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  • LEI Yaguo, LI Xiwei, LI Xiang, LI Naipeng, YANG Bin
    Journal of Mechanical Engineering. 2025, 61(6): 1-13. https://doi.org/10.3901/JME.2025.06.001
    In recent years, various deep learning-based health management models for mechanical equipment have made significant progress. However, existing models tend to be smaller in scale and are typically designed to handle data from specific frequencies, speeds, or modes, focusing on particular components such as gears and bearings to perform tasks like monitoring, diagnosis, and prediction. These models struggle to adapt to new scenarios and lack the capability for continuous evolution. With the increasing precision and complexity of high-end equipment, there is a growing demand for highly general, scalable, and evolvable "one-stop" health management services. Inspired by the trend of generalization in large language models like ChatGPT, which excel in handling diverse data, tasks, and scenarios, a large model for general prognostics and health management of machinery is proposed. First, multimodal data is resampled in the angular domain and segmented to token sequence. Then, the data is input into a Transformer-based information integration foundational model to extract health and degradation information into specific tokens. Finally, these specific tokens are used to perform downstream tasks such as monitoring, diagnosis, and prediction. The proposed large model's baseline performance, multitask synergy, and scalability were verified using fault and long-term degradation datasets. The results show that the proposed large model can simultaneously perform condition monitoring, fault diagnosis, and remaining useful life prediction for multiple objects like bearings and gears. Additionally, the diagnostic and predictive multitasks can effectively collaborate, mutually enhancing performance, and achieving better results compared to single-task models. In few-shot learning and continual learning scenarios, the large model can be rapidly deployed and continuously evolved. Therefore, the proposed large model features high generality, scalability, and sustainability, and is expected to provide universal "one-stop" health management services for mechanical equipment.
  • MA Weijia, ZHU Xiaolong, LIU Qingyao, DUAN Xingguang, LI Changsheng
    Journal of Mechanical Engineering. 2024, 60(17): 22-39. https://doi.org/10.3901/JME.2024.17.022
    Robot-assisted surgery aims to assist surgeons in performing surgical procedures through robotic systems, and it has attracted increasing attention in recent years. The rapid development of artificial intelligence (AI) has accelerated the progress of robot-assisted surgery towards minimally invasive, intelligent, and autonomous capabilities. This research provides a comprehensive review of the application of AI in robot-assisted surgery, summarizing three main aspects: medical image processing, surgical planning and navigation, and motion control and decision-making. Leveraging AI technology, the application of medical image processing enables physicians to obtain more precise, higher-definition, and visually intuitive imaging data. It allows for accurate segmentation and alignment of lesions and tissues, as well as automated recognition and analysis of pathological or abnormal areas within medical images. The application of AI in surgical planning and navigation allows surgeons to precisely plan surgical procedures and provide accurate navigation guidance. By integrating personalized patient data and the extensive experience of surgeons, AI assists in predicting surgical risks and provides real-time guidance for precise localization and skillful manipulation during the surgery. Moreover, the application of AI in surgical robot motion control and decision-making enables robots to execute tasks more efficiently and make intelligent decisions. AI algorithms can analyze complex information in the surgical environment in real-time, facilitating precise motion control for the robot. Finally, this research also analyzes the development opportunities and challenges of AI in robot-assisted surgery, offering guidance and insights for future research in the field.
  • LUO Zirong, HONG Yang, JIANG Tao, LIN Zening, YANG Yun, ZHU Qunwei
    Journal of Mechanical Engineering. 2025, 61(3): 178-196. https://doi.org/10.3901/JME.2025.03.178
    As a micro-electromechanical system with a size of centimeters or below, micro-bionic robots have the characteristics of small size, light weight and excellent portability. They are widely used in complex environments such as environmental detection, target search, reconnaissance and strike. In order to enable researchers to understand the research progress of micro-bionic robots, a summary and analysis of relevant literature in the past 15 years are conducted based on the world’s largest abstract and citation database Scopus, providing a visual depiction of the development trends in the field of micro-bionic robots. The general characteristics and research status of micro-bionic robots are summarized from the three key points of the bionic movement form, manufacturing technology and driving technology of micro-bionic robots, supplemented by the introduction of the special research direction of bio-electromechanical hybrid micro robots. The technical bottleneck of the development of micro-bionic robots is fully analyzed, and the development idea of energy-driving-sense-control full flexible integration is put forward, which promotes the innovative development of integrated manufacturing technology. Based on the military and anti-terrorism and riot control application background, the characteristics and advantages of micro-bionic robots are fully analyzed, and the combat application conception with micro-bionic robots as the core is carried out. In addition, the application of micro-bionic robots in civil life is discussed. Finally, the shortcomings and future development of the existing micro-bionic robots are discussed and summarized, which provides a valuable reference for the development of the micro-bionic robots technology and its military application prospect.
  • LIANG Pengwei, PANG Yong, REN Bo, ZHANG Shuai, WANG Muchen, LI Qingye, KAN Ziyun, SONG Xueguan
    Journal of Mechanical Engineering. 2024, 60(24): 350-364. https://doi.org/10.3901/JME.2024.24.350
    Laser transmission systems involve multiple physical fields including optical, mechanical, thermal, and fluid dynamics. Conducting a comprehensive multi-disciplinary coupling modeling analysis is crucial during their design and manufacturing process. A multi-field coupling modeling method for optical-mechanical-thermal-fluid systems is proposed by analyzing the multi-field coupling relationships of the system. Firstly, a coupling model of mechanical, thermal, and fluid dynamics is constructed to solve the coupled variables under the action of force, thermal, and optical effects. Secondly, a fitting and prediction model of spatially non-uniform refractive index is constructed based on the surrogate model. Then, combining the Fermat principle, ray tracing algorithm, and wavefront distortion analysis method, an analysis method for beam transmission in regions of non-uniform refractive index is proposed to integrate multi-field coupling variables and form a multi-field coupling model of optical-mechanical-thermal-fluid systems. Finally, the analysis calculation of the pose change of optical components, beam direction deviation, and wavefront distortion under the action of multi-field coupling is completed. The method is validated by two numerical cases and applied to analyze and discuss multi-field coupling problems in laser transmission systems. The results demonstrate that the method can be utilized for the analysis and study of various design parameters within optical-mechanical systems, providing a basis for the design and optimization of optical systems, mechanical systems, thermal control systems, and adaptive optical systems.
