2022年, 第35卷, 第1期 
刊出日期:2022-02-16
  

  • 全选
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    Advanced Transportation Equipment
  • Ying Tian, Qiangqiang Yao, Peng Hang, Shengyuan Wang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 1-1. https://doi.org/10.1186/s10033-021-00666-0
    摘要 ( ) PDF全文 ( )   可视化   收藏
    It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm. The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model. To adaptively adjust the priorities of path tracking accuracy and vehicle stability, an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function. An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions. To ensure vehicle stability, the sideslip angle, yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame. It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.
  • Mechanism and Robotics
  • Fu Yuan, Diansheng Chen, Chenghang Pan, Jun Du, Xiaodong Wei, Min Wang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 2-2. https://doi.org/10.1186/s10033-021-00665-1
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    To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a six degree-of-freedom parallel platform. Using the platform movement and IMU wearable sensors, two training modes, i.e., active and passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied to achieve visual stimulation. In the active training mode, the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene. In the passive training mode, the platform movement is combined with the virtual scene to simulate bumpy environments, such as earthquakes, to enhance the human anti-interference ability. To achieve a smooth switching of the scene, continuous speed and acceleration of the platform motion are required in some scenarios, in which a trajectory planning algorithm is applied. This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk (differential of acceleration) based on cubic spline planning, which can reduce impact on the joint and enhance stability.
  • Review
  • Lizhi Tang, Yanbin Zhang, Changhe Li, Zongming Zhou, Xiaolin Nie, Yun Chen, Huajun Cao, Bo Liu, Naiqing Zhang, Zafar Said, Sujan Debnath, Muhammad Jamil, Hafiz Muhammad Ali, Shubham Sharma
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 3-3. https://doi.org/10.1186/s10033-021-00667-z
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    The application of cutting fluid in the field of engineering manufacturing has a history of hundreds of years, and it plays a vital role in the processing efficiency and surface quality of parts. Among them, water-based cutting fluid accounts for more than 90% of the consumption of cutting fluid. However, long-term recycling of water-based cutting fluid could easily cause deterioration, and the breeding of bacteria could cause the cutting fluid to fail, increase manufacturing costs, and even endanger the health of workers. Traditional bactericides could improve the biological stability of cutting fluids, but they are toxic to the environment and do not conform to the development trend of low-carbon manufacturing. Low-carbon manufacturing is inevitable and the direction of sustainable manufacturing. The use of nanomaterials, transition metal complexes, and physical sterilization methods on the bacterial cell membrane and genetic material could effectively solve this problem. In this article, the mechanism of action of additives and microbial metabolites was first analyzed. Then, the denaturation mechanism of traditional bactericides on the target protein and the effect of sterilization efficiency were summarized. Further, the mechanism of nanomaterials disrupting cell membrane potential was discussed. The effects of lipophilicity and the atomic number of transition metal complexes on cell membrane penetration were also summarized, and the effects of ultraviolet rays and ozone on the destruction of bacterial genetic material were reviewed. In other words, the bactericidal performance, hazard, degradability, and economics of various sterilization methods were comprehensively evaluated, and the potential development direction of improving the biological stability of cutting fluid was proposed.
  • Advanced Transportation Equipment
  • Yunhong Che, Zhongwei Deng, Xiaolin Tang, Xianke Lin, Xianghong Nie, Xiaosong Hu
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 4-4. https://doi.org/10.1186/s10033-021-00668-y
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    Aging diagnosis of batteries is essential to ensure that the energy storage systems operate within a safe region. This paper proposes a novel cell to pack health and lifetime prognostics method based on the combination of transferred deep learning and Gaussian process regression. General health indicators are extracted from the partial discharge process. The sequential degradation model of the health indicator is developed based on a deep learning framework and is migrated for the battery pack degradation prediction. The future degraded capacities of both battery pack and each battery cell are probabilistically predicted to provide a comprehensive lifetime prognostic. Besides, only a few separate battery cells in the source domain and early data of battery packs in the target domain are needed for model construction. Experimental results show that the lifetime prediction errors are less than 25 cycles for the battery pack, even with only 50 cycles for model fine-tuning, which can save about 90% time for the aging experiment. Thus, it largely reduces the time and labor for battery pack investigation. The predicted capacity trends of the battery cells connected in the battery pack accurately reflect the actual degradation of each battery cell, which can reveal the weakest cell for maintenance in advance.
