A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexib...A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.展开更多
The planetary reducer is a common type of transmission mechanism,which can provide high transmission accuracy and has been widely used,and it is usually required with high reliability of transmission characteristics i...The planetary reducer is a common type of transmission mechanism,which can provide high transmission accuracy and has been widely used,and it is usually required with high reliability of transmission characteristics in practice.During the manufacturing and usage stages of planetary reducers,uncertainties are ubiquitous and wear is inevitable,which affect the transmission characteristics and the reliability of planetary reducers.In this paper,belief reliability modeling and analysis considering multi-uncertainties and wear are proposed for planetary reducers.Firstly,based on the functional principle and the influence of wear,the performance margin degradation model is established using the hysteresis error as the key performance parameter,where the degradation is mainly caused by the accumulated wear.After that,multi-source uncertainties are analyzed and quantified separately,including manufacturing errors,uncertainties in operational and environmental conditions,and uncertainties in performance thresholds.Finally,the belief reliability model is established based on the performance margin degradation model.A case study of a planetary reducer is applied and the reliability sensitivity analysis is implemented to show the practicability of the proposed method.The results show that the proposed method can provide some suggestions to the design and manufacturing phases of the planetary reducer.展开更多
In order to meet the demands of new-generation electric vehicles that require high power output(over 15 kW/kg),it is crucial to increase the energy density of car-bon-based supercapacitors to a level comparable to tha...In order to meet the demands of new-generation electric vehicles that require high power output(over 15 kW/kg),it is crucial to increase the energy density of car-bon-based supercapacitors to a level comparable to that of batteries,while maintaining a high power density.We re-port a porous carbon material produced by immersing pop-lar wood(PW)sawdust in a solution of KOH and graphene oxide(GO),followed by carbonization.The resulting mater-ial has exceptional properties as an electrode for high-en-ergy supercapacitors.Compared to the material prepared by the direct carbonization of PW,its electrical conductivity was in-creased from 0.36 to 26.3 S/cm.Because of this and a high microporosity of over 80%,which provides fast electron channels and a large ion storage surface,when used as the electrodes for a symmetric supercapacitor,it gave a high energy density of 27.9 Wh/kg@0.95 kW/kg in an aqueous electrolyte of 1.0 mol/L Na_(2)SO_(4).The device also had battery-level energy storage with maximum energy densities of 73.9 Wh/kg@2.0 kW/kg and 67.6 Wh/kg@40 kW/kg,an ultrahigh power density,in an organic electrolyte of 1.0 mol/L TEABF4/AN.These values are comparable to those of 30−45 Wh/kg for Pb-acid batteries and 30−55 Wh/kg for aqueous lithium batteries.This work indicates a way to prepare carbon materials that can be used in supercapacit-ors with ultrahigh energy and power densities.展开更多
基金Project(2009AA04Z216) supported by the National High-Tech Research and Development Program (863 Program) of ChinaProject(2009ZX04013-011) supported by the National Science and Technology Major Project of ChinaProject supported by the HIT Oversea Talents Introduction Program,China
文摘A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.
基金This work was supported by the National Natural Science Foundation of China(51775020,51875019)the Fundamental Research Funds for the Central Universities(YWF-20-BJ-J-515).
文摘The planetary reducer is a common type of transmission mechanism,which can provide high transmission accuracy and has been widely used,and it is usually required with high reliability of transmission characteristics in practice.During the manufacturing and usage stages of planetary reducers,uncertainties are ubiquitous and wear is inevitable,which affect the transmission characteristics and the reliability of planetary reducers.In this paper,belief reliability modeling and analysis considering multi-uncertainties and wear are proposed for planetary reducers.Firstly,based on the functional principle and the influence of wear,the performance margin degradation model is established using the hysteresis error as the key performance parameter,where the degradation is mainly caused by the accumulated wear.After that,multi-source uncertainties are analyzed and quantified separately,including manufacturing errors,uncertainties in operational and environmental conditions,and uncertainties in performance thresholds.Finally,the belief reliability model is established based on the performance margin degradation model.A case study of a planetary reducer is applied and the reliability sensitivity analysis is implemented to show the practicability of the proposed method.The results show that the proposed method can provide some suggestions to the design and manufacturing phases of the planetary reducer.
文摘In order to meet the demands of new-generation electric vehicles that require high power output(over 15 kW/kg),it is crucial to increase the energy density of car-bon-based supercapacitors to a level comparable to that of batteries,while maintaining a high power density.We re-port a porous carbon material produced by immersing pop-lar wood(PW)sawdust in a solution of KOH and graphene oxide(GO),followed by carbonization.The resulting mater-ial has exceptional properties as an electrode for high-en-ergy supercapacitors.Compared to the material prepared by the direct carbonization of PW,its electrical conductivity was in-creased from 0.36 to 26.3 S/cm.Because of this and a high microporosity of over 80%,which provides fast electron channels and a large ion storage surface,when used as the electrodes for a symmetric supercapacitor,it gave a high energy density of 27.9 Wh/kg@0.95 kW/kg in an aqueous electrolyte of 1.0 mol/L Na_(2)SO_(4).The device also had battery-level energy storage with maximum energy densities of 73.9 Wh/kg@2.0 kW/kg and 67.6 Wh/kg@40 kW/kg,an ultrahigh power density,in an organic electrolyte of 1.0 mol/L TEABF4/AN.These values are comparable to those of 30−45 Wh/kg for Pb-acid batteries and 30−55 Wh/kg for aqueous lithium batteries.This work indicates a way to prepare carbon materials that can be used in supercapacit-ors with ultrahigh energy and power densities.
