Influence of the Weld Joint Position on the Mechanical Stress Concentration in the Construction of the Alternative Skid Car System’s Skid Chassis

This paper deals with the optimization of the crossbars, parts of the existing frame of the experimental system of the Alternative SkidCar. This part plays a crucial role and is designed to enable and ensure reduced adhesion conditions between the vehicle and the road. To this end, its optimization targeted here is performed using both analytical calculations and simulations in MSC Adams software, wherein the loading forces and boundary conditions on the frame support wheels are obtained considering the static conditions, as well as the change of the direction of travel. The least favourable load observed was used, later on, as the input value for the strength analysis of the frame. The analysis was performed using the finite element method (FEM) in SolidWorks. Based on the linear and nonlinear analyses performed, the course of stress on the frame arms and critical points with the highest stress concentration were determined. Subsequently, according to the results obtained, a new design for the current frame was proposed and, thereby, warrants greater rigidity, stability and strength to the entire structure, while reducing its weight and maximizing the potential of the selected material. The benefit of the current contribution lies in the optimization of the current frame shape, in terms of the position of weld joints, the location of the reinforcements and the thickness of the material used.

Design of Optical Free-Form Surface Milling Machine Based on Mechanical Shunt and Dynamic Analysis

An optical free-form surface milling machine is designed according to the process characteristics and cutting force of optical components manufacturing. The Z-axis column of the milling machine is designed by a mechanical shunt. In this paper, based on the principle of multibody dynamics (MBD), a virtual prototype (VP) of the optical free-form surface milling machine was established by the ADAMS software. The Z-axis characteristics of the milling machine were simulated and studied, and a modal analysis was carried out to obtain the natural frequencies and vibration modes of the milling machine. The simulation results show that the Z-axis of the milling machine has excellent dynamic characteristics when the gravity balance device is not working. The average torque of the Z-axis motor is 0.5 N·m when the gravity balance device is working, the average torque of the Z-axis motor is 0.1 N·m, and the average torque is reduced by 80%; therefore, the gravity balance device can obviously lower the load of the Z-axis motor, and improve the efficiency of the milling machine.

Dynamic Analysis for a Reciprocating Compressor System with Clearance Fault

In order to explore the failure mechanism of a reciprocating compressor system with clearance fault, we implemented a computational framework whereby a simulation model of the mechanism is established using ADAMS software in this paper, and a typical reciprocating compressor model is introduced to validate the design model. In this work, the joint clearance faults between the crankshaft and linkage, between the linkage and crosshead, and in both locations are taken into account computationally. These faults are one of the major causes of vibration. Through dynamic calculation and analysis of a system with clearance fault, the simulated results show that these clearance faults directly influence the vibration. The larger the gap size, the more severe the vibration and the higher the amplitude of the vibration. Furthermore, the clearance number also affects the vibration greatly.

Design and Dynamic Modeling of a 3-RPS Compliant Parallel Robot Driven by Voice Coil Actuators

In order to increase the driving force of the voice coil actuator while reducing its size and mass, the structural parameters of the coil and magnet in the actuator are optimized by combing Biot–Savart law with Lagrangian interpolation. A 30 mm × 30 mm × 42 mm robot based on a 3-RPS parallel mechanism driven by voice coil actuators is designed. The Lagrangian dynamic equation of the robot is established, and the mapping relationship between the driving force and the end pose is explored. The results of dynamic analysis are simulated and verified by the ADAMS software. The mapping relationship between the input current and the end pose is concluded by taking the driving force as the intermediate variable. The robot can bear a load of 10 g. The maximum axial displacement of the robot can reach 9 mm, and the maximum pitch angle and return angle can reach 40 and 35 degrees, respectively. The robot can accomplish forward movement through vibration, and the maximum average velocity can reach 4.1 mm/s.

Research and development of designs of the equipment for classifying the materials with particles

There are studies showing that 10% of the total energy generated in the world is spent on crushing and sifting and sorting processes in agricultural and mining sectors. 52.7% of the total mining industries extracts metal ores, 36.3% of them extracts coal and agricultural sector plants wheat and crops on the 350 thousand hectares of land per year an average. It can be seen that there is a need for sorting the materials with particles in these sectors. According to the needs, the energy expenditure is high and the devices and equipment used still maintaining their traditional designs and makes. The process of sorting out the materials with particles is sifted by the flat surfaced, trommel shaped, and cylindrical mesh surfaces positioned in vertical axis. The above methods are still in use, which becomes the basis of mechanical sifting methods. Therefore, the researchers continue to work on perfecting the above methods. The goal of this research work is to survey and determine the possibility of the changes in the designs of sifting equipment with the trommels can improve the influences that are created during the sifting process, the efficiency of sifting and the productivity of device or equipment. By this research work, with the purpose to improve the parameters of sifting of materials with particles, we will change the design of cylindrical trommel of the cross trommel sieve, which is often used in the sifting process to axle to its axis, and in order to confirm the results of experiment by determining the CAD analysis of axle trommel and the movement of one particle inside of it using the ADAMS software, the experiment on the real equipment shall be rationalized by putting into the mathematic modeling, develop the physical modeling using the “EDEM solution” software and process the results.

