Search | Engineering

订阅投稿

首页工程期刊工程焦点工程成就工程前沿关于我们 English

资源类型

期刊论文 337

会议视频 4

年份

2023 25

2022 34

2021 30

2020 17

2019 24

2018 26

2017 20

2016 17

2015 17

2014 11

2013 9

2012 11

2011 15

2010 16

2009 17

2008 13

2007 13

2006 5

2005 5

2003 2

展开︾

关键词

液压提升机 3

2021全球十大工程成就 2

余度 2

微地震监测 2

有限元分析 2

1T/2H-MoS₂ 1

9 + 2结构 1

FE-SEA混合法 1

Halbach阵列 1

IHNI-1反应堆；热工水力；子通道；安全分析 1

Matlab 1

ZIF-8 1

e-杂交稻 1

eui 1

三峡 1

三峡升船机 1

三峡工程 1

三峡船闸；输水方式；水流条件；通过能力 1

展开︾

检索范围：

排序：展示方式：

Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0735-x

摘要： Servo-hydraulic actuators (SHAs) are widely used in mechanical equipment to drive heavy-duty mechanisms. However, their energy efficiency is low, and their motion characteristics are inevitably affected by uncertain nonlinearities. Electromechanical actuators (EMAs) possess superior energy efficiency and motion characteristics. However, they cannot easily drive heavy-duty mechanisms because of weak bearing capacity. This study proposes and designs a novel electromechanical-hydraulic hybrid actuator (EMHA) that integrates the advantages of EMA and SHA. EMHA mainly features two transmission mechanisms. The piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts, realizing the integration of two types of transmission mechanisms. The control scheme of the electromechanical transmission mechanism is used for motion control, and the hydraulic transmission mechanism is used for power assistance. Then, the mathematical model, structure, and parameter design of the new EMHA are studied. Finally, the EMHA prototype and test platform are manufactured. The test results prove that the EMHA has good working characteristics and high energy efficiency. Compared with the valve-controlled hydraulic cylinder system, EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%, respectively, under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator (EMHA) integration transmission mechanisms power assistance energy efficiency working characteristics

HTML PDF 收藏

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

《机械工程前沿（英文）》 2018年第13卷第2期页码 151-166 doi: 10.1007/s11465-018-0470-5

摘要：

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

关键词： motion control electrohydraulic control energy efficiency mobile machineries

HTML PDF 收藏

Optimization design of an interior permanent-magnet synchronous machine for a hybrid hydraulic excavator

Qi-huai CHEN,Qing-feng WANG,Tao WANG

《信息与电子工程前沿（英文）》 2015年第16卷第11期页码 957-968 doi: 10.1631/FITEE.1500056

摘要： A hybrid power transmission system (HPTS) is a promising way to save energy in a hydraulic excavator and the electric machine is one of the key components of the system. In this paper, a design process for permanent-magnet synchronous machines (PMSMs) in a hybrid hydraulic excavator (HHE) is presented based on the analysis of the working conditions and requirements of an HHE. A parameterized design approach, which combines the analytical model and the 2D finite element method (FEM), is applied to the electric machine to improve the design efficiency and accuracy. The analytical model is employed to optimize the electric machine efficiency and obtain the stator dimension and flux density distribution. The rotor is designed with the FEM to satisfy the flux requirements obtained in stator design. The rotor configuration of the PMSM employs an interior magnet structure, thus resulting in some inverse saliency, which allows for much higher values in magnetic flux density. To reduce the rotor leakage, a disconnected type silicon steel block structure is adopted. To improve the air gap flux density distribution, the trapezoid permanent magnet (PM) and centrifugal rotor structure are applied to PMSM. Demagnetization and armature reactions are also taken into consideration and calculated by the FEM. A prototype of the newly designed electric machine has been fabricated and tested on the experimental platform. The analytical design results are validated by measurements.

关键词： Analysis Design Hybrid hydraulic excavator (HHE) Finite element method (FEM) Interior permanent-magnet (PM) motor PM synchronous machine (PMSM)

HTML PDF 收藏

IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

《机械工程前沿（英文）》 2010年第5卷第2期页码 204-211 doi: 10.1007/s11465-010-0005-1

摘要： Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.