  • Review
  • Guifang Sun, Zhandong Wang, Yi Lu, Mingzhi Chen, Kun Yang, Zhonghua Ni
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 5-5. https://doi.org/10.1186/s10033-021-00674-0
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    With the rapid developments of marine resource exploitation, mounts of marine engineering equipment are settled on the ocean. When it is not possible to move the damaged equipment into a dry dock, welding operations must be performed in underwater environments. The underwater laser welding/cladding technique is a promising and advanced technique which could be widely applied to the maintenance of the damaged equipment. The present review paper aims to present a critical analysis and engineering overview of the underwater laser welding/cladding technique. First, we elaborated recent advances and key issues of drainage nozzles all over the world. Next, we presented the underwater laser processing and microstructural-mechanical behavior of repaired marine materials. Then, the newly developed powder-feeding based and wire-feeding based underwater laser direct metal deposition techniques were reviewed. The differences between the convection, conduction, and the metallurgical kinetics in the melt pools during underwater laser direct metal deposition and in-air laser direct metal deposition were illustrated. After that, several challenges that need to be overcame to achieve the full potential of the underwater laser welding/cladding technique are proposed. Finally, suggestions for future directions to aid the development of underwater laser welding/cladding technology and underwater metallurgical theory are provided. The present review will not only enrich the knowledge in the underwater repair technology, but also provide important guidance for the potential applications of the technology on the marine engineering.
  • Mechanism and Robotics
  • Zesheng Wang, Yanbiao Li, Kun Shuai, Wentao Zhu, Bo Chen, Ke Chen
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 7-7. https://doi.org/10.1186/s10033-021-00669-x
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    Robot manipulators perform a point-point task under kinematic and dynamic constraints. Due to multi-degree-of-freedom coupling characteristics, it is difficult to find a better desired trajectory. In this paper, a multi-objective trajectory planning approach based on an improved elitist non-dominated sorting genetic algorithm (INSGA-II) is proposed. Trajectory function is planned with a new composite polynomial that by combining of quintic polynomials with cubic Bezier curves. Then, an INSGA-II, by introducing three genetic operators: ranking group selection (RGS), direction-based crossover (DBX) and adaptive precision-controllable mutation (APCM), is developed to optimize travelling time and torque fluctuation. Inverted generational distance, hypervolume and optimizer overhead are selected to evaluate the convergence, diversity and computational effort of algorithms. The optimal solution is determined via fuzzy comprehensive evaluation to obtain the optimal trajectory. Taking a serial-parallel hybrid manipulator as instance, the velocity and acceleration profiles obtained using this composite polynomial are compared with those obtained using a quintic B-spline method. The effectiveness and practicability of the proposed method are verified by simulation results. This research proposes a trajectory optimization method which can offer a better solution with efficiency and stability for a point-to-point task of robot manipulators.
  • Advanced Transportation Equipment
  • Changhua Dai, Guoying Chen, Changfu Zong, Buyang Zhang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 8-8. https://doi.org/10.1186/s10033-021-00670-4
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    Electric load simulator (ELS) systems are employed for electric power steering (EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator's acceleration.
