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Kinematics simulation analysis and trajectory planning of a moving robot based on ADAMS
Get PDFThe study of kinematics modeling and simulation of industrial robots is the basis of robot development and optimization. According to the configuration characteristics of a moving robot, the coordinate system and the kinematics equation of the connecting rod are established based on the DH coordinate transformation method. The kinematics positive solution problem is solved in detail. The moving robot is established by the joint simulation of Solid works and ADAMS The motion model of the moving robot is verified by the kinematic analysis, and the displacement and angle curve of the end point are obtained. The rationality of the kinematics model of the moving robot is verified. The trajectory planning of the moving robot is carried out according to the actual situation, the results show that the moving robot is running smoothly and meets the requirements, which provides an important basis for the subsequent control research
Analysis on shear lag effect of three-span continuous curve steel box-section girder
Get PDFAnalysis on shear lag effect of curved box-section girder use finite element analysis software, by change three-span continuous curve steel’s space geometry parameter into explore basic model, which study different central angel and different curvature radius influence take part act on three span continuous curve steel box-section girder. By analysis on shear lag effect of different central angel, we can draw a conclusion that the shear lag effect on inner side and outer side can appear a simultaneity. When inner side joint point approach plus max, in the same time the outer side joint point approach minus max. When curve box-section girder in earthquake effect, the inner side is much larger than outer side. When other factors are not change, the change of central angel influence a lot on shear lag effect. The central angel is smaller, the bigger shear lag on midspan’s inner side than outer side. When only change curve radius, the smaller curve radius is, the bigger on midspan’s outer side than inner side
Simulation analysis on inner flow field and optimization design of air knife
Get PDFThis paper conducted a parametric modeling for air knife structure in a printing factory, used HYPERMESH software to divide the meshes of air model and combined with actual conditions to define various boundary conditions in the inner flow field of air knife. Meanwhile, this paper adopted fluid dynamics software Fluent to conduct numerical simulation for the internal airflow of air knife, obtained the distribution regulation of flow field, conducted a parametric modeling for air knife structure under many internal structural proposals through ANSYS design module based on the simulation computational result, conducted optimization design for the position of guide plates, the number of outlets and the size of return air tank in the detailed structure in the air knife in order to determine specific dimension parameters and optimal proposals. Based on the computational results of simulation, this paper found that the original air knife structure had a non-uniform flow field and low velocity at the inlet and outlets. With the increase of length of air knife, the velocity of the middle outlet reduced to zero and did not have obvious effects any more. Guide plates in the air knife had a great influence on the inner flow field of air knife. Through optimization design, the inner flow field of air knife became uniform when there was only one guide plate. When the guide plate was close to the front end of the air knife, the inner flow field of air knife was relatively uniform and velocity at the inlet and outlets was relatively high. This paper conducted a model design for air knives with different structural types and determined proposal 4 as the optimal design through repeated analysis. The design method in this paper could provide guidance for studying and designing air knife structures in the aspect of technological approach and theory
Fault diagnosis of rolling element bearing based on wavelet kernel principle component analysis-coupled hidden Markov model
Get PDFDifferent description results will be obtained when apply hidden Markov model (HMM) to the two different channel signals from the same data collection point respectively. Besides, wrong fault diagnosis result might be obtained because fault feature information would not be described comprehensively by using only one single channel signal. In theory, two channel signals collected form the same data collection point will contain much more fault information than the single channel signal contain, but the coupled phenomenon might occur between the two channel signals. Coupled hidden Markov model (CHMM) is the improved method of HMM and it can fuse the information of two channel signals from the same data collection point efficiently, so much more reliable diagnosis result could be obtained by using CHMM than by using HMM. Stated thus, the fault diagnosis method of rolling element bearing based on wavelet kernel component analysis (WKPCA)-CHMM is proposed: Firstly, use WKPCA as fault feature vectors extraction method to increase the efficiency of the proposed method. Then apply CHMM to the extracted fault feature vectors and satisfactory fault diagnosis result is obtained at last. The feasibility and advantages of the proposed method are verified through experiment
Study on the experiment and dynamical characteristics of vibrating icebreaking system
Get PDFIn view of the design problem of the working amplitude and working frequency of vibrating icebreaking machine, the stiffness and damping value of the ice-snow was identified with the mechanical vibration theory and finite element method. The two-degree-of-freedom mathematical model was established in this paper. And numerical simulation was performed. Then the related icebreaking experiment was carried out. A lot of test and experiment results had proved that experimental data was consistent with the theoretical analysis of mathematical model of vibrating icebreaking system. It was confirmed that the correctness of vibrating icebreaking system’s mathematical model and the rationality of its design could be proved
