《机械工程学报》英文版2007年第20卷第2期目次、摘要预告

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《机械工程学报》英文版—Reliability Design

Key words: dynamic assembly reliability, distributed collaborative response surface method, high pressure turbine, blade-tip radial running clearance, multi-object multi-disciplinary
* Corresponding author. E-mail: feicw544@ *This project is supported by National Natural Science Foundation of China(Grant No. 51175017, 51245027), Innovation Foundation of BUAA for PhD Graduates (Grant No. YWF-12-RBYJ-008), Scholarship Award for Excellent Doctoral Student granted by Ministry of Education, and Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20111102110011). 国家自然科学基金(51175027, 51245027)，北京航空航天大学博士研究生创新基金(YWF-12-RBYJ-008)，教育部博士研究生学术新人奖，高等学校博士学科点专项科研基金(20111102110011)等资助项目.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
Vol. 26,aNo. 2,a2013

《机械工程学报》、《Chinese Journal of Mechanical

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《机械工程学报》创刊于 1953 年，由中国机械工程学会主办。该刊是国内机械工程领域的顶级高学术水平期刊之一，主要报道机械工程领域及其交叉学科具有创新性和重要意义的前沿基础研究、应用研究的最新科研成果。该刊被《美国工程索引》（EI）、《美国化学文摘》（CA）、《英国科学文摘》（SA）等国际检索系统收录。该刊连续三届荣获“国家期刊奖”，获得中国期刊方阵“双高期刊”，多年来一直获得中国科协精品科技期刊、国家自然科学基金委员会的项目支持。
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《Chinese Journal of Mechanical Engineering》（中国机械工程学报，原《机械工程学报(英文版)》）创刊于 1988 年，由中国机械工程学会主办。该刊是机械工程领域高学术水平的英文期刊之一。该刊着眼于加强国际学术交流，主要报道世界范围内该领域及其交叉学科优秀科研成果，内容与《机械工程学报》不重复。该刊被《科学引文索引》（SCI）、《美国工程索引》（EI）、《美国化学文摘》（CA）、《英国科学文摘》（SA）等国际检索系统收录。

《CHINESE JOURNAL OF MECHANICAL ENGINEERING》(中国机械工程学报,原《机械工程学报》英文版)2010年

变位欠驱动拟人机器人手指的研制
张文增车德梦陈强都东
北京１０８；００４北京１０８）００４（．１先进成形制造教育部重点实验室２清华大学机械工程系．
２．哈尔滨工业大学机电工程学院
哈尔滨
１００）５０１
（中国机械工程学报，原《机械工程学报》英文版）２１第２００年３卷第２期目次、摘要木
基于作业过程分解的工业机器人运动规划
卜王辉刘振宇谭建荣
杭州３０２）０７１ｆ江大学ＣＤ＆Ｃ国家重点实验室浙ＡＧ摘要：柔性双稳态机构具有两个独立的稳定平衡位置，泛应用于开关、广
设计是通过有限元法反复尝试完成的，开发周期很长。为了便于此类双稳态机构的设计与性能预测，通过将张力铰处理为固定导向片段并将它们的伸长等效为一个弹簧，建立一种３自由度伪刚体模型。使用虚功原理推导该伪刚体模型的力位移关系。该伪刚体模型的仿真所得力位移特
摘要：微细电火花沉积加工是金属材料微细结构制造的一种新方法，加
工中充分利用工具电极的高损耗现象实现金属材料的沉积生长。目前，
对微细电火花沉积加工的研究主要集中在沉积加工工艺方面，即主要研究沉积加工中所采用的工艺参数对沉积速度及沉积质量等的影响规律，而加工中不同放电能量密度对微细结构的成形影响方面还有待研究。在

