Abstract:The paper deals with the problem of motion planning of an underactuated hopping robot in joint space. Firstly, the paper establishs the model of the underactuated robot. Then, combining the coupling equations about the actuated and underactuated joints and the equation the COM, the acceleration equations between the actuated joints and the COM are derived. Using the vertical acceleration equations of the COM as the constraints, the proper joint trajectories during stance are generated by numerical iteration and optimization. The simulation results show that the proposed method in this paper is feasible and can be extended to other underactuated hopping robots.

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	1. Motion Planning of one Bionic Underactuated Hopping Robot during Stance
	MENG Xiangyan,GE Wenjie
	Mechanical Engineering 08 May 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (291K B)

	Abstract:The paper deals with the problem of motion planning of an underactuated hopping robot in joint space. Firstly, the paper establishs the model of the underactuated robot. Then, combining the coupling equations about the actuated and underactuated joints and the equation the COM, the acceleration equations between the actuated joints and the COM are derived. Using the vertical acceleration equations of the COM as the constraints, the proper joint trajectories during stance are generated by numerical iteration and optimization. The simulation results show that the proposed method in this paper is feasible and can be extended to other underactuated hopping robots.
	TO cite this article:MENG Xiangyan,GE Wenjie. Motion Planning of one Bionic Underactuated Hopping Robot during Stance[OL].[ 8 May 2017] http://www.paper.edu.cn/en_releasepaper/content/4730215


	2. Continuous rotation of a 2R1T symmetrical parallel mechanism
	LIU Xiaomeng,CHEN Ziming,CHENG Dongliang,WEI Xuedan
	Mechanical Engineering 30 April 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (279K B)

	Abstract:In this paper, the continuous rotation movement of a 2R1T symmetrical parallel mechanism is studied. The moving platform and the base of this mechanism are mirror symmetrical with respect to a mid-plane. This moving platform can realize continuous rotation about any axis or any point on the mid-plane and can have continuous translation along the normal line of the mid-plane. The motion characteristics of this mechanism are analyzed. The numerical examples are given to show the continuous rotations of this PM. This kind of PMs has outstanding advantages of easy path planning and controlling.
	TO cite this article:LIU Xiaomeng,CHEN Ziming,CHENG Dongliang, et al. Continuous rotation of a 2R1T symmetrical parallel mechanism[OL].[30 April 2017] http://www.paper.edu.cn/en_releasepaper/content/4731164

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	3. Electromechanical Coupled Forced Response to Running Load for Electromagnetic Railguns
	Xu Lizhong,Peng Lingchao
	Mechanical Engineering 30 April 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (790K B)

	Abstract:In this paper, considering the electromagnetic nonlinearity of the railgun system, the nonlinear electromechanical coupled forced response equations of the railgun to running load are proposed. Using the equations, the velocity-frequency characteristics equation of the railgun is obtained. The nonlinear electromechanical coupled forced responses of the rail to running load are investigated under condition that the exciting frequency is far from and near to the resonance frequency. The results show that combined frequency resonance vibrations occur because of nonlinearity of the railgun system when the exciting frequency is far from the natural frequency of the rail. When the armature runs on the rail, the dynamic displacements with multi-harmonic frequencies occur in the railgun. The dynamic displacement distributions are influenced by running load velocity and other system parameters. The resonance frequency of the railgun system is influenced by the running load velocity. The relationship between the resonance frequency and the running load velocity depends on the system parameters such as the rail current, the rail thickness, the rail width, the armature position, and stiffness of the elastic foundation. The results are useful for design and application of the railgun system..
	TO cite this article:Xu Lizhong,Peng Lingchao. Electromechanical Coupled Forced Response to Running Load for Electromagnetic Railguns[OL].[30 April 2017] http://www.paper.edu.cn/en_releasepaper/content/4731137


	4. A Forming Force Model of Involute Spline Tooth Space in Cold Striking Process
	SONG Jianli,ZHANG Zhiqiang,LIU Zhiqi,LI Yongtang
	Mechanical Engineering 26 April 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (308K B)

