A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It h...A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.展开更多
The application of fine blanking to the manufacturing of helical gears directly from a strip has been restricted due to the traditional linear cutting stroke of the punch and die.In this work,rotational fine blanking ...The application of fine blanking to the manufacturing of helical gears directly from a strip has been restricted due to the traditional linear cutting stroke of the punch and die.In this work,rotational fine blanking which combined the linear and rotational motion of punch and counterpunch was applied for the forming of helical gears.A three-dimensional(3D) rigid-plastic finite element model was developed on the DEFORM-3D platform.By finite element simulation and analysis,the influences of key parameters on the punch load and cut surface were investigated.It is shown that: 1) with increasing the counterforce or helical angle,the punch load and the depth of die roll increase; 2) with increasing blank holder force,the punch load increases while the depth of die roll decreases; 3) V-ring indenter facilitates an improvement in the quality.The results of this research reveal the deformation mechanism of rotational fine blanking of helical gears,and provide valuable guidelines for further experimental studies.展开更多
A roller rack pinion(RRP)system,which consists of a rack-bar and a cam pinion,transforms a rotation motion into linear motion.The rack-bar has a series of roller train and meshes with the cam pinion.First,the exact to...A roller rack pinion(RRP)system,which consists of a rack-bar and a cam pinion,transforms a rotation motion into linear motion.The rack-bar has a series of roller train and meshes with the cam pinion.First,the exact tooth profile of the cam pinion and the non-undercut condition to satisfy the required performance have been proposed with the introduction of the profile shift coefficient.Then,the load stress factors are investigated under the variation of the shape design parameters to predict the gear surface fatigue limit which is strongly related to the gear noise and vibration at the contact patch.The results show that the pitting life can be extended significantly with the increase of the profile shift coefficient.展开更多
基金Project (50575206) supported by the National Natural Science Foundation of ChinaProject (BX102716) supported by Xinmiao Program of Zhejiang Province, China
文摘A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.
基金Project(51105287)supported by the National Natural Science Foundation of ChinaProject(2011-P05)supported by the State Key Laboratory of Materials Processing and Die&Mould Technology,Huazhong University of Science and Technology,ChinaProject(2011-IV-009)supported by the Fundamental Research Funds for the Central Universities,China
文摘The application of fine blanking to the manufacturing of helical gears directly from a strip has been restricted due to the traditional linear cutting stroke of the punch and die.In this work,rotational fine blanking which combined the linear and rotational motion of punch and counterpunch was applied for the forming of helical gears.A three-dimensional(3D) rigid-plastic finite element model was developed on the DEFORM-3D platform.By finite element simulation and analysis,the influences of key parameters on the punch load and cut surface were investigated.It is shown that: 1) with increasing the counterforce or helical angle,the punch load and the depth of die roll increase; 2) with increasing blank holder force,the punch load increases while the depth of die roll decreases; 3) V-ring indenter facilitates an improvement in the quality.The results of this research reveal the deformation mechanism of rotational fine blanking of helical gears,and provide valuable guidelines for further experimental studies.
基金Research financially supported by Changwon National University in 2011-2012,Korea
文摘A roller rack pinion(RRP)system,which consists of a rack-bar and a cam pinion,transforms a rotation motion into linear motion.The rack-bar has a series of roller train and meshes with the cam pinion.First,the exact tooth profile of the cam pinion and the non-undercut condition to satisfy the required performance have been proposed with the introduction of the profile shift coefficient.Then,the load stress factors are investigated under the variation of the shape design parameters to predict the gear surface fatigue limit which is strongly related to the gear noise and vibration at the contact patch.The results show that the pitting life can be extended significantly with the increase of the profile shift coefficient.