《机械工程学报》英文版2006年第19卷第2期目次、摘要预告

通过对复合焊接过程巾焊接电流和电弧电波形以及熔滴过渡特征的
分析。进步研究了不吲激光能量以及激光束与电弧的作用位置对复合
焊接过程中熔滴过渡频率和焊缝成形的影响规律。关键词：激光一ＭＩＧ复合焊接
摘要：提出一种新型的压电直线精密步进驱动器。该驱动器采用步进驱动的仿生运动原理，以定子外部筘位的方式和双侧薄壁铰链微变形结构，解决了以往压电精密驱动器箝位不牢固、步进频率较低、行程小、
分辨率低、速度低和驱动力不稳定等问题。研制的精密直线驱动器能昭
焊接电流电压
铝合金
熔滴过渡
焊缝成彤
倍频实质卜又取决于分离剪切层提出了与转捩频率相应的两个峰值和
其可能的内在关系。
关键词：旋涡脱落转捩分离流动功率谱密度
中图分类号：Ｔ４３Ｇ０
移动焊接机器人的坡口自寻迹算法及实现
张轲吕学勘吴毅雄楼松年
２０３１０００（上海变通大学焊接工程研究所上海
中图分类号：Ｔ３．Ｖ１１６６
新型压电步进精密驱动器
刘建芳杨志刚范尊强程光明
长春１０２）３０５（大学机械科学与工程学院吉林
摘要：提出移动焊接机器人的坡口自寻迹算法自寻迹即在焊前根据焊缝的特征信息自动寻找焊缝并调整自的位姿到设定的待焊状态，由机器人白丰实现焊接对中的过程首先介绍了具有自寻迹功能的移动焊接机器人的系统组成，在分析移动机器人运动学模型的基础上，给出机器人坡口自寻迹的算法以及实现过程。最后重点讨论了自寻迹过程巾的轨迹规划。试验结果表明：研制的移动焊接机器人能成功地

《机械工程学报》英文版2008年第21卷第1期目次、摘要预告

摘要：为节能并提高传动效率，以Ｚ５Ｅ轮式装载机为研究对象，从工Ｌ０
程车辆的传动系统出发对车辆的系统模型进行理论分析。提出以提高液
力变矩器效率为目的的新型４参数换挡规律，出基于Ｅｍａ给ｌｎ回归网络
试验。试验数据表明三周节变传动比限滑差速器具有增大车辆牵引力、改善车辆加速性能、缩短制动距离及限止侧滑的性能。该差速器与普通锥齿
中图分类号：Ｕ６４３
控制系统能够安全可靠地工作，并能促进液力变矩器高效工作。４参数换挡策略考虑了工作泵功率消耗，具有重要的生产实际意义，并且能够
体现工程车辆的实际工况。关键词：工程车辆流体传动与控制自动变速Ｅｍａｌｎ回归神经网络
半主动控制悬架性能对控制器参数变化的灵敏性进行分析。结果表明，
该基于天棚阻尼控制的不对称半主动磁流变悬架设计具有优越的对控制器参数变化的鲁棒特性，可实现理想的多目标悬架性能。关键词：磁流变阻尼器天棚阻尼半主动控制车辆悬架中图分类号：Ｔ０．２Ｈ７３６
基于Ｅｍａｌｎ回归网络的工程车辆
新型的三周节变传动比限滑差速器
姜虹王小椿
北京１０８）００４（北京交通大学机械与电子控制工程学院
四参数自动变速技术
张红彦赵丁选唐新星丁春风
ｆ．林大学机械科学与工程学院１吉长春１０２：３０２

《机械工程学报》英文版2008年第21卷第2期目次、摘要预告

非线性电磁力作用下的转子不平衡响应和界限碰摩转速
景敏卿李自新罗岷
西安
光刻机中精密长行程气浮直线电动机的动态特性分析
陈学东余显忠何学明严天宏
（．中科技大学数字制造装备与技术国家重点实验室１华２．国家光刻设备研制中心上海武汉４０７；３０４２１０）０２３
了基础。
摘要：用有限元方法，考虑恒定的热传递和热弹塑性变形引起的粗糙峰应变形，对多层介质粗糙表面热弹塑性接触模型进行分析。针对不同涂层材料，研究接触压力、接触面积、平均间隙之间的关系，涂层厚度对表面接触压力分布、温升的影响，以及材料属性、涂层厚度、摩擦因数和热输入对应力分布的影响。发现摩擦热输入提高了最大ｙｎＭｉｓｏｓ应力值。最后，ｅ讨论应用硬涂层材料减小基体材料塑性区域时硬涂层的合理厚度。了保为护基体材料，选取硬涂层材料厚度为ｈ＝０７Ｒ。关键词：热弹塑性接触中图分类号：Ｔ２Ｈ１３粗糙表面涂层
虞
烈
（安交通大学机械工程学院西
７０４）１０９
摘要：在不平衡激励和非线性电磁力作用下，电磁轴承支承的转子系统
在临界转速附近振动幅值可能超出轴承径向间隙，出现机械碰摩。为研
究此问题，建立了由电磁轴承所支承的单质量对称刚性转子系统的线性和非线性模型，给出了相应的闭环控制系统传递函数，通过Ｍａｌ／ｉｕｉｋ数值仿真，讨论了由于电磁力和功放输出电流的非线性ｔｂＳｍｌａｎ特性给转子系统的不平衡响应所造成的影响，即转子的磁摩，并定义了系统的界限磁摩转速，给出了仿真结果，在此基础上讨论了两种不同的提高系统碰摩转速的途径。关键词：电磁轴承振动非线性转子界限碰摩转速