An analytical modeling for high-velocity impacts on woven Kevlar composite laminates
Get PDFIn this paper, an analytical model, which based on energy balance, is built to study the process of high velocity impacts on woven Kevlar composite laminates by a cylindrical projectile. Four different mechanisms, such as laminate crushing, linear momentum transfer and tensile fiber failure, and shear plugging, is absorbed by the laminate while impacting. Then, simplification of the model is done to obtain the residual velocity and ballistic limit. The analytical results are validated with the results of experiment, and the perturbation analysis is done to analyze the reason of error
Industrial level analysis of air quality and sound limits monitoring in Bangladesh using real time control system
Get PDFThis paper presents an important study of environmental Atmospheric analysis at industrial factories in Bangladesh. An Arduino based real time control system with gas and noise sensors has been developed to collect the data in various industries. The system then has been made operational at few cement factories to measure the noise (db) and dust (μg/m3) and compared with international standard requirements to understand whether the factories are providing healthier environment. Result shows both the noise and air quality to be within the borderline except few cases in which the solution has been proposed to improve the factors
Design and finite element simulation of an ultrasonic transducer of two piezoelectric discs
Get PDFWith the developing of ultrasound technology and expending of it’s application scope, new requirements for the structure and the energy radiation of the transducer are presented. A reasonable design and manufacture of the transducer ensures that the energy can be transmitted with minimal loss. Based on the longitudinal vibration equation, a sandwich piezoelectric transducer which can be used in the field of precision machining, medical and other fields is designed and simulated in this paper. Different from the ordinary transducer, the front cover of this transducer is also a horn which can amplify the output amplitude compared to an equal section circular bar. ANSYS15.0 is used to calculate and analyze the transducer model with using HyperMesh (HM) software to generate the mesh to ensure the quality of the mesh. The finite element analysis software can calculate the transducer modal and harmonic response, and the results can be used to compare with theoretical design. The design frequency of the transducer is 20 kHz, the error between the simulation and the theoretical value is less than five percent, the result obtained by ANSYS is very close to the theoretical design
Chaos analysis of ship rolling motion in stochastic beam seas
Get PDFIn this paper, the chaotic motion of ship roll in stochastic beam seas, which is regarded as a bounded noise is investigated in detail. The stochastic Melnikov approach is applied to the model and the criterion for the chaos in the mean-square sense is derived. The chaotic thresholds of noise parameters obtained by means of the stochastic Melnikov process are verified by the numerical safe basin. Besides of the factors of noise disturbances, the effects of the other parameters in the system on safe basin are also discussed systematically. The varieties of coefficients of the restoring moment can also induce the erosion of safe basin and lead to the occurrence of the chaos. On the other hand, the increase of damping coefficients can enhance the safe domain of ship sailing
Remaining life assessment for boiler tubes affected by combined effect of wall thinning and overheating
Get PDFBoilers, the most troublesome components of electric power, chemical and processing plants generate high costs in unscheduled shutdowns, repairs and power replacement. Every occurrence of ruptured tubes leads to emergency shutdown of the entire plant. This paper describes the joint international effort to develop faster and more efficient methods for condition assessment and remaining life prediction for boiler tubes made of low-carbon steel. Authors have undertaken a systematic research with the major objective to correlate the results of combined nondestructive testing (NDT) with condition assessment of boiler tubes. The evaluation included non-contact wall thickness measurement with EMAT technology plus internal oxide layer measurement with specialized ultrasonics. While the first method shows the remaining tube wall thickness, thus allowing calculating total stress, the latter one has the potential to characterize microstructure degradation, which up to now could only be determined by destructive analysis. The special attention was directed towards identification and analysis of creep damage due to overheating. In recent years, techniques were developed to identify heat damage by measuring the thickness of internal oxide scale because even a thin scale can seriously impede heat transfer causing elevation of temperature in tube wall. A combined effect of wall thinning and the “degree of overheating” on tube remaining life was investigated. The uniqueness of this work lies in one of the first attempts to develop and validate a tool for methodology for condition assessment and remaining life prediction, for Steel20 tube material, while most of previous authors had concentrated on Cr-Mo steels. Another contribution is the combined treatment of two different damage mechanisms and practical utilization of two various NDT techniques. To-date, both results are treated separately, and consequently separate reject criteria exist for overheating and separate for wall thinning. As a result of work presented in this paper, a procedure was recommended to calculate the tube remaining life based on the results of two ultrasonic tests