  • HUANG Ying
    Journal of Mechanical Engineering. 2025, 61(4): 67-73. https://doi.org/10.3901/JME.2025.04.067
    How to effectively integrate various sensor measurement information in complex systems to form the basis for intelligent control of the system is currently a hot research topic in the field of intelligence. Once the traditional multi-sensor data fusion structure is determined, it cannot be changed which lacks sufficient elastic computing power to ensure the addition of other sensors, and also hinders the construction of the system’s multi-sensor network. In order to form a sensor network to gather comprehensive system data, firstly, a data flow structure based on a data pool is designed on the architecture. So the sensor measurement information is aggregated in the data pool, and related algorithms are treated as services, solving the problem of elastic computing power in data processing; Secondly, the data processed by the service is pushed to the control system according to demand, separating data processing from control, forming a star shaped sensor network centered on the data pool; Finally, an universal non-model data fusion algorithm framework based on detection signals was designed. Which the coefficients after signal decomposition were fitted, and the reconstructed signals were used for state correction, completely eliminating the dependence on the system model and greatly reducing the impact of sensor entering control system. At last, summarized the feasibility and effectiveness of the method from the perspective of design philosophy, structural evolution process, and characteristic analysis. The proposal of this method can provide a new approach for the research of intelligent control of complex systems.
  • YANG Xiawei, MENG Tingxi, CHU Qiang, FAN Wenlong, SU Yu, MA Tiejun, LI Wenya
    Journal of Mechanical Engineering. 2024, 60(14): 77-96. https://doi.org/10.3901/JME.2024.14.077
    With the development of applications of aluminum alloys in industrial manufacturing fields such as aerospace, rail transit and shipbuilding, achieving high-quality welding of aluminum alloys has become an urgent demand and research hotspot for the lightweight development of aluminum alloy components. As a solid-state welding technology, friction stir welding (FSW) has made significant progress in joining aluminum alloys. However, with the increasing demand for the application of large-thickness aluminum alloy plates, the single-sided FSW joints are prone to defects at the bottom of the weld due to insufficient heat supply, making it difficult to meet the quality requirements. In order to improve the defects of the above single-sided FSW joints, double-sided friction stir welding technology came into being. Based on the research results of two widely studied double-sided FSW processes, conventional double-sided friction stir welding (CDS-FSW) and bobbin tool friction stir welding (BT-FSW), the research progress of the two processes is reviewed and summarized, focusing on the optimization of welding process, microstructure, mechanical properties and influencing factors, tool design, welding temperature field and material flow behavior. Finally, the hotspots and research challenges of double-sided friction stir welding technology are summarized and prospected, in order to provide theoretical references for the development and practical engineering applications of double-sided friction stir welding technology.
  • QIN Yanding, CAI Zhuocong, SHEN Yajing, HAN Jianda
    Journal of Mechanical Engineering. 2024, 60(17): 1-21. https://doi.org/10.3901/JME.2024.17.001
    Magnetic actuated miniaturized medical robots (MAMMR) can be controlled by an external magnetic field to actively navigate through the narrow cavities of the human body, enabling inspection and treatment of the deep-seated diseased areas. This technology has great potential in the clinical medical field. According to the size difference, MAMMR can be divided into centimetre/millimetre-scale capsule robots, millimetre/micrometre-scale continuum robots, and micro/nanometre-scale microrobots. The magnetic-control principles, structural design and potential medical applications are systematically summarized, and the latest research progresses are reviewed. Finally, the prospects for future research directions of MAMMR are discussed, including the biocompatibility of robot materials, visual feedback for executing medical tasks, miniaturization of multiple medical modules, stability and robustness of motion control.
  • KOU Yiqun, YANG Ye, LIU Jie, HU Youmin, LI Lin, YU Baichuan, XU Jiahe, HU Zhongxu, SHI Tielin
    Journal of Mechanical Engineering. 2025, 61(3): 1-22. https://doi.org/10.3901/JME.2025.03.001
    In the transition from Industry 4.0 to Industry 5.0, a human-centered approach has gradually emerged as a focal point in the field of smart manufacturing. Current human-machine collaboration not only emphasizes technological advancements and efficiency improvements but also stresses the integration of human higher-order cognitive thinking with machine computational capabilities to achieve cognitive empowerment. Based on this premise, this study reviews existing research on cognitive empowerment in human-machine collaboration, focusing on key areas such as interactive perception, task planning and execution, and skill learning. The challenges of multimodal information integration, task reasoning, dynamic decision-making, and skill knowledge representation are highlighted. Furthermore, methods are proposed to support human-machine cognitive using knowledge graph construction technologies, as well as to optimize tasks and facilitate dynamic decision-making in complex environments through the application of knowledge graph reasoning techniques. Building upon an analysis of the limitations in current research on cognitive empowerment in human-machine collaboration, this study also forecasts the future directions for deep cognitive collaboration within intelligent manufacturing environments.
  • SHEN Zhikang, LI Dongxiao, SUN Zhonggang, MA Liangchao, LIU Xiaochao, TIAN Yanhong, GUO Wei, HOU Wentao, PIAO Zhongyu, YANG Xinqi, LI Wenya
    Journal of Mechanical Engineering. 2025, 61(2): 56-85. https://doi.org/10.3901/JME.2025.02.056
    Integrative design and integrated manufacturing of major equipment’s’ large critical structure such as aeronautics, astronautics and weapons provide guarantees of lightweight manufacturing and service performance. As a transformative technology can achieve innovative structure, additive manufacturing has received extensive attention and being applied, nevertheless, additive manufacturing of lightweight and high-strength metals such as high strength aluminium alloy and magnesium alloy faces many challenges. Additive friction stir deposition provides a new thought and method for such kind metals, since its process involves strong plasticity and non-melting, which further facilitates the progress of solid-state additive manufacturing and equipment. Dominant advantages of additive friction stir deposition have aroused worldwide attention and investigation; However, this technology’s basic theory and deposited materials’ microstructure evolution and performance need to be clarified. Research progress in additive friction stir deposition was systematically summarized, domestic and foreign research achievements such as heat production mechanism, material flow behavior, design of printing tool, processing parameters, microstructure evolution and performance of additive friction stir deposition were comprehensively reviewed. Finally, future opportunities and development trends of additive friction stir deposition were pointed out.
  • PAN Yuzhen, WEI Jiawei, KHAN Rezwan Al Islam, CHEN Xiong, WANG Hongbo, SHANG Huiliang
    Journal of Mechanical Engineering. 2024, 60(23): 88-101. https://doi.org/10.3901/JME.2024.23.088
    A multi-scene agricultural robot is proposed based on modularity theory, which can be applied to agricultural greenhouses, outdoor scenes, etc. By carrying different modular agricultural equipment, it realizes the tasks of monitoring, pollination, drug spraying and picking of multiple crops, realizing the autonomous operation of the farm and reducing the labor cost. The agricultural robot adopts suspension shock absorption system, independent steering drive structure and dual terrain track wheel design, which can adapt to various scenes such as indoor flat land, track and outdoor farmland, and realize multiple motion modes and work scenes of autonomous switching. For the high-precision chassis robotic arm cooperative motion control, the research establishes the corresponding kinematic and dynamics models, and analyzes its control accuracy according to the prototype parameters. For the work that requires traversing the target task points, a novel redundant cooperative control strategy is proposed. The experimental results show that all parameters of the agricultural robot prototype meet the working requirements; the efficiency of the redundant cooperative control strategy can be improved by up to 30% compared with the traditional intermittent one, and the errors in dynamics are verified numerically. The effects of the prototype parameters, traversal efficiency, and control accuracy are quantified from mathematical modeling and simulation perspectives, providing guidance for further improvement and optimization. The experimental results support the design and practical application of robots in agricultural scenarios, providing efficient and precise solutions for agricultural production.