《机械工程学报》英文版2006年第19卷第1期目次、摘要预告

关键词：适应控制泵控系统注塑机锁模机构
中图分类号：Ｔ３０Ｑ２
国家自然科学基金（０７１２和浙江大学流体传动与控制国家重点实验５２５０）
室开放基金（Ｚ．０２０）ＯＫＦ２００４资助项目
与能带结构较好吻合。这些发现对声子晶体粱的应用具有重要指导
分析中的应用。
流体耦合振动抛光机理的分子动力学研究
黄志刚郭钟宁陈新
（东工业大学机电工程学院广Ｊ。５０９）州１００
余大民杜
不确定性结构随机因子法非平稳地面运动
雪
李荣彬
关键词：震随机振动地
（香港理工大学ｌｋ系统工程学系）Ｉ及ｌ
权龙太原００２）３０４（理工大学机械电子．程研究所太原【＿刘仕平
（华北水利水电大学机械工程系郑州４００）５０８
探讨了振动参数、磨粒尺寸、冲击方向和磨粒材料对冲击过程的影响，并对材料的去除作用进行了研究。仿真中发现了工件的变形与磨粒的镶嵌现象。冲击作用破坏了撞击点附近的晶体结构，并最终由粘着效鹿完成材料的去除。关键词：分子动力学仿真超光滑抛光超声振动
合理而引起的制件质量和制作效率问题。
关键词：立体光刻快速成形方向优化遗传算法中闰分类号：Ｔ３１Ｐ９国家８３计划基金资助项目（０５６２０ＡＡ４４２）Ｉ００

《机械工程学报》英文版2008年第21卷第3期目次、摘要预告

助项目
３北京航空航天大学飞行器设计与应用力学系．
摘要：束流管位于北京正负电子对撞机（ＥＣＩ）ＢＰ的探测器— — 北京谱仪Ｉ（ＥＩ）中心位置，正负电子在束流管中进行对撞并产生未知粒子，ＢＳＩ的ＩＢＳＩＥＩ对产生的未知粒子进行探测。根据国家重大科学工程 “ Ｉ北京正负电子对撞机重大改造工程 ”项目的要求，对ＢＳＩ中束流管进行全新设ＥＩＩ
摘要：为了解决混合动力汽车动力电池荷电状态估计这一关键性问题，提出一种电池荷电状态联合估计的方法。为获得更加准确的电池荷电状态（ｔｅｏａｇ，ｓｃ的估计值，将传统的安时积分估计方法和电池Ｓａｆｈｒｅｏ）ｔｃ阻容（ｅｉａｃ．ｐｃｏ，Ｃ模型参数的估计方法通过加权的方式联合ＲｓｔｅｃａｉｒＲ）ｓｎａｔ起来，可达到弥补各自的不足和缺陷的效果。通过利用电池在充放电反应时的热模型，可解决传统安时积分法难以估计充放电效率这一缺陷。基于能量转化守恒定律，将充放电时电池产生的热量转化为等效的电量，可实时计算在不同电流下的充放电效率。利用扩展卡尔曼滤波（ｘｎｅｌｎｆｔ，ＥＥ闭环算法估计电池ＲＥｔｄｄＫａｅｍａｌｒＫ）ｉｅＣ模型的参数。通过
建立ＲＣ模型状态空间方程，选择ｂ和 “ 为系统的输入变量，并，Ｌ