	Abstract:It is analyzed that the continuous cold striking process of involute spline tooth space, instantaneous contact surface between the striking wheel and workpiece, plastic stain rate of workpiece material, etc. Then, a new mathematic model of cold striking forming force of spline tooth space is put forward. In modeling, the Johnson-cook constitutive model is applied to express the relationship among effective stress, effective strain, plastic starin rate and working temperature in the forming. An accurate formula of plastic strain rate of workpiece material is proposed in the instantaneous contact between the wheel and workpiece. The effective stain of material elements at distribution nodes on contact track surface between the wheel and workpiece is obtained by finite element simulation, and the polynomial curve fitting method is adopted to establish strain distribution function of the track surface. The slip line field between the wheel and workpiece is given and unit average force formula at the contact surface is presented, considering the effects of contact friction and material hardening. The research results show the theoretical results of the presented model agree well with the results of numerical simulation by Solidwork and Abaqus/Explicit, and the calculation accuracy of forming force in cold striking process is obviously improved. The effects of three factors on forming force are compared and analyzed, which are material hardening, material strain rate and contact fiction between the wheel and workpiece.)
	TO cite this article:SONG Jianli,ZHANG Zhiqiang,LIU Zhiqi, et al. A Forming Force Model of Involute Spline Tooth Space in Cold Striking Process[OL].[26 April 2017] http://www.paper.edu.cn/en_releasepaper/content/4729812


	5. The laser thermal effect on the adhesive in laser weld bonding dissimilar Mg alloys process
	Wang Hongyang,Feng Baoqiang
	Mechanical Engineering 25 April 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (444K B)

	Abstract:The effect of laser welding on the adhesive was discussed in the laser weld bonding Mg alloys process. The decomposed adhesive was observed by the SEM, and the tensile shear load of the laser weld bonding Mg joints and the adhesive joints were measued in different conditions. The results showed that the invalid adhesive area was as increase as the laser beam power, which influence the property of the joint obviously. The tensile shear load was reduced with the decrease of adhesive thickness when the adhesive thickness was less than 0.15mm. When the invalid area adhesive was less than 1mm, the influence of the ahesive decomposition made little harmful effect on the property of the joint
	TO cite this article:Wang Hongyang,Feng Baoqiang. The laser thermal effect on the adhesive in laser weld bonding dissimilar Mg alloys process[OL].[25 April 2017] http://www.paper.edu.cn/en_releasepaper/content/4727515


	6. Physical simulation experiments of dynamics performance For Electromagnetic Railgun
	XU Lizhong,WU Dewen
	Mechanical Engineering 24 April 2017
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (359K B)

	Abstract:In this paper, a physical simulation experimental method of the dynamic performances of the electromagnetic railgun is proposed. Here, a micro beam under electrostatic force is used to simulate an electromagnetic railgun. For a team of the railgun parameters an experimental model is designed and produced. Using similarity theory, the natural frequency similarity ratio between the railgun and the experimental model is determined. The exciting and detection circuits of the experimental model is designed and fabricated. Using the experimental model, the natural frequency for the railgun is obtained and compared with the calculated value. Results show that the simulated result is near to the calculated one. The method can be used to illustrate calculated results about dynamics performance of the railgun system.
	TO cite this article:XU Lizhong,WU Dewen. Physical simulation experiments of dynamics performance For Electromagnetic Railgun[OL].[24 April 2017] http://www.paper.edu.cn/en_releasepaper/content/4727576


	7. On-chip fluidic assembly of multiple types of nanowires
	LIU Mei,CAO Ning,YU Jiasheng,DENG Ning
	Mechanical Engineering 17 October 2016
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (892K B)

	Abstract:In this paper, nanowires of different diameters were assembled on the substrate by hydrodynamic focusing. Enveloped and positioned by the two sheath flows, the sample flow containing different nanowires were located to different lanes on the substrate, and thus different nanowires were assembled on the substrate. The hydrodynamic focusing approach is easy to control and economic.
	TO cite this article:LIU Mei,CAO Ning,YU Jiasheng, et al. On-chip fluidic assembly of multiple types of nanowires[OL].[17 October 2016] http://www.paper.edu.cn/en_releasepaper/content/4707159