  • Haijie Guan, Boyang Wang, Jiaming Wei, Yaomin Lu, Huiyan Chen, Jianwei Gong
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 9-9. https://doi.org/10.1186/s10033-022-00676-6
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    To integrate driver experience and heterogeneous vehicle platform characteristics in a motion-planning algorithm, based on the driver-behavior-based transferable motion primitives (MPs), a general motion-planning framework for offline generation and online selection of MPs is proposed. Optimal control theory is applied to solve the boundary value problems in the process of generating MPs, where the driver behaviors and the vehicle motion characteristics are integrated into the optimization in the form of constraints. Moreover, a layered, unequal-weighted MP selection framework is proposed that utilizes a combination of environmental constraints, nonholonomic vehicle constraints, trajectory smoothness, and collision risk as the single-step extension evaluation index. The library of MPs generated offline demonstrates that the proposed generation method realizes the effective expansion of MP types and achieves diverse generation of MPs with various velocity attributes and platform types. We also present how the MP selection algorithm utilizes a unique MP library to achieve online extension of MP sequences. The results show that the proposed motion-planning framework can not only improve the efficiency and rationality of the algorithm based on driving experience but can also transfer between heterogeneous vehicle platforms and highlight the unique motion characteristics of the platform.
  • Intelligent Manufacturing Technology
  • Mang Gao, Gang Yu, Changning Li
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 10-10. https://doi.org/10.1186/s10033-022-00678-4
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    Adaptive wavelet filtering is a very important fault feature extraction method in the domain of condition monitoring; however, owing to the time-consuming computation and difficulty of choosing criteria used to represent incipient faults, the engineering applications are limited to some extent. To detect incipient gear faults at a fast speed, a new criterion is proposed to optimize the parameters of the modified impulsive wavelet for constructing an optimal wavelet filter to detect impulsive gear faults. First, a new criterion based on spectral negentropy is proposed. Then, a novel search strategy is applied to optimize the parameters of the impulsive wavelet based on the new criterion. Finally, envelope spectral analysis is applied to determine the incipient fault characteristic frequency. Both the simulation and experimental validation demonstrated the superiority of the proposed approach.
  • Research Highlight
  • Baicun Wang, Huiying Zhou, Geng Yang, Xingyu Li, Huayong Yang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 11-11. https://doi.org/10.1186/s10033-022-00680-w
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  • Intelligent Manufacturing Technology
  • Wangming Li, Dong Han, Liang Gao, Xinyu Li, Yang Li
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 12-12. https://doi.org/10.1186/s10033-022-00683-7
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    The connection between production scheduling and transportation scheduling is getting closer in smart manufacturing system, and both of those problems are summarized as NP-hard problems. However, only a few studies have considered them simultaneously. This paper solves the integrated production and transportation scheduling problem (IPTSP) in hybrid flow shops, which is an extension of the hybrid flow shop scheduling problem (HFSP). In addition to the production scheduling on machines, the transportation scheduling process on automated guided vehicles (AGVs) is considered as another optimization process. In this problem, the transfer tasks of jobs are performed by a certain number of AGVs. To solve it, we make some preparation (including the establishment of task pool, the new solution representation and the new solution evaluation), which can ensure that satisfactory solutions can be found efficiently while appropriately reducing the scale of search space. Then, an effective genetic tabu search algorithm is used to minimize the makespan. Finally, two groups of instances are designed and three types of experiments are conducted to evaluate the performance of the proposed method. The results show that the proposed method is effective to solve the integrated production and transportation scheduling problem.