机械工程学报英文版审稿流程

机械工程学报英文版审稿流程The review process for the English edition of the Journal of Mechanical Engineering involves several critical stages, ensuring the publication of high-quality research.Initially, the submitted manuscript undergoes a preliminary check to determine its alignment with the journal"s scope and adherence to the submission guidelines.投稿至《机械工程学报》英文版的论文审稿流程包含多个关键阶段，旨在确保发表的研究具有高质量。

首先，投稿的稿件将接受初步检查，以确定其是否符合期刊的范围并遵守投稿指南。

Following this, the manuscript is subjected to a double-blind peer review process, where both the author and reviewer remain anonymous to ensure an unbiased evaluation.The reviewers, experts in the field, provide constructive comments and suggestions to enhance the manuscript"s content, methodology, and overall presentation.接下来，稿件将接受双盲同行评审，作者和评审员的信息将对彼此保密，以确保评审的公正性。

评审员，即该领域的专家，将提供建设性的评论和建议，以提升稿件的内容、研究方法和整体呈现。

《机械工程学报》英文版2007年第20卷第4期目次、摘要预告

关键词：多道次旋压中图分类号：Ｔ０Ｇ３２三维有限元回弹退火显式隐式
国家高技术研究发展计划（６计划，２０ＡＡ４３０）安徽省自然科学８３０１Ａ２３０和
基金（４３０资助项目０３１）０
国家自然科学基金（０００９、５５５８）ｆ５４５３０７１６￣国家杰出青年科学基金：ｌ
波方法；二种为采用无色变换的Ｋｌｎ滤波【Ｋ）法；三种为以第ａｍａＩＦ方Ｊ第
膜内侧以吸附Ｍｏ２Ｏ为主，外侧则富集Ｍｏ３Ｍｏ￣Ｏ。Ｏ在碳钢表面首先还Ｃ
原生成Ｍｏ而抑制活性点，提高碳钢的混合电位。之后Ｍ０Ｏ２Ｏ在膜的
基于力传感器的机器人动态误差及在线补偿
干方建刘正士任传胜张（．中国科学技术大学精密机械与精密仪器系１
２．合肥工业大学机械与汽车学院合肥
摘要：为提高多道次旋压有限元模拟的精度和效率，有必要建立包括旋压、回弹和中间退火处理的符合实际的多道次旋压成形三维有限元模
维普资讯
第４３卷第７期２０年７月０７
机
械
工
程
学
报 Βιβλιοθήκη Ｖ１３ｏ０４．Ｎ．７
Ｊ１ｕ．２００７
ＣＨＩＮＥＳＪＥＯＵＲＮＡＬＥＣＨＡＮＩＯＦＭＣＡＬＮＧＩＥＮＥＥＲＩＮＧ
《机械工程学报》英文版２００７年第２０卷第４期目次、摘要预告水

《机械工程学报》英文版2007年第20卷第1期目次、摘要预告

运用机械式自动变速器的并联型混合动力汽车最优转矩控制策略
古艳春殷承良张建武上海２０３）０００（海交通大学机械与动力工程学院上
中圈分类号：Ｔ１Ｈ１２上海市科委纳米科技专项资助项［０５ｎ０）￣３９ｍ０（４
第１期目次、摘要预告木
用于光栅拼接的精密平台设计与控制
王勇刘志刚薄锋朱健强
上海２１０）０８０（中国科学院上海光学精密机械研究所静叶栅和旋转气冷涡轮的三维流场进行了试验测量。研究了不同射流吹风比（＝１，１Ｍ．２对流场的影响。验测量到涡轮压力面和吸力面侧射流５试与主流掺混形成的反向涡对结构和射流尾迹区二次流动，以及反向涡对和尾迹在射流孔下游不同位置的变化情况。与静叶栅的流场相比，旋转涡轮流场中存在的离心力和哥氏力的作用使主流和射流的径向速度分量发生了改变。从流场测量结果看，旋转对涡轮压力面侧流场的影响明显大于吸力面。吹风比的增大使射流与主流掺混区形成的反向涡对和射流尾迹区的二次流动增强，尾迹区域范围扩大。关键词：气冷涡轮ＰＶ测量１吹风比三维流场中圈分类号：Ｖ３．２１３国家自然科学基金资助项１（０００７￣５４６１）１
摘要：在运用机械式自动变速器的并联型混合动力汽车换挡和离合器操