  • WANG Xiangyu, REN Fan, LIU Chong, XU Siang, WANG Longxin, FANG Yongchun, YU Ningbo, HAN Jianda
    Journal of Mechanical Engineering. 2024, 60(17): 40-62. https://doi.org/10.3901/JME.2024.17.040
    Flexible endoscope is a crucial instrument for achieving natural orifice transluminal endoscopic surgery (NOTES). Due to the advantages of high safety, broad reachability, and flexible operation offered by the flexible endoscope, its operational techniques have been increasingly applied in various kinds of transluminal/intraluminal procedures. Considering the challenges posed by manual operations, such as difficulties, long learning curves, high labour costs, reliance on clinical experience, and exposure to harmful radiation, the development and utilization of robotic soft endoscopes can achieve safer, more precise, and intelligent NOTES procedures. This review aims to summarize the current research status of robotic flexible endoscopic robots in modelling, control, and planning aspects, while exploring the research trends and challenges in related technologies. Representative robotic soft endoscopy systems from both domestic and international sources are introduced, and the motion characteristics of existing robotic soft endoscopy systems are summarized. A comprehensive review of current robotic soft endoscopy technologies is conducted from the perspectives of modelling, control, and planning.This review concludes and analyses the deficiencies in current research and the challenges faced in the development of autonomous robotic soft endoscopy technology, while also providing prospects for future research directions in robotic soft endoscopy.
  • GAO Haibo, WANG Shengjun, SHAN Kaizheng, HAN Liangliang, YU Haitao
    Journal of Mechanical Engineering. 2024, 60(15): 18-27. https://doi.org/10.3901/JME.2024.15.018
    To overcome the shortage of elastic elements in rigid leg in traditional bipedal robots, a novel leg scheme with artificial tendon inspired from tendon-muscle complex in human’s leg and foot. A 4-DoF biped prototype with five-linkage configuration is also developed. The optimization paradigm of bipedal walking is constructed based on the linear inverted pendulum (LIP). The dynamical walking controller is devised based on the LIP model embodying the swing and the stance part. In swing, a PD control strategy is employed by combining the Bezier spline-based foot trajectory planning and model-based feedforward compensation. In stance, a control strategy with the feedforward of ground reaction force is proposed by integrating the feedback control of body pitch and height. The effectiveness of the proposed algorithm is experimentally validated. Experimental results demonstrate that the bipedal robot achieves stable walking at 0.8 m/s (almost 2 times of leg length per second), and the fluctuations of the body pitch and height are restrained within ±7° and ±4 cm, respectively. The aforementioned contributions can be further extended to the systematic design of humanoids executing mobile manipulation in 3D world.
  • LI Longqiu, LIU Junmin, ZHUANG Rencheng, CHANG Xiaocong, ZHOU Dekai
    Journal of Mechanical Engineering. 2024, 60(23): 1-20. https://doi.org/10.3901/JME.2024.23.001
    With the wide application of robotics in industrial, healthcare, service, education and military fields, the traditional macro-robotics technology is gradually unable to meet the growing demand for miniaturization, refinement and highly integrated functions. As an emerging branch in the field of robotics, micro/nanorobots (MNRs) have become a hotspot and frontier of research because of their micro size, large thrust-to-weight ratio, good controllability and strong expandability. By reviewing the development history of robotics, the four stages of robot development and five generations of power conversion are analyzed in detail, and the technical characteristics that robots should have are summarized. On this basis, the development history, connotation and technological stage of MNRs are discussed in-depth, focusing on the analysis of the fundamental changes from macro robots to MNRs in terms of medium environment, drive mode, transport mode and multifunctional coupling mode and other technical characteristics, as well as the technological challenges brought about by these changes. In particular, the advanced changes of MNRs are discussed in detail from four aspects, namely, design, manufacturing, control and testing. Finally, future directions and suggestions for the development of MNRs are presented. By exploring these issues in detail, theoretical guidance and practical basis are provided for the development of future robotics technology. It is expected that MNRs technology can achieve breakthroughs in more fields, provide new technical solutions for precision medicine, environmental governance, micro-and nanomanufacturing, etc., and promote the continuous progress of society and science and technology.
  • ZHANG Junhui, NI Xiaohao, ZONG Huaizhi, GUO Yitao, YANG Meisheng, ZHU Qixin, XU Bing
    Journal of Mechanical Engineering. 2025, 61(4): 273-289. https://doi.org/10.3901/JME.2025.04.273
    Hydraulic actuated robots are widely used in many scenarios due to their advantages of high payload and strong anti-interference ability. The actuators serve as the muscle of the robot to output force directly, which are significant for the performance of the robot. Among kinds of actuators, electro-hydrostatic actuators(EHA) have the advantages of high integration, high energy efficiency, and high-power density, and have been widely used in robotics, aerospace, engineering equipment, and other fields. The development status of EHA for robots is reviewed from five aspects: robot application, system configuration, hardware composition, control algorithm and development trend of EHA. Firstly, the applications of EHA in articulated robots, wearable robots, legged robots and other fields are introduced, and the system configurations are introduced in terms of fast response and energy. Then, the hardware compositions of EHA are discussed, including motors, hydraulic pumps, actuators and integrated valve blocks and other core components. In addition, this study summarizes the control algorithm of EHA for the control requirements of the hydraulic robots. Finally, the future trends of EHA for robots from the perspectives of components, drive, control and energy saving are presented.
  • XIONG Rui, ZHANG Kaixuan, LI Hailong
    Journal of Mechanical Engineering. 2025, 61(2): 268-280. https://doi.org/10.3901/JME.2025.02.268
    The electrochemical reactions and heat generation mechanism inside lithium ion batteries (LIBs) are complex, which can be influenced by many factors. Precise mathematical modeling and visualization of LIB internal states are of importance for battery management systems. A model based on coupling electrochemical and thermal characteristic is established, in which the characteristics of battery shape and micro-geometry structure are also considered. Moreover, a method is further proposed to obtain model parameters, which combines measurements and data-driven parameter identification. To visualize lithium ion concentration in solid-phase, numerical equations describing the electrochemical reaction are established based on the lithium ion diffusion mechanism, which can explain the coupling effects of temperatures and charging rates on LIB capacity. model validation results show that the prediction error of terminal voltage is less than 50 mV and the estimation error of temperature is less than 2 ℃.
