A novel model-based robust control design for collaborative robot joint module

In order to reduce the impact of load and system parameter changes on the dynamic performance of collaborative robot joint module, a novel robust control algorithm is proposed in this paper to solve the problem of dynamic control of collaborative robot joint module trajectory tracking. The controller is composed of two parts: one is a nominal control term designed based on the dynamical model, aiming to stabilize the nominal robot system; the other is a robust control term based on the Lyapunov method, aiming to eliminate the influence of uncertainty on tracking performance, where the uncertainties include nonlinear friction, parameter uncertainty, and external disturbances. The Lyapunov minimax method is adopted to prove that the system is uniformly bounded and uniformly ultimately bounded. We performed numerical simulation and experimental validation based on an actual collaborative robot joint module experimental platform and the rapid controller prototype cSPACE. The numerical simulation and experimental results show that the controller has excellent control performance for the collaborative robot joint module and provides more accurate trajectory tracking under the influence of uncertainties.

Turning inserts the selection approach based on fuzzy comprehensive evaluation

Tool selection is a multi-criteria decision-making problem in the presence of various selection criteria and a set of alternatives, but previous works are limited to evaluating the tools within the workshop tool library. To intelligently select proper inserts across suppliers under the Internet environment, an insert data format based on ISO 513 was established, and a framework was then designed to obtain a set of alternatives from different suppliers based on fuzzy intervals. Then, knowledge was described with convenient language and the simple membership function to build an intelligent system, which would infer the matching degree of insert characteristics to the machining conditions. Furthermore, analytic hierarchy process was applied to sort the alternatives. Finally, the case study shows that compared with previous works and machinists, this work not only obtains a set of alternatives from all suppliers who uploaded their product data with the designed format but comprehensively evaluates the insert (take finishing low-carbon steel as an example, both cemented carbide and cermet are recommended, the nose radius reduces 25%, the environmental index increases 25%, while the rake reduces 11.25%, when compared with machinists who tend to select the larger rake angle foe finishing). A platform was also developed based on Visual Studio 2015 and SQL Server 2012 to improve selection efficiency for inexperienced CNC operators, purchasers, and vendors.

Using variable modulus to modify a rack cutter and generate a gear pair

In this paper, two normal imaginary helical rack cutters were first established. One of these cutters is a skewed-rack cutter with an asymmetrical straight edge. The other is a rack cutter with an asymmetric parabolic profile. Second, the gear’s tooth surface of the asymmetric parabolic rack cutter is modified to be barrel-shaped based on a variable modulus. The tooth thickness of the gear is gradually reduced along the face width of the tooth from the middle of the tooth surface. Then the coordinate relationship between the gears’ blanks and the imaginary helical rack cutters was established. Through the differential geometry, crowned and uncrowned helical gear pairs were generated. Because of human factors, when the gear pair is installed, it is easy to cause the gear pair edge contact. It is necessary to add artificial assembly error settings through the tooth contact analysis to investigate the kinematic errors and contact conditions of the crowned and uncrowned helical gear pair. The mathematical models and analysis methods proposed for the crowned imaginary rack cutter using variable modulus should be useful for the design and production of double crowned helical gears with asymmetric parabolic teeth.

Mechanical strength of highly preloaded bolts affected by the ovalization of an aircraft wheel

This work presented in this paper concerns the modeling of the tensile and bending behavior of bolts in an airplane wheel. The design of a very rigid airplane tire means that the airplane wheel must be separated into two parts. In order not to have a separation between the two parts, several bolts with high preload are used. The main objective of this work is to predict the mechanical behavior of this assembly in a preliminary design phase with geometrical and global mechanical data. To achieve this objective, a simplified semi-numerical 1D model is developed. The complex geometry of the wheels is modeled by axisymmetric elements, while beam elements define the geometries and mechanical behavior of the bolts. The model is improved in non-axisymmetric cases to include the ring effect due to the wheel ovalization. Different cases are simulated (inflation and rolling). For each load case, the most stressed fastener is examined. Then, a comparison between its static and fatigue stress results and those of the 3D finite element reference model considered is analyzed for the validation of the developed tool. The semi-numerical model is used in the preliminary design phase and permits the geometric and mechanical properties of the aircraft wheel and fasteners to be defined so as to find the best assembly configuration that prevents separation.

Data-driven model-free adaptive fractional-order sliding mode control for the SMA actuator with prescribed performance

In this paper, a novel data-driven model-free adaptive fractional-order sliding mode controller with prescribed performance is proposed for the shape memory alloy (SMA) actuator. Due to the strong asymmetric saturated hysteresis nonlinear characteristics of the SMA actuators, it is not easy to establish an accurate model and develop an effective controller. Therefore, we present a controller without using the model of the SMA actuators. In other words, the proposed controller depends merely on the input/output (I/O) data of the SMA actuators. To obtain the reasonable compensation for hysteresis, enhance the noise robustness of the controller, and reduce the chattering, a fractional-order sliding mode controller with memory characteristics is employed to improve the performance of the controller. In addition, the prescribed performance control (PPC) strategy is introduced in our work to guarantee the tracking errors converge to a sufficiently small boundary and the convergence rate is not less than a predetermined value which are significant and considerable in practical engineering applications of the SMA actuator. Finally, experiments are carried out, and results reveal the effectiveness and success of the proposed controller. Comparisons with the classical Proportional Integral Differential (PID), model-free adaptive control (MFAC), and model-free adaptive sliding mode control (MFAC-SMC) are also performed.