中国机械工程学报(英文版)论文模板

ZHANG Jiafan1, 3, *, FU Hailun2, DONG Yiming1, ZHANG Yu1, YANG Canjun112 Zhejiang Province Instituteof Metrology,Hangzhou 310027, China3Abstract:and high head have been developed overseas. However, low efficiency and large size are the common disadvantages for the magnetic drive pump. In order to study the performance of high-speed magnetic drive pump, FLUENT is used to simulate the inner flow field of magnetic drive pumps with different rotate speeds, and get velocity and pressure distributions of inner flow field. According to analysis the changes of velocity and pressure to ensure the stable operation of pump and avoid cavitation. Based on the analysis of velocity and pressure, this paper presents the pump efficiency of magnetic drive pumps with different rotated speeds by calculating the power loss in impeller and volute, hydraulic loss, volumetric loss, mechanical loss and discussing the different reasons of power loss between theKey words:1At first look at modern society, more and more robotsand automated devices are coming into our life and servemechatronic devices replacelower levels, essentiallylevels just as the term humanwhich is coined byGOERTZ,et al[2]widely developed in the fields of robothaptic interface to enhance theoperator, also in the excitingplanning, personnel training, and50305035), National Hi-tech Research andChina(863 Program, Grant No. ##), BeijingFoundation of China((Grant No. ##), and ZhejiangScience Foundation of China((Grant No. ##)DUBEY, et al[3], to incorporatesensor and model into humancontrolled teleoperation systems. In their approach, thehuman operator was retained at all phases of the operation,and was assisted by adjusting system parameters whichredundant robotic arms[4]. In recent work[5–6],signal has been used to control thearm and many new concepts were applied in–10]. Several researchers from Koreaand Technology(KIST) introduced[11–12].new exoskeleton-type master arm, inbrakes with the torque sensor beamsreflection[14]. Likewise, the authorsout a 2-port network model to describe the bilateral[15–17].this research, a wearable exoskeleton arm, ZJUESA,system is designed and ateleoperation control system isY ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation·2·explained. This system includes three main levels: ① supervisor giving the command through the exoskeleton arm in safe zone with the operator interface; ② slave-robot working in hazardous zone; ③ data transmission between supervisor-master and master-slave through the Internet or Ethernet. In section 2, by using the orthogonal experiment design method, the design foundation of ZJUESA and its optimal design are presented. Then in section 3, we describe a novel hybrid fuzzy control system for the force feedback on ZJUESA. Consequently, the force feedback control simulations and experiment results analysis are presented in section 4, followed by discussions and conclusions.2 Configuration of the Exoskeleton ArmSystemThe master-slave control is widely employed in the robotmanipulation. In most cases, the joystick or the keyboard isthe routine input device for the robot master-slave controlsystem. The system presented in this paper is shown in Fig. 1.In the system the exoskeleton arm —ZJUESA replaces the joystick as the command generator. It is an externalstructure mechanism, which can be worn by the operator, and can transfer the motions of human upper arm to slave manipulator position-control-commands through the Internet or Ethernet between the master and slave computers. With this information, the slave manipulator mimics the motion of the operator. At the same time, the force-feedback signals, detected by the 6-axis force/torque sensor on the slave robot arm end effector, are sent back to indicate the pneumatic actuators for the force-feedback on ZJUESA to realize the bilateral teleoperation.Since ZJUESA is designed by following the physiological parameters of the human upper-limb, with such a device the human operator can control the manipulator more comfortably and intuitively than the system with the joystick or the keyboard input.3 Design of the Exoskeleton ArmWhat we desire is an arm exoskeleton which is capable of following motions of the human upper-limb accurately and supplying the human upper-limb with proper force feedback if needed. In order to achieve