  • LIU Kaibao, DAI Yucheng, LIU Changhui, ZHAO Jiateng
    Journal of Mechanical Engineering. 2024, 60(18): 183-194. https://doi.org/10.3901/JME.2024.18.183
    Phase change thermal storage is a crucial component of the energy storage sector, as it can address the mismatch between heat supply and demand in time and space, as well as intermittency and fluctuation issues. The low thermal conductivity of phase change materials limits their large-scale application in the field of thermal storage. Coupling heat pipes with phase change materials is an effective method to enhance phase change thermal storage. The different ways of coupling heat pipes to phase change materials and the research progress in different applications are summarized, and the advantages and potentials of the different ways of coupling heat pipes to phase change materials are analyzed. It is found that the coupling of phase change materials with heat pipes can enhance the charge/discharge thermal performance of storage systems, moreover, coupling phase change materials with heat pipes in different positions can achieve various functions. However, the heat transfer mechanism of the coupling between phase change materials and heat pipes is still not clear, and there is a need to enhance the adaptability of the heat pipe-based thermal storage systems to dynamic conditions, to expand and optimize their range of applications.
  • DENG Zigang, HU Xiao, WANG Xiaofei, LI Zongpeng, ZHANG Weihua
    Journal of Mechanical Engineering. 2025, 61(2): 181-197. https://doi.org/10.3901/JME.2025.02.181
    As a new type of transportation system, an evacuated tube transportation system combines maglev technology with low-pressure tube technology, which theoretically minimizes the frictional and aerodynamic resistance of trains during high-speed operation. This could potentially break the speed limits of ground rail transport, achieving speeds of 1 000 km/h or more for ultra-high-speed train. To promote the development of the evacuated tube maglev transport, this overview first summarizes the current research status of evacuated tube transport test platforms both domestically and internationally, including the U.S., South Korea, and China, where the highest model test speed has reached 1 152 km/h. It then focuses on the basic scientific issues of aerodynamics within the tube, analyzing research progress in five areas: flow states within the tube, aerodynamic loads, complex wave phenomena, aerodynamic heating, and aerodynamic noise. Finally, the outlook for the development of evacuated tube transportation is discussed, highlighting key areas for future research: refined numerical simulation methods, methods to mitigate or delay choked flow, heat dissipation pathways suitable for evacuated tube transportation system, and the evolution of flow field characteristics in the tube during prolonged train operations.
  • FENG Jiwei, YIN Guodong, LIANG Jinhao, ZHUANG Weichao, PENG Pai, LU Yanbo, CAI Guoshun, XU Liwei
    Journal of Mechanical Engineering. 2024, 60(14): 238-251. https://doi.org/10.3901/JME.2024.14.238
    The uncertainties of human-machine interaction would cause conflicts between the driver and the intelligent assisted driving system, and thus deteriorating the vehicle driving performance. To enhance the drivability and lateral stability of the vehicle, an intelligent human-machine cooperative control framework, which considers the dynamic intervention penalty, is proposed. First, to well address the uncertainties in the human-machine shared driving system, the time-varying driver preview behavior and the tire nonlinear characteristics are considered in the vehicle system modelling; Second, to attenuate the conflicts between drivers and assistance steering actions due to the personalized driving behaviors, the human-machine intervention penalty factor is introduced into the driving authority allocation, and the fuzzy rule is established based on the dynamic driver torque and lateral deviation of actual preview point. Third, a linear parameter varying(LPV) controller based on the system poles placement is developed to improve the control system robustness. Finally, to verify the feasibility and effectiveness of the proposed control strategy, the Matlab/Carsim joint simulation and the hardware-in-loop(HIL) test based on NI-LabVIEW-RT system are conducted. The results show that the proposed human-machine cooperative control framework can effectively mitigate the human-machine conflict while guaranteeing the vehicle handling performance.
  • QIN Yanding, FAN Jiade, ZHANG Haoqi, TIAN Mengqiang, HAN Jianda
    Journal of Mechanical Engineering. 2025, 61(3): 225-236. https://doi.org/10.3901/JME.2025.03.225
    A pneumatic artificial muscle (PAM) actuated exoskeleton is developed for upper limb rehabilitation and augmentation. Different from rigid actuation, the developed exoskeleton combines PAM and rigid link to achieve both flexible actuation and high-precision movement. This helps to reduce the risk of unwanted injury to users during the rehabilitation process. In structural design, a combination of direct driven and cable driven is adopted to provide 3 degrees-of-freedom actuation for the shoulder and elbow joints. The compact structure helps to facilitate its wearability. This research presents the kinematics modeling of the exoskeleton, and dynamic modeling is then finished using the three-element model of PAM and Lagrange method. For the hysteresis nonlinearity of PAM, the combination of direct inverse modeling and adaptive projection algorithm is adopted to achieve adaptive hysteresis compensation without offline modeling and inversion. Finally, the feasibility of the exoskeleton and the proposed controller is verified via hysteresis compensation and anti-interference experiments. Experimental results show that the developed exoskeleton features both flexible actuation and high motion accuracy, satisfying the needs of upper limb rehabilitation and augmentation.
  • YUAN Xiaoming, PANG Haodong, GAO Hongfa, HOU Shubo, HAO Xiuhong
    Journal of Mechanical Engineering. 2024, 60(14): 347-363. https://doi.org/10.3901/JME.2024.14.347
    Transcending the topology of the traditional magnetic gears, the field modulated magnetic gears(FMMGs) adopts the coaxial topology and have a high utilization of permanent magnets. FMMGs have the advantages of no contact, no wear, no lubrication, low noises and overload protection, and can provide a larger torque and a higher torque density. So, FMMGs can be widely used in the navigation, wind turbine systems, petrochemical engineering and other fields. Based on a brief history review of the traditional magnetic gear and outline of the working principle of FMMGs, kinds of radial, axial and intersecting axes FMMGs are introduced, and the torque characteristics of them are compared. The calculation methods and optimization methods of related researches about FMMGs are summarized. The performance indexes of different types of FMMGs such as torque density, cogging torques, losses and temperature rises are compared and analyzed. Finally, the applications and prospects of FMMGs in magnetic geared machines, polar and other environments are summarized. The future research areas of FMMGs are predicted.
