Regimes of different particle behaviors such as stable periodic motion, period-doubling bifurcation motion, Hopf bifurcation motion, and chaotic motion were obtained. With the actual law of motion of the screen and the behavior of a particle on the screen, a theoretical basis for design optimization of the screen is provided.展开更多
In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes′spherical crown surfaces in the aerospace industry,a novel serial-parallel hybrid pro...In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes′spherical crown surfaces in the aerospace industry,a novel serial-parallel hybrid processing robot mechanism is proposed.The degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw theory.The inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is established.Then,the constraints of the main factors influencing workspace of the mechanism are given,and the position and posture workspace are obtained.Next,the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian matrix.The virtual prototype is established,and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams software.The research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes′spherical crown surface processing,and has feasibility and practical application value.展开更多
基金design of the ITER transfer casks system(ITER International Team),ITA 23-01-CN
文摘The ITER （international thermonuclear experimental reactor） tractor is an in-cask remote handling equipment, its tilting and lifting mechanism is important for the tractor operated with forty-five-ton plug in front of the ports of Hot Cell and VV （vacuum vessel） successfully. In order to better analyse the movement of this mechanism and decide the key design parameters accurately, a mathematical model of 7-1ink complicated plane mechanism was built up, and the calculation of design and kinematics simulation were implemented. The established mathematical model was proved to be valid by comparing the calculated result with that of kinematics simulation. Finally, the structure analysis and the optimization of its key part, tilting and lifting frame, were performed to guarantee the frame＇s strength in bearing the heavy load of plug.
基金Postdoctoral Fund of Settling Down in Heilongjiang Province(LBH-Q06094)
文摘Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.
文摘Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the end operating point and two workspaces are analyzed and compared. The kinematics models of the end operating point of two mechanisms are simulated by Matlab examples obtaining variation of kinematics parameters of these two mechanisms. The research of this paper provides the basis for the selection of mechanism, trajectory planning of the end operating point on the sprayer and often some practical value for trajectory analysis and structure design of the plane sprayer.
基金supported by Innovation Training Program for College Students⁃design of Cocoon Picking Machinery System Based on ADAMS(SA2300001336)。
文摘This project to state cocoon to pick up object,by studying the cocoon stress performance and structure characteristics.On the basis of the picking up work process,vig virtual prototype technology to design and study a kind of mechanical used to cocoon picking,by using ADAMS,Soliworks software to complete the whole process of mechanical system design,simulation,can meet the premise of stable,reliable cocoon picking,and cocoon picking mechanical system design,low cost and simple structure.
文摘By means of Solid Works, three-dimensional model of automated assembly system was established, and kinematic simulation based on Solid Works Motion of assembly process for relay was performed. The simulation results proved the feasibility of mechanical design. Eventually, the productivity was estimated based on simulation analysis. The mechanical design provided a solution with high reference value to practical design of automated assembly system for relay.
基金Sponsored by the Ministerial Level Advanced Research Foundation(6140528)
文摘Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The software Solidworks and MSC. ADAMS are adopted to simulate and analyze the prototype model of the robot. By the simulations used in our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foot＇s path is feasible. The principles, methods, and processes of the simulation of hexapod robot are illustrated. A methodology is proposed to get the robot inverse solution in ADAMS, and to simplify the theoretical calculation, and further more to improve the efficiency of the design.
文摘Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts - single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation.
基金Supported by Natural Science Foundation of Shandong Province,China(No.ZR2010EM007)Shandong Province Science and Technology Development Plan(No.2010GGX10402)
文摘Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.
基金supported by the National Basic Research Program of China (Grant No. 2014CB239201)the National Science and Technology Major Project (Grant No. 2011ZX05030-005-03)
文摘This study carried out detailed structural analyses of the plane structural deformation pattern and sectional structural deformation styles of the Fauqi Anticline by the 3D seismic section with full cover collection, and carried out the kinematical simulation of the Fauqi anticlinal deep decollement coupling shallow growth folds and faults based on the fault decollement fold model and the forward balanced geological section technique. The study subsequently evaluated the differentiated petroleum enrichment mechanism of the Fauqi Anticline by utilizing the results of the structural analysis and combining the spatial-temporal relationship analysis of the source, the reservoir, and the caprock. The results showed that the differentiated plane structural deformation pattern and hierarchical sectional structural deformation style were developed by the superposed coupling of deep decollement, syntectonic sedimentation of shallow growth strata, and the compression of the south-west horizontal tectonic stress from the Zagros Mountains. It was found that the differentiated structural deformation caused the differentiated enrichment of petroleum in the Fauqi Anticline. It was also found that the horizontal slip distance of the Fauqi Anticlinal Folds reached around 3.5 km by the simulation of deep decollement coupling the movement of the shallow growth folds and the faults.
基金supported by the Key Scientific and Technological Project of Shanghai Science and Technology Commission(Grant No.12111101004)
文摘Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.
基金This work was financially supported by the Chinese Natural Science Foundation （Grant No. 51475090）, New Century Excel- lent Talents of General Universities of Heilongjiang Province, China （Grant No. 1254-NCET-003） and Youth Science and Technology Innovation Fund of Harbin City, China （Grant No. 2014RFQXJ142）, and Science Backbone Project of the Northeast Agricultural University.
文摘The motion of a particle on a screen is directly affected by the motion of the screen if airflow and inter- granular friction are ignored. To study this effect, a mathematical model was established to analyze the motion of a planar reciprocating vibrating screen, and a matrix method was employed to derive its equa- tion of motion. The motion of the screen was simulated numerically and analyzed using MATLAB. The results show that the screen undergoes non-simple harmonic motion and the law of motion of each point in the screen is different. The tilt angle of the screen during screening is not constant but varies according to a specific periodic function. The results of numerical simulations were verified through experiments. A high-speed camera was used to track the motion of three points in the longitudinal direction of the screen. The balance equation for forces acting on a single particle on the screen was derived based on the non-simple harmonic motion of the screen, These forces were simulated using MATLAB. Different types of particle motion like slipping forward, moving backward, and being tossed to different parts of the screen were analyzed. A vibro-impact motion model for a particle on the non-simple harmonic vibrating screen was established based on the nonlinear law of motion of the particle. The stability of fixed points of the map is discussed. Regimes of different particle behaviors such as stable periodic motion, period-doubling bifurcation motion, Hopf bifurcation motion, and chaotic motion were obtained. With the actual law of motion of the screen and the behavior of a particle on the screen, a theoretical basis for design optimization of the screen is provided.
基金This work was supported by Fundamental Research Funds for the Central Universities(No.2018JBZ007).
文摘In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes′spherical crown surfaces in the aerospace industry,a novel serial-parallel hybrid processing robot mechanism is proposed.The degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw theory.The inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is established.Then,the constraints of the main factors influencing workspace of the mechanism are given,and the position and posture workspace are obtained.Next,the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian matrix.The virtual prototype is established,and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams software.The research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes′spherical crown surface processing,and has feasibility and practical application value.