an ideal controlling performance, we have to examine the structure of the human upper-limb.3.1 Anatomy of human upper-limb3.1.1 Upper-limbRecently, various models of the human upper-limbanatomy have been derived. The biomechanical models of the arm that stand for precise anatomical models including muscles, tendons and bones are too complex to be utilized in mechanical design of an anthropomorphic robot arm. From the view of the mechanism, we should set up a morepracticable model for easy and effective realization.Fig. 2 introduces the configuration of human upper-limband its equivalent mechanical model, which is a 7-DOFstructure, including 3 degrees of freedom for shoulder(flexion/extension, abduction/adduction and rotation), 1 degree of freedom for elbow (flexion/extension) and 3 degrees of freedom for wrist (flexion/ extension, abduction/adduction and rotation)[18]. The details about the motion characteristics of these skeletal can be obtained in Refs. [18-20]. Compared to the mechanical model, the shoulder and wrist can be considered as spherical joints and the elbow as a revolution joint. It is a good approximate model for the human arm, and the base for the design and construction of exoskeleton arm-ZJUESA.Fig. 2. Configuration of human upper limband its equivalent mechanical model3.2 Mechanism of the exoskeleton armBecause the goal of this device is to follow motions of the human arm accurately for teleoperation, ZJUESA ought to make the best of motion scope of the human upper-limb and limit it as little as possible. A flexible structure with the same or similar configuration of human upper-limb is an ideal choice. Based on the anatomy of human upper-limb, the joint motion originates from extension or flexion of the图题字号9磅，行距固定值11磅，段前0.3行，段后回车换行1次；图中字号8磅图题后遇标题时，段后回车换行2次图前段落，段后回车换行1次双码页面页眉字号8磅，单倍行距，段后1.2磅三级标题字号10磅，斜体，段前0.5行二级标题字号10磅图片及表格要求：图表类型分辨率灰度 < 150 | > 225 彩色 < 150 | > 225位图 < 600 | > 900CHINESE JOURNAL OF MECHANICAL ENGINEERING·3·muscle and ligament with each other to generate torque around the bones. Compared with the serial mechanism, the movements of the parallel mechanism are driven by the prismatics, which act analogically to the human muscles and ligament. Besides, using the parallel mechanism not only realizes the multi-DOF joint for a compact structure and ligament. Besides, using the parallel mechanism not only realizes the multi-DOF joint for a compact structure of human upper-limb. The 3RPS parallel mechanism is one of the simplest mechanisms. Fig. 3 explains the principle of the 3RPS parallel mechanism. KIM, et al [11], introduced it into the KIST design. Here we follow this concept. The two revolution degrees of freedom embodied in the 3RPS are for flexion/extension, abduction/adduction at shoulder. Its third translation degree of freedom along z axis can be used for the dimension adjustment of ZJUESA for different operators. The prismatic joints are embodied by pneumatic actuators, which are deployed to supply force reflective capability. Also displacement sensors are located along with the pneumatic actuators and the ring-shaped joints to measure their linear and angular displacements. At elbow, a crank-slide mechanism composed of a cylinder and links is utilized for flexion/extension. At wrist, since the abduction/ adduction movement is so limited and can be indirectly reached by combination of the other joints, we simplify the configuration by ignoring the effect of this movement. As shown in Fig. 4, the additional ring the same as that at shoulder for the elbow rotation. Thus our exoskeletonarm-ZJUESA has 6 degrees of freedom totally.Fig. 3. 3RPS parallel mechanismFig. 4. Prototype of the exoskeleton arm-ZJUESA 3.3 Optimization design of ZJUESAAs nentioned above, the best design is to makethe workspace of ZJUESA as fully cover the scope of the human upper-limb motion as possible. We employ the 3RPS parallel mechanism for the shoulder, whose workspace mainly influences the workspace of ZJUESA. The optimal design of 3RPS parallel mechanism for the shoulder is the key point of ZJUESA optimal design. However, it is a designing problem with multi-factors, saying the displacement of the prismatics (factor A ), circumradius ratio of the upper and lower platforms (factor B ), initial length of the prismatics (factor C ), and their coupling parameters (factor