  • CAO Jie, REN Zunsong, ZHA Hao, XU Ning, YANG Chao
    Journal of Mechanical Engineering. 2024, 60(15): 173-184. https://doi.org/10.3901/JME.2024.15.173
    Gearbox is one of the important parts of high-speed EMUS. It is connected with axle and coupling through various types of bearings. These bearings play an important role in realizing power transmission of gearbox and ensuring the safety and stability of train operation. Due to the difficulty of engineering testing, it is difficult to directly test the bearing load. Based on the bearing dynamics theory and gear transmission dynamics theory, a coupling dynamic model including bearings, gear meshing and gearbox body is established. Combined with the measured excitation of the line, the contact load of the roller raceway of the gearbox bearing was obtained by numerical method. On the basis of verifying the load distribution characteristics of bearing roller raceway, the contact load of the gearbox bearing roller raceway under various working conditions is analyzed. The results show that the mean contact load of roller raceway of cylindrical roller bearing is mainly affected by traction torque, and the traction force also affects the number of loaded rollers. The gear meshing force affects the local fluctuation amplitude of roller raceway contact load. Under external excitation, the maximum value of the NU214 bearing roller raceway contact load increases by 35.0%. The loading distribution area and mean value of roller raceway contact load will be changed by train running condition, but the position of contact area is not affected by train speed. The coupling model of gearbox is useful to investigate the load characteristics of gearbox bearing.
  • LEI Fei, LIU Siyu, LIAO Junbei, GUO Zhao, WANG Zhirui, YAN Tong, DANG Ruina, SU Bo
    Journal of Mechanical Engineering. 2024, 60(15): 28-37. https://doi.org/10.3901/JME.2024.15.028
    Currently, continuum robots have weak load capacity and cannot meet the application requirements of large loads. Therefore, a cable-driven continuum robot based on distributed elastic elements that can withstand large loads is designed. The robot has passive compliance and can be utilized for applications such as cushioning, energy saving condition. In order to build the static model between the bending deformation of the continuum robot and the external load, Newton-Euler equations under external loads are established, and numerical solvers are designed for simulation. Compared with the classical constant curvature model, the simulation results are more consistent with the actual deformation. Three groups of experiments are conducted for horizontal, vertical, and circular motions at the end of the continuum robot. The results show that under a 7.5 kg load, the maximum average error between the edge points of the robot disks and corresponding simulation points is 6.58 mm, and the mean square error is 4.50 mm. These values respectively account for 2.87% and 1.96% of the total length of the continuum robot, indicating that the robot can achieve accurate motion under large loads and verifying its feasibility in large loads.
  • ZHANG Dayu, WANG Zhenpo, LIU Peng, LIN Ni, ZHANG Zhaosheng
    Journal of Mechanical Engineering. 2024, 60(22): 241-256. https://doi.org/10.3901/JME.2024.22.241
    Lithium-ion batteries as the core component of new energy vehicles(NEVs), accurate and efficient degradation mechanism identification and state of health(SOH) estimation are of great significance for improving the operational reliability of traction battery systems, reducing safety risks and evaluating residual values. With the increasing degree of intelligent network connections for NEVs and the rapid development of big data analysis technology, data-driven based SOH estimation has gained widespread attention. In order to systematically sort out the latest progress in research on the decline mechanism and health state estimation of lithium-ion batteries, the following two aspects are summarized. Regarding the ageing mechanism, the effects of different internal side reactions on lithium-ion battery degradation are discussed based on the anode, cathode and other battery structures, and combined with the actual operation scenario of NEVs to analyze the dominant role of strongly associated external factors on battery degradation. As for the SOH diagnosis, an overview of existing research is categorized according to the characteristics and focus of different data-driven algorithms, their advantages, limitations and application scenarios are analyzed and compared, and further discussed the feasibility of typical methods in the current stage of real vehicle application. Finally, the challenges and development directions in the field of SOH estimation research are summarized and prospected for the actual operation requirements of NEVs.
  • WANG Yaonan, XIE He, DENG Jingdan, MAO Jianxu, LI Wenlong, ZHANG Hui
    Journal of Mechanical Engineering. 2024, 60(16): 1-18. https://doi.org/10.3901/JME.2024.16.001
    Complex curved components are the core elements of high-end equipment in fields such as aerospace and marine vessels, and their measurement accuracy plays an irreplaceable role in ensuring the quality of high-end equipment manufacturing. To overcome the limitations of traditional manual and specialized manufacturing methods, vision-guided robotic systems provide a new approach for the high-end and intelligent processing of complex curved components, gradually becoming a research hot spot in the field of robotic intelligent manufacturing. Focusing on the 3D measurement methods of robots, this review first summarizes the characteristics of measurement schemes in different manufacturing scenarios according to sensor types and application scenarios, so as to help researchers quickly and comprehensively understand this field. Then, according to the measurement process, key core technologies are categorized as system calibration, measurement planning, point cloud fusion, feature recognition, etc. The major research achievements in various categories over the past decade are reviewed, and the existing research limitations are analyzed. Finally, the technical challenges faced by robotic measurement are summarized, and future development trends are discussed from the perspectives of application scenarios, measurement requirements, measurement methods, etc.
  • YE Qing, JIANG Xiao, ZHANG Yao, WANG Ruochen, DING Renkai, CAI Yingfeng
    Journal of Mechanical Engineering. 2024, 60(18): 276-287. https://doi.org/10.3901/JME.2024.18.276
    A time-delay-dependent H robust controller considering the response delay of magnetorheological(MR) damper is proposed to solve the negative effect of MR damper response delay on the low frequency vibration control of semi-active suspension control system. The MR semi-active suspension model considering of response time-delay is built, and the time-delay stability of time-delay MR semi-active suspension is analyzed based on Lyapunov-Krasovskii function, the critical time delay for the system is solved by using the cone complementary linearization algorithm. Then a time-delay-dependent H robust controller considering the response delay of MR damper is designed, the overall response time delay of the MR damper is reduced to be less than the theoretical critical time delay, and the feedback gain of the controller is obtained. Finally, a comparative study of simulation and experiment is carried out, the results show that the time-delay-dependent H robust controller reduces the peak responses of vehicle body acceleration and wheel dynamic load by 16.4% and 7.4% respectively in compared with the time-delay independent H robust controller under the bump road excitation, and the wheel grounding performance changes little. Experiment and simulation results validate the effectiveness and superiority of the proposed control method, and provide a theoretical reference for the research of subsequent MR semi-active suspension.
  • ZHANG Zhenxian, WU Xingwen, WU Shengchuan, LIU Kaicheng, LIU Yang, CHI Maoru, WEN Zefeng, LIANG Shulin, JIN Xuesong
    Journal of Mechanical Engineering. 2024, 60(22): 311-328. https://doi.org/10.3901/JME.2024.22.311
    The load is the fundamental input for the fatigue-resistant design of railway vehicle bogies. Understanding the definition method of standard loads and elaborating the differences between standard loads and service loads is of great significant importance for the fatigue-resistant design of railway vehicle bogies. The main characteristics and causal factors of vibration fatigue of bogie system, as well as the countermeasures, are primarily reviewed. The load definition methods of standard loads are explained from the vehicle system dynamics point of view, and a method is developed to convert the random loading spectrum to three-levels loading spectrum, which further facilitate to study the applicability and safety margin of bounce and roll factors for China high-speed railway. Regarding to the vibration spectrum of bogie components, the difference between the standard and measured vibration spectrum is discussed. The results show that the most failure cases occurred at the sub-components of railway bogie, the structural resonance caused by high frequency wheel-rail vibration serves as the main cause of vibration fatigue failure of bogie components. Compared with the actual service conditions, the bounce coefficient of vehicle given in standard has a higher safety margin, and the rolling coefficient is significantly affected by the vehicle stability. The vibration spectrum of axle box defined in the standard underestimates the vibration level in the high frequency range. Therefore, according to the characteristics of wheel-rail coupling vibration, the characteristic frequency band of axle box is defined, and a flat vibration spectrum of axle box considering multi-characteristic frequency band of wheel/rail is proposed. The discussions of loading definition for bogie system given could serve as an important reference for the vibration fatigue design of railway vehicles.