关键词： ionic polymer-metal composite (IPMC) artificial muscles actuator flexible gripper finite element analysis electromechanical coupling

HTML PDF 收藏

Polymer nanocomposites for microactuation and magneto-electric transduction

Kaori YUSE, Benoit GUIFFARD, Rabah BELOUADAH, Lionel PETIT, Laurence SEVEYRAT, Daniel GUYOMAR

《机械工程前沿（英文）》 2009年第4卷第3期页码 350-354 doi: 10.1007/s11465-009-0056-3

摘要： In the last decade, electroactive polymers have attracted much attention especially because of their very actuating capabilities. Large strain is experimentally observed, but under quite high electrical field, which can be a severe drawback for actuating applications. First part of the present paper is concerned with the reduction of applied field onto electroactive polymer films to get a given strain level. Polyurethane (PU) films filled with carbon black (CB) nanoparticles exhibit relatively high strain level under a field of only 12.5 kV/mm. The simple easy-to-make method solution cast method was applied. Even though the generated stress level is still quite low, the present work shows high strain level under quite low field appliance by easy manufacturing, lightweight, and flexible polymer film. Besides, another interest of the present paper is in magneto-elasto-electric effect of a polymer film filled with some magnetic nano particles. Films filled with nonpiezoelectric but with magnetite particles has still short history. With the use of magneto materials, a large magnetic DC bias field is generally required, and it causes big problem on application. The films filled with some magnetite nanoparticles (Fe3O4 and Nickel) are fabricated then examined. It is clearly demonstrated that our films do not require any DC bias. Although linear polarization value is relatively small, the first step of the studies on magnetite nano-filled film is presented.

关键词： electroactive polymers carbon filling actuator nanocarbon electromechanical coupling dielectric polymer actuators polymer actuators microactuation magneto-electric effect

HTML PDF 收藏

基于扩展干扰观测器的电液执行器的模糊阻抗控制 Regular Papers-Research Articles

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, Wen-zhuo SHI, Kai GUO

《信息与电子工程前沿（英文）》 2019年第20卷第9期页码 1221-1233 doi: 10.1631/FITEE.1800155

摘要：在本文中，我们同时处理遭受外干扰及参数不确定影响的单出杆电液执行器的速度控制和力控制。在某些应用中，速度控制和力控制两者都有要求。阻抗控制和扩展干扰观测器的结合可以解决该问题。阻抗控制可调节执行器的速度和输出力之间的动态关系，有助于执行器与作用环境或者工件间避免冲击和保持合适的接触力。阻抗规则参数可由模糊算法调节。扩展干扰观测器被用于补偿外部干扰和参数不确定性，实现精确的速度跟踪。为扩展干扰器的开发，提出精确的负载力动力学模型。分析了系统稳定性。实验数据表明所提控制算法具有高精度速度跟踪性能，同时具有良好的力调节能力，在工程机械和装配中具有较大应用前景。

关键词：模糊控制；阻抗控制；干扰观测器；参数不确定性；电液执行器

HTML PDF 收藏

Special issue: Micro-electromechanical systems (MEMS)

Zhuangde JIANG

《机械工程前沿（英文）》 2017年第12卷第4期页码 457-458 doi: 10.1007/s11465-017-0492-4

HTML PDF 收藏

New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator nonlinear stiffness actuator nonlinear spring predefined torque−deflection profile

HTML PDF 收藏

一种混合电磁气门驱动机构设计 Article

Jawad ASLAM, Xing-hu LI, Faira Kanwal JANJUA

《信息与电子工程前沿（英文）》 2017年第18卷第10期页码 1635-1643 doi: 10.1631/FITEE.1601215

摘要：对该机构同双电磁阀驱动机构（double solenoid valve actuator，DSVA）进行了比较分析。所提机构和DSVA有限元设计方法经过自主制作的试验样机验证。

关键词：永磁；电磁；可变气门正时；无凸轮轴发动机；磁动势

HTML PDF 收藏

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

HTML PDF 收藏

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot cable-driven linear actuator parallel robot stiffness analysis

