Wear and scuffing failures often occur in marine transmission gears due to high friction and flash temperature at the interface between the meshing-teeth.In this paper,a numerical solution procedure was developed for ...Wear and scuffing failures often occur in marine transmission gears due to high friction and flash temperature at the interface between the meshing-teeth.In this paper,a numerical solution procedure was developed for the predictions of transient friction and flash temperature in the marine timing gears during one meshing circle based on the 3D line contact mixed lubrication simulation,which had been verified by comparing the flash temperature with those from Blok’s theory.The effect of machined surface roughness on the mixed lubrication characteristics is studied.The obtained results for several typical gear pairs indicate that gear pair 4-6 exhibits the largest friction and the highest interfacial temperature increase due to severe rough surface asperity contacts,while the polished gear surfaces yield the smallest friction and the lowest interfacial temperature.In addition,the influences of the operating conditions and the gear design parameters on the friction-temperature behaviors are discussed.It is observed that the conditions of heavy load and low rotational velocity usually lead to significantly increased friction and temperature.In the meantime,by optimizing the gear design parameters,such as the modulus and the pressure angle,the performance of interfacial friction and temperature can be significantly improved.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
基金Project(51905118)supported by the National Natural Science Foundation of ChinaProject(3072020CF0306)supported by the Fundamental Research Funds for the Central Universities,China。
文摘Wear and scuffing failures often occur in marine transmission gears due to high friction and flash temperature at the interface between the meshing-teeth.In this paper,a numerical solution procedure was developed for the predictions of transient friction and flash temperature in the marine timing gears during one meshing circle based on the 3D line contact mixed lubrication simulation,which had been verified by comparing the flash temperature with those from Blok’s theory.The effect of machined surface roughness on the mixed lubrication characteristics is studied.The obtained results for several typical gear pairs indicate that gear pair 4-6 exhibits the largest friction and the highest interfacial temperature increase due to severe rough surface asperity contacts,while the polished gear surfaces yield the smallest friction and the lowest interfacial temperature.In addition,the influences of the operating conditions and the gear design parameters on the friction-temperature behaviors are discussed.It is observed that the conditions of heavy load and low rotational velocity usually lead to significantly increased friction and temperature.In the meantime,by optimizing the gear design parameters,such as the modulus and the pressure angle,the performance of interfacial friction and temperature can be significantly improved.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