  • RONG Peng, Cheng Jing, DENG Hongwen, TAO Changan, GAO Chuanyun, RAN Xianzhe, CHENG Xu, TANG Haibo, LIU Dong
    Journal of Mechanical Engineering. 2024, 60(20): 99-107. https://doi.org/10.3901/JME.2024.20.099
    Laser directed energy deposition (DED) is a manufacturing technology for producing high performance fully dense near-net metallic components, which is melting metal powders point by point and stacking them layer by layer. Since the microstructure of DEDed TC4 titanium alloy is different from that made by traditional forging, selecting appropriate heat treatment process can improve its mechanical properties significantly. The effects of three different heat treatment on microstructure morphologies and tensile properties of DEDed TC4 alloy were investigated. The results show that after 600 ℃ and 800 ℃ annealing treatment, the α lamellae coarsens to different degrees, and the volume fraction of α phase increases slightly. The double annealing heat treatment at 975 ℃ results in the appearance of equiaxed α phase, improving room-temperature plasticity with about 26.1% higher in average transverse reduction of area than that after 800 ℃ annealing treatment. After double annealing heat treatment at 975 ℃, TC4 alloy has the highest transverse average elongation at high temperature tensile test at 400℃, showing excellent high temperature strength-plastic balance.
  • SONG Jingzhou, GONG Xinglong, DUAN Jiachen, ZHANG Tengfei
    Journal of Mechanical Engineering. 2024, 60(15): 1-17. https://doi.org/10.3901/JME.2024.15.001
    In recent years, mobile robots that combine traditional wheeled, legged, and jumping movements have received widespread attention from researchers. Their advantages in unstructured terrain make them have broad application prospects in emergency rescue, field inspections, underground exploration, and other fields. The current research status of new mobile robots such as wheeled jumping robots, wheeled leg jumping robots, and spherical jumping robots are all introduced in detail in the paper, and a comparative analysis also is conducted from their mechanism design and jumping control aspects. In terms of mechanism design, it analyzes the jumping mechanism design characteristics of wheeled, wheeled leg, and spherical jumping robots in recent years, and summarizes their structural design characteristics. In the section of jump control methods, the aerial attitude control methods and landing buffering control methods of jumping mobile robots were reviewed. Finally, from the aspects of structure, energy storage, intelligent control and so on, the future development direction and trend of jumping mobile robot are discussed and prospected.
  • PENG Jichang, LIU Kailong, MENG Jinhao, LIU Haitao
    Journal of Mechanical Engineering. 2024, 60(14): 298-305. https://doi.org/10.3901/JME.2024.14.298
    The rapid development of the electric vehicle and energy storage station for power grid has put forward higher level requirements for the battery management system(BMS), accurate Lithium-ion(Li-ion) battery modeling and parameter identification are necessary for monitoring the states of the Li-ion battery and efficient energy management. Due to the model structure, the traditional equivalent circuit model(ECM) can only exhibit the impedance characteristics in one time scale. The complex dynamic physical and chemical status inside the Li-ion battery can not be effectively reflected in this condition. Thus, according to the multiple-time constant characteristic of the battery, It is proposed a dynamically parameterized structure for the first-order ECM and the corresponding parameter identification method. By introducing the time factor to the procedure of parameter extraction, the RC element in the model can be extended from two-dimensional curve to three- dimensional surface. In this way, the parameters of the model changed with the charging and discharging conditions during the relaxation period, and then the internal electrochemical state of the Li-ion battery can be exactly reflected. Based on the above foundation, this work establishes the dynamically parameterized structure for ECM, and the experimental validation has proved the effectiveness of the proposed method.
  • WU Yang, WANG Cong, DONG Guoxin, ZENG Riya, CAO Kai, CAO Dongpu
    Journal of Mechanical Engineering. 2024, 60(24): 211-225. https://doi.org/10.3901/JME.2024.24.211
    Due to the variable working environment and complex track-ground contact mechanism, it is difficult to establish an accurate dynamic model for tracked vehicles. Moreover, affected by the drastic impulse from the unstructured road surface, the accurate information of velocity is usually difficult or costly to measure. These unfavorable factors bring challenges to the trajectory tracking control of tracked vehicles. Aiming at the difficulty in modeling dynamics, a hybrid kino-dynamic model with track rotation acceleration as virtual control input is established, and generalized disturbances are used to describe the uncertainty caused by track slip. To deal with the unmeasurable velocity information, an extended state observer (ESO) is designed based on the hybrid model, and the state estimation of the whole vehicle is realized using only GNSS signals and track encoder signals. Finally, taking the rotational acceleration of the track as the intermediate control input, a hierarchical disturbance-rejecting control strategy consisting of an upper layer path tracking controller and a lower layer track speed controller is designed. Simulation and test results show that the proposed state observation and control strategy can accurately estimate the real-time velocity of the tracked vehicle, and effectively improve the path tracking accuracy under external disturbances.
  • ZHONG Qi, XU Enguang, JIA Tiwei, WANG Junxian, YANG Huayong, LI Yanbiao
    Journal of Mechanical Engineering. 2025, 61(4): 290-301. https://doi.org/10.3901/JME.2025.04.290
    High speed on/off valve(HSV), the core control component of digital hydraulic system(DHS), has the advantages of compact structure, high frequency response and strong anti-pollution ability, so that it is widely applied in aerospace, engineering machinery, military equipment, and other important fields. The dynamic performance of HSV determines the response speed and control accuracy of DHS. For the existing HSV, optimizing the control method is the most effective and economical way to improve its dynamic performance. The research status and progress of HSV control algorithm are comprehensively analyzed. In order to improve the operation performance of HSV, its control strategy tends to multi-voltage algorithm, and higher requirements for voltage matching at each stage is put forward. Although the existing multi-voltage control algorithm can achieve both fast dynamic response and low energy driving by optimizing the switching initial current of HSV. However, the fast dynamic response intensifies the impact between the valve bodies, resulting in big noise and severe vibration of HSV, and significantly shortens its service life. With the integration of microelectronics, computers and sensing technologies, the multi-voltage control algorithm of HSV will develop towards a more refined and intelligent direction, and balance the key characteristics of fast response, low power losses, small temperature rising and long service life.