	8. Effects of mandrel style on cold push-bending of L-shaped hollow parts with rectangular cross-section
	GUO Qun,MA Fuye,JIN Kai,WANG Hui,TAO Jie,GUO Xunzhong
	Mechanical Engineering 29 July 2016
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (709K B)

	Abstract:This paper mainly discusses the effects of different forms of mandrel on the cold push-bending of L-shaped hollow parts based on the condition that the size of tube, wall thickness, cross-sectional dimensions, bend radius. The boundary and contact conditions of this process were optimized to improve the efficiency of numerical simulation. Cold push-bending experiments of rectangular cross-section tubes were conducted successfully based on the finite-element simulation results. The experimental results showed that the formability and quality of L-shaped tubes are the excellent when the low-melting-point-alloy mandrel was used as the flexible mandrel.
	TO cite this article:GUO Qun,MA Fuye,JIN Kai, et al. Effects of mandrel style on cold push-bending of L-shaped hollow parts with rectangular cross-section[OL].[29 July 2016] http://www.paper.edu.cn/en_releasepaper/content/4701499


	9. Damage imaging of aircraft composites based on a model-independent spatial-wavenumber filter of Lamb wave
	Qiu Lei,Yuan Shenfang
	Mechanical Engineering 23 May 2016
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (713K B)

	Abstract:Composite materials are widely used on aircraft structures. Damage monitoring for composites will help reduce maintenance costs and enhance safety of the aircrafts. In recent years, Lamb wave based wavenumber filtering technique for damage estimation has been gradually studied. Compared with the time domain and frequency domain analysis of Lamb wave, the wavenumber domain analysis is an effective approach to distinguish wave direction and modes. In this paper, a new model-independent spatial-wavenumber filtering and imaging method based on a cruciform array for damage monitoring of composite structures is proposed. In this method, two linear piezoelectric transducers (PZTs) arrays are adopted to construct the cruciform array. A wavenumber searching and best match mechanism, which is not relied on any Lamb wave propagating models, is proposed to implement spatial-wavenumber filtering based on a linear PZTs array to obtain a wavenumber-time image of damage-scattering signal relative to the array. And the damage localization of 360 degree with no blind angle can be achieved based on the two wavenumber-time images of the cruciform array. The validation experiment performed on a carbon fiber composite laminate plate shows that the damage localization errors of this method are less than 1 cm.
	TO cite this article:Qiu Lei,Yuan Shenfang. Damage imaging of aircraft composites based on a model-independent spatial-wavenumber filter of Lamb wave[OL].[23 May 2016] http://www.paper.edu.cn/en_releasepaper/content/4694280


	10. PZT 2D linear array and spatial filter based damage and impact imaging method without using Lamb wave group velocity
	Qiu Lei,Yuan Shenfang
	Mechanical Engineering 23 May 2016
	Show/Hide Abstract \| Cite this paper︱Full-text: PDF (404K B)

	Abstract:This paper presents a two dimensional (2D) linear PZTs array and spatial filter based damage and impact imaging method without using the Lamb wave group velocity. In this method, the damage signal is extracted from on-line monitoring signal, and the narrowband impact signal is extracted from broadband impact response signal by the complex Shannon wavelet transform. Secondly, the angle of damage or impact position relative to each array is calculated by the spatial filter. And then, the damage or impact angle image of each array fuse together and transform into the damage or impact coordinate image. Lastly, in the damage or impact coordinate image, the position with the highest pixel value is estimated to be the location of damage or impact. This method is verified on a carbon fiber composite laminate plate. The verification results show that the method can locate the structural damage or impact accurately without using the Lamb wave group velocity in composite structures, and the distance error of localization is less than 1cm.
	TO cite this article:Qiu Lei,Yuan Shenfang. PZT 2D linear array and spatial filter based damage and impact imaging method without using Lamb wave group velocity[OL].[23 May 2016] http://www.paper.edu.cn/en_releasepaper/content/4694229

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