  • Mechanism and Robotics
  • Xiaohui Lin, Shun Wang, Shuyun Jiang, Shaowen Zhang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 13-13. https://doi.org/10.1186/s10033-021-00671-3
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    The water-lubricated bearings are usually the state of turbulent cavitating flow under high-speed conditions. And the distribution of cavitation bubbles and the interface effect between the two phases have not been included in previous studies on high-speed water-lubricated bearings. In order to study the influence of interface effect and cavitation bubble distribution on the dynamic characteristics of high-speed water-lubricated spiral groove thrust bearings (SGTB).A turbulent cavitating flow lubrication model based on two-phase fluid and population balance equation of bubbles was established in this paper. Stiffness and the damping coefficients of the SGTB were calculated using the perturbation pressure equations. An experimental apparatus was developed to verify the theoretical model. Simulating and experimental results show that the small-sized bubbles tend to generate in the turbulent cavitating flow when at a high rotary speed, and the bubbles mainly locate at the edges of the spiral groove. The simulating results also show that the direct stiffness coefficients are increased due to cavitation effect, and cross stiffness coefficients and damping coefficients are hardly affected by the cavitation effect. Turbulent effect on the dynamic characteristics of SGTB is much stronger than the cavitating effect
  • Intelligent Manufacturing Technology
  • Guifu Du, Tao Jiang, Jun Wang, Xingxing Jiang, Zhongkui Zhu
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 14-14. https://doi.org/10.1186/s10033-022-00677-5
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    Variational mode decomposition (VMD) has been proved to be useful for extraction of fault-induced transients of rolling bearings. Multi-bandwidth mode manifold (Triple M, TM) is one variation of the VMD, which units multiple fault-related modes with different bandwidths by a nonlinear manifold learning algorithm named local tangent space alignment (LTSA). The merit of the TM method is that the bearing fault-induced transients extracted contain low level of in-band noise without optimization of the VMD parameters. However, the determination of the neighborhood size of the LTSA is time-consuming, and the extracted fault-induced transients may have the problem of asymmetry in the up-and-down direction. This paper aims to improve the efficiency and waveform symmetry of the TM method. Specifically, the multi-bandwidth modes consisting of the fault-related modes with different bandwidths are first obtained by repeating the recycling VMD (RVMD) method with different bandwidth balance parameters. Then, the LTSA algorithm is performed on the multi-bandwidth modes to extract their inherent manifold structure, in which the natural nearest neighbor (Triple N, TN) algorithm is adopted to efficiently and reasonably select the neighbors of each data point in the multi-bandwidth modes. Finally, a weight-based feature compensation strategy is designed to synthesize the low-dimensional manifold features to alleviate the asymmetry problem, resulting in a symmetric TM feature that can represent the real fault transient components. The major contribution of the improved TM method for bearing fault diagnosis is that the pure fault-induced transients are extracted efficiently and are symmetrical as the real. One simulation analysis and two experimental applications in bearing fault diagnosis validate the enhanced performance of the improved TM method over the traditional methods. This research proposes a bearing fault diagnosis method which has the advantages of high efficiency, good waveform symmetry and enhanced in-band noise removal capability.
  • Gun-Young Park, Hyo-Seo Kwak, Hyo-Seong Jang, Chul Kim
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 15-15. https://doi.org/10.1186/s10033-022-00681-9
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    The liner of a CNG pressure vessel is manufactured by a DDI (deep drawing and ironing) process for the cylinder part, which is a continuous process that includes a drawing process to reduce the diameter of the billet and a subsequent ironing process to reduce the thickness of the billet. A tractrix die used in the 1st deep drawing allows the blank to flow smoothly by decreasing the punch load and radial tensile stress occurring in the workpiece. It also increases the draw ratio compared to conventional dies, but it causes forming defects. In this study, a shape coefficient (Sc) is proposed for the tractrix die using the blank diameter (D0), inflow diameter of the workpiece (di), and inflow angle of the workpiece (θ) for design of the tractrix die. The effects of the thickness and inflow angle of the workpiece on wrinkling and folding were investigated through FEA. Also, a discriminant is proposed for the relative radial stress (\begin{document}$\tilde{\sigma}$\end{document}) generated during the deep drawing process using the tractirx die and used to predict fracture. Based on the results, the blank thickness, the draw ratio, and the inflow of the workpiece angle in the 1st deep drawing process are suggested, and the number of operations in the DDI process was reduced from 6 to 4. This improves the productivity and reduces the manufacturing cost.