Design and Research of All-Terrain Wheel-Legged Robot

Aiming at the crossing problem of complex terrain, to further improve the ability of obstacles crossing, this paper designs and develops an all-terrain wheel-legged hybrid robot (WLHR) with strong adaptability to the environment. According to the operation requirements in different road conditions, the robot adopts a wheel and leg compound structure, which can realize the transformation of wheel movement and leg movement to adjust its motion state. The straight and turning process of the robot is analyzed theoretically, the kinematics model is established and solved, and obstacle crossing analysis is carried out by establishing the mathematical model of front wheel obstacle crossing when the robot meets obstacles. To verify the analysis results, ADAMS software is used to simulate and analyze the process of robot running on the complex road surface and obstacles-crossing. Finally, a theoretical prototype is made to verify its feasibility. Theoretical analysis and experimental results show that the designed WLHR is feasible and has the stability of the wheeled mechanism and the higher obstacle crossing ability of the legged mechanism so that the robot can adapt to a variety of complex road conditions.

DIMENSIONAL SYNTHESIS OF A GAIT REHABILITATION CABLE-SUSPENDED ROBOT ON MINIMUM 2-NORM TENSIONS

A new design of gait rehabilitation robot with cable-suspended configuration is proposed. Due to the under-constrained nature, it enables reducing the constraint feeling of patients. Cables are attached to cuffs mounted on the leg. A detailed mechanical design is presented and a kinematics model is developed. Dimensional synthesis is performed in two steps. First, the cable disposition should be determined within a range to maintain cable-suspended configuration using the minimum 2-norm solution of tensions. Second, the optimal cable disposition is achieved with the Root Mean Square of tension solutions. Gait rehabilitation robots with three or four cables are discussed and compared to determine dimensional parameters in terms of the locations of pulleys. A simulation model with ADAMS software is presented and the cable module is utilized to imitate the cable-driven system in real. Tension distribution is obtained from the simulation model, which is employed in comparison with the calculated values. The simulation results demonstrate the effectiveness of the presented method.

Constraint optimization of nonlinear McPherson suspension system using genetic algorithm and ADAMS software

In this article, optimization of the McPherson suspension mechanism of a real car named Arisan is considered. In this regard, a model based on a real-life suspension system is proposed with the least simplification. This model is built in the ADAMS/View software based on the actual size of the suspension mechanism of Arisan. Moreover, the user-written code of the genetic algorithm in C is added as a plug-in to the ADAMS/View software in a completely innovative way to optimize the suspension system. 16 parameters of the suspension system are selected as design variables to wholly handle its geometry. The value of all design variables is optimally found by GA to minimize the variation of the camber angle as an objective function. Comparison of the obtained optimum suspension by the proposed method with the actual suspension system of Arisan shows a 23.5% improvement in the camber variation angle. It is worth noting that the proposed method does not require a mathematical model of the suspension system that leads to some simplifications such as linearization and non-friction joints. The proposed method can be used for modeling and optimization of other nonlinear dynamical systems such as robotics and building structures.

A Novel Elastic Metamaterial with Multiple Resonators for Vibration Suppression

In this paper, two models of elastic metamaterial containing one and two resonators are proposed to obtain the bandgaps with the aim of providing broadband vibration suppression. The model with one DOF is built by assembling several unite cells in which each unite cell consists of a rectangular frame as the base structure and a rack-and-pinion mechanism that is joined to the frame with a linear spring on both sides. In the second model with two DOF, a small mass is added while its center is attached to the center of the pinion on one side and the other side is connected to the rectangular frame via a linear spring. In the first mechanism, the pinion is considered as the single resonator, and in the 2DOF model, on the other hand, the pinion and small mass acted as multiple resonators. By obtaining the governing equations of motion for a single cell in each model, the dynamic behavior of two metastructures is thoroughly investigated. Therefore, the equations of motion for the two models are written in matrix form, and then, the dispersion relations are presented to analyze the influences of system parameters on the bandgaps’ starting/ending frequencies. Finally, two models are successfully compared and then numerically simulated via MATLAB-SIMULINK and MSC-ADAMS software. With the aid of closed-form expressions for starting/ending frequencies, the correlation between the system parameters and bandgap intervals can be readily recognized.

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.