  • LU Haoran, ZOU Mengzhen, LI Zhe
    Journal of Mechanical Engineering. 2024, 60(20): 193-207. https://doi.org/10.3901/JME.2024.20.193
    With the rapid development of battery electric vehicles, there has been a higher demand for increased energy density and safety in power batteries. The blade battery has significantly enhanced space utilization and addressed the issue of low energy density in conventional Lithium iron phosphate batteries(LFP). A model combining 1D electrochemical with a 3D thermal model is developed to investigate the following three aspects. Firstly, the effect of environmental temperature, charge rate, and heat transfer coefficient on the electrochemical properties of blade batteries with varying lengths is studied. Through the use of the DC impedance decomposition method(DCR), the primary physicochemical process that affects the electrochemical performance of the long/short blade battery is identified and traced. Secondly, the influence of the above three variables on temperature distribution and temperature rise process at the end of charging of the long/short blade batteries is investigated. Furthermore, a heat production decomposition (HPD) study is carried out to demonstrate the heat production of each component. Thirdly, the influence of battery size and heat transfer coefficient on battery temperature uniformity is explored, and several helpful proposals that benefit to temperature uniformity are suggested. The main results are as follows ① The effect of blade battery length on electrochemical performance is attributed to the different collector resistance, and the resistance increases as the length of the battery increases. Additionally, the thermal performance is affected by the length of the blade battery, which is dependent on internal heat production, conduction, and surface dissipation. According to the results, as the length increases, there will be a corresponding increase in heat production and temperature difference of the battery. ② The three factors mentioned above displayed varying effects on electrochemical and thermal properties. On the one hand, the environmental temperature and heat transfer coefficient have little influence on electrochemical properties and heat production constitution. On the other hand, as the charging rate increases, the capacity declines noticeably because of the rise in overpotential, and heat production increases considerably both reversible heat and irreversible heat. Additionally, the temperature uniformity improves in length direction with the increasing heat transfer coefficient. Moreover, improving thermal conductivity is proven another effective way to temperature uniformity. According to the simulations, the L400 shows the best temperature consistency among the three different battery sizes, containing the L400, L800, and L1200. In summary, decreasing the length of the battery and improving the thermal conductivity of the material are effective methods to enhance temperature uniformity in each direction of the batteries.
  • HUANG Sihan, CHEN Jianpeng, XU Zhe, YAN Yan, WANG Guoxin
    Journal of Mechanical Engineering. 2025, 61(3): 130-141. https://doi.org/10.3901/JME.2025.03.130
    In Industry 4.0, the emerging technologies such as artificial intelligence, big data, and the Internet of Things are appearing endlessly, accelerating the transformation and upgrading of the manufacturing industry. In this process, industry robot plays an increasingly important role, which also lays a solid foundation for the high-quality development of intelligent/smart manufacturing. With the proposal of Industry 5.0, human centricity concept becomes popular, which has given birth to the emerging field of human-centric smart manufacturing. The boundary between human and robot in the smart manufacturing systems gets blurred, and the research on human-robot autonomous collaboration has attracted more and more attentions. Therefore, proposes a human-robot autonomous collaboration method based on large language model and machine vision to improve the intelligence level of human-robot collaboration. First, dynamic perception of the working process for human-robot collaboration is carried out by the fusion of machine vision and deep learning, where the fusion of YOLO and transfer learning is adopted to accurately identify the operate progress and the long short-term memory network and attention mechanism are combined to recognize the actions of operator. Second, the large language model is fine-tuned for human-robot collaboration to realize autonomous operating decision for smart robot during the dynamic work process. Finally, a reducer assembly case is used to verify the effectiveness of the proposed method.
  • LIAO Ding, ZHU Shunpeng, NIU Xiaopeng, HE Jinchao, WANG Qingyuan
    Journal of Mechanical Engineering. 2025, 61(8): 47-74. https://doi.org/10.3901/JME.2025.08.047
    Fatigue failure is one of the most encountered problems with cyclically loaded mechanical structures. Affected by multi-source uncertainties arising from material property, load spectrum, geometrical dimension, etc., fatigue damage evolution generally shows certain variability which cannot be ignored. In particular, the computation is sometimes very sensitive to tiny input changes, in which varying quantities over reasonable ranges can even lead to outputs with 1 000 times difference. Under this circumstance, traditional design criteria which combine deterministic models and safety/scatter factors no longer work, and methods developed from the probabilistic perspective with reasonable and accurate descriptions of uncertain inputs are highly expected to meet the requirements, including the determination of the redundancy and inspection periods, as well as the establishment of maintenance schedules, and retirement policies, in response to the tendency of reliability-based optimal design in modern structural engineering. To boost the development of probabilistic fatigue modelling and emphasize its crucial significance in fatigue reliability design, this paper systematically recalls research backgrounds, fatigue scatter sources, fatigue behaviour variability, basic elements in fatigue reliability and developing trends, and ends with conclusions.
  • SUN Yuxin, CAI Shouyu, ZHANG Xu, WANG Ke
    Journal of Mechanical Engineering. 2024, 60(15): 346-357. https://doi.org/10.3901/JME.2024.15.346
    Topology optimization technology has become an effective design method for high-performance heat dissipation structures. The typical optimization results of heat dissipation structures often show the characteristics of many small features and complex topology configurations. However, the traditional topology optimization method has great difficulties in the model reconstruction of the small features of the heat dissipation structure because the design results are difficult to be accurately imported into the CAD system and/or the resulting boundary is not clear and smooth;New topology optimization methods, such as feature-driven method and moving morphable components method, which can seamlessly connect with the CAD system, are difficult to be used to design heat dissipation structure with complex topology configuration because of their initial layout dependence.In view of this, with the help of the hierarchical growth technology of the tree branch structure of the bionic topology optimization method, a new adaptive feature-driven method is developed to provide a reasonable initial layout for the feature-driven optimization of the heat dissipation structure.In order to enlarge the design space as much as possible to obtain better results, two B-spline functions are used to construct bendable features with sufficient deformation ability;In order to reflect the hierarchical relationship of the bionic tree branch structure in the optimization process, the starting point of the branch feature is directly defined in the parameter domain of the main branch feature based on the mapping idea.The topology optimization of the heat dissipation structure under different boundary conditions is carried out with the optimization goal of minimizing the thermal compliance and the given volume fraction of high thermal conductivity material as the constraint.Numerical examples show that the proposed adaptive feature-driven method can obtain the design results of heat dissipation structures with clear and smooth boundaries and excellent performance using relatively few design variables.