  • Mechanism and Robotics
  • Xianlei Shan, Yuhang Li, Haitao Liu, Tian Huang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 16-16. https://doi.org/10.1186/s10033-022-00679-3
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    Because of their elastic links and joints, high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy. An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots. After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints, a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector. The input shaper allows a good overall performance to be achieved throughout the entire workspace. Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.
  • Intelligent Manufacturing Technology
  • Jianjun Li, Wenfeng Zhu, Shunchao Wang
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 17-17. https://doi.org/10.1186/s10033-022-00685-5
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    Accurate quantification of external force is the key to improve the high-precision hemming of autobody closure panels. However, the mechanism of external force on forming quality of complex contour sheet metal with adhesive is not clear subjected to geometric curvature and materials. In the present study, taking the curved edge aluminum sheet as the research object, SPH (smooth particle hydrodynamics) is introduced to simulate the viscous adhesive, and the SPH-FEM (Finite element method) coupling model of adhesive and panels considering the viscosity-pressure effect is established. The numerical simulation of the roller hemming process is carried out, then the validity and reliability of the proposed method are verified by measuring the external force in real time using triaxial force sensor. The multi-step forming process and the effect of external force on the roll in/out, surface wave and plastic strain of aluminum alloy sheet under the viscosity-pressure effect are studied, and the relationship between process parameters and external force is discussed. Results show that the coupling SPH-FEM model can well reflect the hemming process of curved edge structure. The normal force is about 2–3 times of the tangential force in the pre and final hemming process. Compared with the case without adhesive, the surface wave of flange part of the hemming with adhesive is slightly larger. The normal force and the tangential force increase about 90 N and 30 N respectively, when the height increases by 1 mm. It provides an important basis for the accurate control of hemming trajectory and the improvement of manufacturing quality of autobody closure panels.
  • Mechanism and Robotics
  • Xue Hu, Ferdinando Rodriguez y Baena
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 18-18. https://doi.org/10.1186/s10033-022-00684-6
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    An automatic markerless knee tracking and registration algorithm has been proposed in the literature to avoid the marker insertion required by conventional computer-assisted knee surgery, resulting in a shorter and less invasive surgical workflow. However, such an algorithm considers intact femur geometry only. The bone surface modification is inevitable due to intra-operative intervention. The mismatched correspondences will degrade the reliability of registered target pose. To solve this problem, this work proposed a supervised deep neural network to automatically restore the surface of processed bone. The network was trained on a synthetic dataset that consists of real depth captures of a model leg and simulated realistic femur cutting. According to the evaluation on both synthetic data and real-time captures, the registration quality can be effectively improved by surface reconstruction. The improvement in tracking accuracy is only evident over test data, indicating the need for future enhancement of the dataset and network.
  • Advanced Transportation Equipment
  • Lipeng Zhang, Yunao Peng, Haojie Yang, Shaohua Li
    Chinese Journal of Mechanical Engineering. 2022, 35(1): 20-20. https://doi.org/10.1186/s10033-022-00690-8
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    The synchronizer is a key component of automatic mechanical transmission (AMT) equipped in electric vehicles, but the inertial lock-ring synchronizer (ILRS) commonly used there is not suitable especially for pure electric vehicles without a clutch because of big shift impact. To make the shifting process rapid and smooth, a new synchronizer named pressure-controllable friction ring synchronizer (PCFRS) was designed. Initially, the inevitable shortcoming of ILRS was verified by simulation and test. Furthermore, the mechanical characteristics and advantages of the new synchronizer over ILRS were analyzed. Then, the formulations describing the dynamic transmission based on the working mechanism of the PCFRS were established. Finally, the shifting simulation results with PCFRS and ILRS based on the same operating conditions were compared and analyzed. The research shows that the PCFRS can meet the main shifting evaluation index of an AMT without complex control methods, as well as it takes only 0.2406 s to finish the comfortable and zero-speed-difference shifting. The shifting quality of PCFRS is better than that of the ILRS. It lays a foundation for using the new synchronizer as a part of clutchless AMTs equipped in pure electric vehicles.