HTML PDF 收藏

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

《机械工程前沿（英文）》 2021年第16卷第4期页码 711-725 doi: 10.1007/s11465-021-0647-1

摘要： The safety of human–robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human–robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional–derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

关键词： variable stiffness actuator variable stiffness module drive module symmetrical structure double-deck grooves expandable electrical system

HTML PDF 收藏

Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第4期页码 433-438 doi: 10.1007/s11465-007-0074-y

摘要： This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramic stacks (PZT), and analyzes its dynamic performances. First, the space coordinate relationship of the spherical micro actuator and a dynamic model are set up. Second, The Runge-Kutta arithmetic is used to calculate the dynamical parameters of the micro actuator; the SIMULINK module of MATLAB is used to build the dynamical simulating model and then simulate it. Third, an experimental sample of the spherical micro actuator is developed, a micromanipulator is integrated with a micro-gripper based on the sample spherical micro actuator, and the experimental research on the micro assembly is conducted between a micro shaft of 180 μm and a micro spindle sleeve of 200 μm. Finally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphere of the micro actuator, driving signal frequency, friction coefficient of the contact surface between the metal sphere and the friction block of the micro driving unit are analyzed. The experimental results indicate that the rotation resolution of the micro actuator reaches 0.000 1°, the rotation positioning precision reaches 0.000 5°, and the maximum working frequency is about 1200 Hz. The experimental results validate the back rotation vibration model of the spherical micro actuator. The micromanipulator integrated by the spherical micro actuator can meet the requirements of precise micro operation and assembly for micro electro mechanical systems (MEMS) or other microelements in micro degree fields.

关键词： spherical micro-gripper friction coefficient dynamic frequency

HTML PDF 收藏

类生命机器人发展与未来挑战 Review

张闯,王文学,席宁,王越超,刘连庆

《工程（英文）》 2018年第4卷第4期页码 452-463 doi: 10.1016/j.eng.2018.07.005

摘要：

类生命机器人由活体生物系统与传统机电系统深度有机融合而成，具有高能量效率、高本质安全性、高灵敏度以及可自修复等潜在优点。由于类生命机器人具有单独生命体或者以机电系统为主体的传统机器人系统所不具备的特性，因此对其的研究已成为当今的热点，并且在近些年的研究中取得了一定的重要成果。本文系统地总结了类生命机器人的发展。首先，讨论了类生命机器人的潜在发展趋势。然后，回顾了现有类生命机器人的性能，其中包括机器人简单的运动以及运动速度和方向的控制特性。接下来讨论了现有类生命机器人所使用的活体生物材料和非生命材料以及相应的加工制造方法。而后，回顾了现有类生命机器人所采用的控制方法，其中包括物理及化学控制方法。最后，讨论了类生命机器人未来发展中在感知、驱动、智能、活体生物材料、非生命材料、控制方法及信息技术等方面所面临的关键挑战。

关键词：类生命机器人融合机器人生物驱动器心肌细胞肌肉细胞

HTML PDF 收藏

Impact drive rotary precision actuator with piezoelectric bimorphs

ZHANG Hongzhuang, ZENG Ping, HUA Shunming, CHENG Guangming, YANG Zhigang

《机械工程前沿（英文）》 2008年第3卷第1期页码 71-75 doi: 10.1007/s11465-008-0008-3

摘要： An impact drive rotary precision actuator with end-loaded piezoelectric cantilever bimorphs is proposed. According to finite element analysis and experiments of the dynamic characteristics of end-loaded piezoelectric cantilever bimorphs, a specific fixed-frequency and adjustable-amplitude is confirmed to control the actuator. The results show that an actuator excited by fixed-frequency and the adjustable-amplitude ramp voltage waveform works with a large travel range (180°), high resolution (1 ?rad), speed (0.2 rad/min) and heavy-load ability (0.02 Nm). With advantages of high-precision positioning ability, simple structure and only one percent the cost of traditional impact drive mechanisms, the actuator is expected to be widely used in precision industries.

关键词： specific fixed-frequency waveform piezoelectric cantilever mechanisms adjustable-amplitude