  • SUN Qingjie, TAO Yujie, LIU Yibo, FENG Jicai
    Journal of Mechanical Engineering. 2024, 60(22): 40-57. https://doi.org/10.3901/JME.2024.22.040
    The titanium/steel dissimilar metal structural components can not only take advantage of the high strength and good corrosion resistance of titanium alloys, but also consider the excellent weldability and cost-effectiveness of steel, which has broad application prospects in the fields of petrochemicals, marine engineering, aerospace, etc. However, due to the significant differences in physical and chemical properties between Ti and Fe, achieving reliable welding of titanium/steel composite components is extremely challenging. The generation of interface brittle compounds and large residual stresses within the joint are the main factors restricting the improvement of joint performance. This paper reviews the domestic and foreign research progress in the field of dissimilar metal welding of titanium/steel focusing on interface energy control, interlayer metallurgy control, and energy field-assisted heat source control. It summarizes and compares the effects of alloy elements, welding parameters, and other factors on the weld formation and interfacial microstructure, and analyzes the inherent correlation among the welding process-weld formation-interfacial microstructure-mechanical performance. Based on this, a summary and prospect of titanium/steel dissimilar metal welding field are provided, aiming to provide reference for future research directions and technological breakthroughs in titanium/steel welding.
  • SONG Guangming, HAO Shuang, JI Zichao, ZHANG Junyi, SONG Aiguo
    Journal of Mechanical Engineering. 2025, 61(3): 197-211. https://doi.org/10.3901/JME.2025.03.197
    Aerial manipulators (AMs) are a new type of aerial robots that integrate multirotor unmanned aerial vehicles (UAVs) with robotic manipulators. With agile flight and manipulation capabilities simultaneously, AMs can reach high-altitude places to perform transportation or contact-based tasks, which leads to broad application prospects. Contact-based-operation-type AMs are advanced technical equipment for infrastructure maintenance which are urgently needed by many industries including oil and gas, transportation, hydraulic engineering, and electric power. In the past decade, contact-based-operation-type AM technologies have attracted increasing attentions in the field of robotics and automation. This research summarizes and analyzes the past studies on the key technologies for contact-based-operation-type AMs. Firstly, the contact-based operation modes of the AMs are introduced, which are divided into three types according to the interaction characteristics between the end effectors and the target objects, i.e., point contact, sliding contact, and intervention contact. Then, the mechanism design technologies are discussed by comparing some representative prototypes based on the conventional multirotor UAVs, the fully-actuated multirotor UAVs, the interconnected actuated multibody platforms, etc. The control methods are discussed, which include the flight control, the passive compliance control, the active compliance control, and the bilateral teleoperation control. Finally, the future development trends of these key technologies are prospected.
  • LI He, ZHAO Xuesen, ZHANG Junjie, MA Wenqi, HU Zhenjiang, SUN Tao
    Journal of Mechanical Engineering. 2024, 60(15): 368-378. https://doi.org/10.3901/JME.2024.15.368
    Laser micromachining is widely used to fabricate planar functional surface microtextures, for its advantages of high quality, low cost and high efficiency. However, the application of laser micromachining in fabricating curved surface microtextures is hindered by the limited ablation ranges and frequent changes of beam incident angles, which result into low machining quality. In order to realize the laser micromachining of high-quality microtextures on complex curved surface, a multi-axis linkage laser micro-milling-based surface texturing method is proposed, which couples a multi-axis linkage precision motion platform with a nanosecond pulse laser beam. Furthermore, the strategy of constant coincidence between the laser beam and the surface normal is adopted to realize the high-quality laser micromachining of high precision microtextures on curved surface. Firstly, the projection law of planar surface microtexture on curved surface, as well as the kinematics of the position and attitude adjustment of laser-curved surface interaction point, are analytically analyzed, based on which the discrete constraints of the laser machining trajectory are determined accordingly. Secondly, a machining strategy of constant coincidence between the laser beam and the surface normal is proposed, for which a five-axis linkage motion micro-platform is designed and developed, and its machining performance is evaluated by developing a virtual simulation environment. Finally, the five-axis linkage laser micro-milling experiments and the characterization of as-fabricated complex curved surface microtextures are carried out, which demonstrate the realization of high-precision surface microtextures with complex shapes on stainless steel curved workpiece with high steepness and small size. The results suggest that the continuously and uniformly processing of complex curved surface microtextures can be realized by using the multi-axis linkage precision motion platform coupled with the nanosecond pulse laser beam, which provides a feasible method for preparing high-quality microtextures on complex surfaces with high steepness and small size.
  • WANG Meiyu, ZHANG Haobo, HU Weibo, MEI Yunhui
    Journal of Mechanical Engineering. 2024, 60(19): 261-276. https://doi.org/10.3901/JME.2024.19.261
    With the increasing complexity of the system, the traditional packaging technology can no longer meet the high-performance interconnection of multi-chips and multi-devices.3D-system in package (3D-SiP) achieves high-performance integration of chips and devices through multi-layer stacking and stereo interconnection.Among them, the through silicon via (TSV) structure plays a crucial role in 3D-SiP.This study systematically reviewed the TSV technology, including its technical background, manufacturing, bonding process and application features of TSV.In addition, it compared the advantages and disadvantages of different manufacturing processes and bonding processes, such as etching, laser drilling, deposited film and metal filling in manufacturing process, solder bump, copper pillar bump and hybrid bonding in bonding process, summarized the recent research progress and the current challenges, and prospected the development trend of TSV in the future.
  • GAO Pengjie, WANG Junliang, ZHANG Jie
    Journal of Mechanical Engineering. 2024, 60(22): 179-191. https://doi.org/10.3901/JME.2024.22.179
    Wafer manufacturing cycle time forecasting is the core problem of semiconductor wafer fabrication system operation optimization, which is the key to guaranteeing the on-time delivery of wafer products. Deep learning methods learn the data fluctuation laws from massive data, construct black-box prediction models of complex systems, and achieve impressive prediction accuracy in static environments. However, under dynamic system state fluctuation, such as workshop work-in-process levels, current methods cannot stay accurate prediction due to the lack of interpretability to explain the changing rules of the forecasting model with system states. Therefore, an interpretable deep learning method(IDLM) for wafer manufacturing cycle time forecasting is proposed to clarify the organization rules of forecasting neural networks under different system states. First, a brain-inspired interpretable structural model of the wafer manufacturing cycle time forecasting neural network is constructed to provide a structural basis for the analysis of the network in the organization form of "neurons-neural circuits-neural network". Second, a key neuron recognition method of cycle time forecasting network is proposed to filter important neurons from the network with information entropy weighted rules constraint. Finally, a key neural circuit search algorithm is designed to quickly search for the optimal combination of similar neurons to obtain the key forecasting circuits. The experimental results show that IPM can extract the key neural circuits of the forecasting network while maintaining the accuracy, which provides a key structural basis for the network self-assembly under dynamic environments.