Effect of the inlet gas volume fraction on the turbulent dissipation characteristics in the multiphase pump

The internal flow of the multiphase pump is complicated owing to its specific structure. To reveal the effect of the inlet gas volume fraction (IGVF) on the turbulent dissipation characteristics, the method of combining numerical simulation based on k-ε turbulence model with experiment was adopted, and the turbulent dissipation of the multiphase pump was quantitatively and qualitatively analyzed in both the pure water and gas-liquid two phases condition. Results showed the vortexes were primarily distributed in the diffusers at different inlet gas volume fractions (IGVFs), near the middle of the first diffuser and the outlet of the next diffuser. At the same time, the larger value of the turbulent dissipation than that in the impellers was concentrated in the inlet and outlet of the impellers and diffusers. In addition, the effect of IGVFs on the turbulent dissipation increased gradually from the hub to the shroud at the inlet section of the first impeller. Moreover, the turbulent dissipation became increasingly unsymmetrical from the hub to the shroud at the outlet section of the first impeller.

The stabilized methane–air counterflow flame into a plus-shaped chamber with platinum catalyst–coated walls: An emission estimation

Analysis of unsteady CH4/Air counterflow premixed flame into a newly designed plus-shaped channel is investigated in this study. The main objective is to explore the impact of platinum catalytic–coated walls of the combustion chamber on the flame characteristics and pollutant emissions. The OpenFOAM platform is used as a numerical simulation tool to investigate the effects of various equivalence ratios, from the range of lean to rich flames, and passing the reaction time on the counterflow flame characteristics and pollutant emissions of a plus-shaped chamber with the platinum catalyst–coated wall. Results show that the integrated temperature over the proposed geometry with platinum surfaces increases by 18% compared to the non-catalytic case. The numerical simulation revealed that presence of the platinum catalyst on the wall of the chamber has significant impact on reducing the pollutant emissions. This is evident as a 99.5% decrease on NO2 emission and a 58% reduction on CO2 formation are found.

Study on the surface quality of 60vol% SiCp/Al2024 composites with large-grained

In this paper, the finite element cutting simulation model with irregular distribution of multiple particles is established, the stress and strain distribution of SiC particles in the process of machining, as well as the material removal mechanism are analyzed. The effects of cutting velocity and feed per tooth on the surface quality of the material are also analyzed. The effect of feed per tooth on subsurface damage is revealed. The results show that in the micro-milling of SiCp/Al2024 composites, the particle removal form is mainly crushing and extraction. The surface defects of the workpiece mainly include pits, scratches, cracks, and extrusion damage. When the cutting velocity increases, the surface defects gradually change to crack, which can improve the surface quality of the workpiece. Increasing the feed per tooth will increase the surface defects of the workpiece and lead to poor surface quality. When the feed per tooth increased from 0.428 µm to 0.714 µm, the subsurface damage thickness increased from 35.2 µm to 47.3 µm.

Energy and exergy analysis of a downstream single-row air washer at different droplet diameters for air cooling application

This study proposes a downstream single-row air washer for air cooling. The theoretical energy and exergy balance models were established at different droplet diameters and verified by the experimental data. Based on the abovementioned theoretical relationship, the single performance indicator of heat exchange efficiency (HEE) and exergy efficiency was quantitatively analyzed; a comprehensive analysis method of two indicators was proposed, combining HEE and exergy efficiency, and a numerical simulation was carried out. Results show that the smaller the droplet diameter and the larger the water–air ratio, the lower the dry-bulb temperature of the outlet air and the higher the HEE and exergy flux destruction. When the droplet diameter is less than 440 μm, the droplet diameter does not affect exergy efficiency and dry-bulb temperature. When the droplet diameter is larger than 440 μm, the droplet diameter is positively correlated with the air outlet dry-bulb temperature and exergy efficiency; in contrast, the water–gas ratio is negatively correlated with the air outlet dry-bulb temperature. An engineering case reveals that when the air outlet temperature is less than 34°C, the critical water–gas ratio can be set as 2.6 (mass ratio). At this time, the HEE is more than 90%, the exergy efficiency is more than 60%, and the critical value of droplet diameter is 440 μm. The research results provide an essential theoretical basis for the optimization of engineering design calculation.

Study on the cleaning effect of atomized droplets on the aero-engine

The aero-engine will produce fouling during operation, which will affect the engine performance. On-line cleaning can effectively remove fouling, in order to solve the problem of the poor cleaning effect for aero-engine on-wing cleaning and carry out numerical simulation of the on-line cleaning process. The discrete phase model is used to optimize the particle size and mass flow of the cleaning fluid. The erosion rate and vorticity of the droplets on the blade surface are used as the effect target to simulate and optimize the cleaning process parameters to obtain a better particle size range and the ratio of cleaning fluid to air mass flow. Through the evaluation of the cleaning process parameters of the aero-engine on-wing cleaning test and the analysis of the engine exhaust temperature margin (EGTM) data, it is concluded that the cleaning effect is improved by nearly 40%.