Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularityFrontiers of Mechanical Engineering - Tập 11 - Trang 135-143 - 2016
Fugui Xie, Xin-Jun Liu
This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-andplace manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.
Coupling evaluation for material removal and thermal control on precision milling machine toolsFrontiers of Mechanical Engineering - Tập 17 - Trang 1-13 - 2022
Kexu Lai, Huajun Cao, Hongcheng Li, Benjie Li, Disheng Huang
Machine tools are one of the most representative machining systems in manufacturing. The energy consumption of machine tools has been a research hotspot and frontier for green low-carbon manufacturing. However, previous research merely regarded the material removal (MR) energy as useful energy consumption and ignored the useful energy consumed by thermal control (TC) for maintaining internal thermal stability and machining accuracy. In pursuit of energy-efficient, high-precision machining, more attention should be paid to the energy consumption of TC and the coupling relationship between MR and TC. Hence, the cutting energy efficiency model considering the coupling relationship is established based on the law of conservation of energy. An index of energy consumption ratio of TC is proposed to characterize its effect on total energy usage. Furthermore, the heat characteristics are analyzed, which can be adopted to represent machining accuracy. Experimental study indicates that TC is the main energy-consuming process of the precision milling machine tool, which overwhelms the energy consumption of MR. The forced cooling mode of TC results in a 7% reduction in cutting energy efficiency. Regression analysis shows that heat dissipation positively contributes 54.1% to machining accuracy, whereas heat generation negatively contributes 45.9%. This paper reveals the coupling effect of MR and TC on energy efficiency and machining accuracy. It can provide a foundation for energy-efficient, high-precision machining of machine tools.
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots for in-situ aero-engine maintenanceFrontiers of Mechanical Engineering - Tập 18 Số 3 - 2023
Zhiru Yang, Laihao Yang, Yu Sun, Xuefeng Chen
AbstractIn-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aeroengines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.
A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulatorFrontiers of Mechanical Engineering - Tập 10 - Trang 7-19 - 2015
Yuzhe Liu, Liping Wang, Jun Wu, Jinsong Wang
In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.
Advances in molecular dynamics simulation of ultra-precision machining of hard and brittle materialsFrontiers of Mechanical Engineering - Tập 12 - Trang 89-98 - 2017
Xiaoguang Guo, Qiang Li, Tao Liu, Renke Kang, Zhuji Jin, Dongming Guo
Hard and brittle materials, such as silicon, SiC, and optical glasses, are widely used in aerospace, military, integrated circuit, and other fields because of their excellent physical and chemical properties. However, these materials display poor machinability because of their hard and brittle properties. Damages such as surface micro-crack and subsurface damage often occur during machining of hard and brittle materials. Ultra-precision machining is widely used in processing hard and brittle materials to obtain nanoscale machining quality. However, the theoretical mechanism underlying this method remains unclear. This paper provides a review of present research on the molecular dynamics simulation of ultra-precision machining of hard and brittle materials. The future trends in this field are also discussed.
Review on electromagnetic welding of dissimilar materialsFrontiers of Mechanical Engineering - Tập 11 - Trang 363-373 - 2016
K. Shanthala, T. N. Sreenivasa
Electromagnetic welding (EMW) is a highspeed joining technique that is used to join similar or dissimilar metals, as well as metals to non-metals. This technique uses electromagnetic force to mainly join conductive materials. Unlike conventional joining processes, the weld interface does not melt, thus keeping the material properties intact. Extremely high velocity and strain rate involved in the process facilitate extending the EMW technique for joining several materials. In this paper, the research and progress in electromagnetic welding are reviewed from various perspectives to provide a basis for further research.
Optimization of WEDM process of pure titanium with multiple performance characteristics using Taguchi’s DOE approach and utility conceptFrontiers of Mechanical Engineering - Tập 8 - Trang 201-214 - 2013
Rupesh Chalisgaonkar, Jatinder Kumar
This paper describes the development of multi response optimization technique using utility method to predict and select the optimal setting of machining parameters in wire electro-discharge machining (WEDM) process. The experimental studies in WEDM process were conducted under varying experimental conditions of process parameters, such as pulse on time(T
on), pulse off time(T
off), peak current (IP), wire feed (WF), wire tension (WT) and servo voltage (SV) using pure titanium as work material. Experiments were planned using Taguchi’s L27 orthogonal array. Multi response optimization was performed for both cutting speed (CS) and surface roughness (SR) using utility concept to find out the optimal process parameter setting. The level of significance of the machining parameters for their effect on the CS and SR was determined by using analysis of variance (ANOVA). Finally, confirmation experiment was performed to validate the effectiveness of the proposed optimal condition.
Orientation effect of electropolishing characteristics of 316L stainless steel fabricated by laser powder bed fusionFrontiers of Mechanical Engineering - - 2021
Wei Han, Fengzhou Fang
Abstract3D metal printing process has attracted increasing attention in recent years due to advantages, such as flexibility and rapid prototyping. This study aims to investigate the orientation effect of electropolishing characteristics on different surfaces of 316L stainless steel fabricated by laser powder bed fusion (L-PBF), considering that the rough surface of 3D printed parts is a key factor limiting its applications in the industry. The electropolishing characteristics on the different surfaces corresponding to the building orientation in selective laser melting are studied. Experimental results show that electrolyte temperature has critical importance on the electropolishing, especially for the vertical direction to the layering plane. The finish of electropolished surfaces is affected by the defects generated during L-PBF process. Thus, the electropolished vertical surface has higher surface roughness Sa than the horizontal surface. The X-ray photoelectron spectroscopy spectra show that the electropolished horizontal surface has higher Cr/Fe element ratio than the vertical surface. The electropolished horizontal surface presents higher corrosion resistance than the vertical surface by measuring the anodic polarization curves and fitting the equivalent circuit of experimental electrochemical impedance spectroscopy.
