To gain a thorough understanding of the load state of parallel kinematic machines(PKMs), a methodology of elastodynamic modeling and joint reaction prediction is proposed. For this purpose, a Sprint Z3 model is used a...To gain a thorough understanding of the load state of parallel kinematic machines(PKMs), a methodology of elastodynamic modeling and joint reaction prediction is proposed. For this purpose, a Sprint Z3 model is used as a case study to illustrate the process of joint reaction analysis. The substructure synthesis method is applied to deriving an analytical elastodynamic model for the 3-PRS PKM device, in which the compliances of limbs and joints are considered. Each limb assembly is modeled as a spatial beam with non-uniform cross-section supported by lumped virtual springs at the centers of revolute and spherical joints. By introducing the deformation compatibility conditions between the limbs and the platform, the governing equations of motion of the system are obtained. After degenerating the governing equations into quasi-static equations, the effects of the gravity on system deflections and joint reactions are investigated with the purpose of providing useful information for the kinematic calibration and component strength calculations as well as structural optimizations of the 3-PRS PKM module. The simulation results indicate that the elastic deformation of the moving platform in the direction of gravity caused by gravity is quite large and cannot be ignored. Meanwhile, the distributions of joint reactions are axisymmetric and position-dependent. It is worthy to note that the proposed elastodynamic modeling method combines the benefits of accuracy of finite element method and concision of analytical method so that it can be used to predict the stiffness characteristics and joint reactions of a PKM throughout its entire workspace in a quick and accurate manner. Moreover, the present model can also be easily applied to evaluating the overall rigidity performance as well as statics of other PKMs with high efficiency after minor modifications.展开更多
The hot deformation behavior of Al-6.2Zn-0.70Mg-0.30Mn-0.17 Zr alloy and its microstructural evolution were investigated by isothermal compression test in the deformation temperature range between 623 and 773 K and th...The hot deformation behavior of Al-6.2Zn-0.70Mg-0.30Mn-0.17 Zr alloy and its microstructural evolution were investigated by isothermal compression test in the deformation temperature range between 623 and 773 K and the strain rate range between 0.01 and 20 s^(-1).The results show that the flow stress decreased with decreasing strain rate and increasing deformation temperature.At low deformation temperature(≤673 K) and high strain rate(≥1 s^(-1)),the main flow softening was caused by dynamic recovery;conversely,at higher deformation temperature and lower strain rate,the main flow softening was caused by dynamic recrystallization.Moreover,the slipping mechanism transformed from dislocation glide to grain boundary sliding with increasing the deformation temperature and decreasing the strain rate.According to TEM observation,numerous Al_3Zr particles precipitated in matrix,which could effectively inhibit the dynamic recrystallization of the alloy.Based on the processing map,the optimum processing conditions for experimental alloy were in deformation temperature range from 730 K to 773 K and strain rate range from 0.033 s^(-1) to 0.18 s^(-1) with the maximum efficiency of 39%.展开更多
基金Project(Kfkt2013-12)supported by Open Research Fund of Key Laboratory of High Performance Complex Manufacturing of Central South University,ChinaProject(2014002)supported by the Open Fund of Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,ChinaProject(51375013)supported by the National Natural Science Foundation of China
文摘To gain a thorough understanding of the load state of parallel kinematic machines(PKMs), a methodology of elastodynamic modeling and joint reaction prediction is proposed. For this purpose, a Sprint Z3 model is used as a case study to illustrate the process of joint reaction analysis. The substructure synthesis method is applied to deriving an analytical elastodynamic model for the 3-PRS PKM device, in which the compliances of limbs and joints are considered. Each limb assembly is modeled as a spatial beam with non-uniform cross-section supported by lumped virtual springs at the centers of revolute and spherical joints. By introducing the deformation compatibility conditions between the limbs and the platform, the governing equations of motion of the system are obtained. After degenerating the governing equations into quasi-static equations, the effects of the gravity on system deflections and joint reactions are investigated with the purpose of providing useful information for the kinematic calibration and component strength calculations as well as structural optimizations of the 3-PRS PKM module. The simulation results indicate that the elastic deformation of the moving platform in the direction of gravity caused by gravity is quite large and cannot be ignored. Meanwhile, the distributions of joint reactions are axisymmetric and position-dependent. It is worthy to note that the proposed elastodynamic modeling method combines the benefits of accuracy of finite element method and concision of analytical method so that it can be used to predict the stiffness characteristics and joint reactions of a PKM throughout its entire workspace in a quick and accurate manner. Moreover, the present model can also be easily applied to evaluating the overall rigidity performance as well as statics of other PKMs with high efficiency after minor modifications.
基金Project(2016GK1004)supported by the Science and Technology Major Project of Hunan Province,China
文摘The hot deformation behavior of Al-6.2Zn-0.70Mg-0.30Mn-0.17 Zr alloy and its microstructural evolution were investigated by isothermal compression test in the deformation temperature range between 623 and 773 K and the strain rate range between 0.01 and 20 s^(-1).The results show that the flow stress decreased with decreasing strain rate and increasing deformation temperature.At low deformation temperature(≤673 K) and high strain rate(≥1 s^(-1)),the main flow softening was caused by dynamic recovery;conversely,at higher deformation temperature and lower strain rate,the main flow softening was caused by dynamic recrystallization.Moreover,the slipping mechanism transformed from dislocation glide to grain boundary sliding with increasing the deformation temperature and decreasing the strain rate.According to TEM observation,numerous Al_3Zr particles precipitated in matrix,which could effectively inhibit the dynamic recrystallization of the alloy.Based on the processing map,the optimum processing conditions for experimental alloy were in deformation temperature range from 730 K to 773 K and strain rate range from 0.033 s^(-1) to 0.18 s^(-1) with the maximum efficiency of 39%.