A *B , A *C and B *C ) (Table 1) and multi-targets, namely, its workspace, weight, size. So,we use the orthogonal experiment design method with foregoing 6 key factors and Eq. (1) gives the expressionof the optimal target function of this problem: 0, , x r Q F L R θθ⎛⎫=- ⎪⎝⎭, (1)where L 0 is the initial length of the prismatics, R is the circumradius of the lower base in 3RPS mechanism, r is thecircumradius of the upper base in 3RPS mechanism, θ is the expected reachable angle around axis, and xθ is thereachable angle around axis.Table 1. Factors and their levels mm Level rank A B C A *B A *C B *C1 60 0.5 150 －－－2 80 0.438 160 －－－3100 0.389 170 －－－ 4 －－180－－－The orthogonal experiment design is outlined because of the ease with which levels can be allocated and its efficiency. The concept of orthogonal experiment design is discussed in Ref. [21] to obtain parameters optimization, finding the setting for each of a number of input parameters that optimizes the output(s) of the design. Orthogonal experiment design allows a decrease in the number of experiments performed with only slightly less accuracy than full factor testing. The orthogonal experiment design concept can be used for any complicated system being investigated, regardless of the nature of the system. During the optimization, all variables, even continuous ones, are thought of discrete “levels ”. In an orthogonal experiment design, the levels of each factors are allocated by using an orthogonal array [22]. By discretizing variables in this way, a design of experiments is advantageous in that it can reduce the number of combinations and is resistant to noise and conclusions valid over the entire region spanned by the control factors and their setting.Table 2 describes an orthogonal experiment design array for 6 key factors [23]. In this array the first column implies the number of the experiments and factors A , B , C , A *B ,表题字号9磅，字体加粗，段后0.3行表中字号8磅，行距固定值11磅，段后回车换行1次数学式前段落，段后回车换行1次表前段落，段后回车换行1次单码页面页眉字号10.5磅，单倍行距，段后1.2磅图序与图题间空两格Table 后空一格，表序与表题间空两格缩写点后空一格页码文字周围的图文框宽 1.1 cm ，高0.4 cm ，相对于“页面”水平距离18 cm ，相对于“段落”垂直距离0.4 cm另行排的数学式必须居中，单倍行距，段后回车换行1次Y ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation·4·A *B and B *C are arbitrarily assigned to columnsrespectively. From Table 2, 36 trials of experiments are needed, with the level of each factor for each trial-runindicated in the array. The elements represent the levels of each factors. The vertical columns represent the experimental factors to be studied using that array. Each of the columns contains several assignments at each level for the corresponding factors. The levels of the latter three factors are dependent on those of the former three factors. The elements of the column IV , namely factor A *B , are determined by the elements in the columns I, II, and elements of column V , factor A *C , has the relationship with the elements of columns I, III, and the column VI, factor B *C , lies on the columns II, III.Table 2. Orthogonal experiment design array L36for 6 key factorsExperiment No.A B C A *B A *C B *C Result Q 1 1 1 1 1 1 1 Y 1 2 1 1 2 1 2 2 Y 2 3 1 1 3 1 3 3 Y 3 4 1 1 4 1 4 4 Y 4 5 1 2 1 2 1 5 Y 5 6 1 2 2 2 2 6 Y 6 33 3 3 1 9 9 9 Y 33 34 3 3 2 9 10 10 Y 34 35 3 3 3 9 11 11 Y 35 3633491212Y 36The relation between column IV and columns I, II is that: if level of A is n and level of B is m , the level of A *B is 3(n –1)+m , where n=1, 2, 3 and m=1, 2, 3. All the cases can be expressed as follows:(1, 1)→1 (1, 2)→2 (1, 3)→3; (2, 1)→4 (2, 2)→5 (2, 3)→6; (3, 1)→7 (3, 2)→8 (3, 3)→9.The first element in the bracket represents the corresponding level of factor A in Table 1 and the latter means the corresponding level of the factor B . Factor A *B has totally 9 levels, as factor A and factor B have 3 levels, respectively.Likewise, the relation between column V and columns I, III is(1, 1)→1 (1, 2)→2 (1, 3)→3 (1, 4)→4; (2, 1)→5 (2, 2)→6 (2, 3)→7 (2, 4)→8; (3, 1)→9 (3, 2)→10 (3, 3)→11 (3, 4)→12.Also the relation between column VI and columns II, III is(1, 1)→1 (1, 2)→2 (1, 3)→3 (1, 4)→4; (2, 1)→5 (2, 2)→6 (2, 3)→7 (2, 4)→8;(3, 1)→9 (3, 2)→10 (3, 3)→11 (3, 4)→12.The optimal design is carried out according to the first three columns:1211121235*36*1/91/91/90000000000000,0000001/3000000001/3A A B C B C I Y I Y I Y I Y ⎛⎫⎛⎫⎛⎫ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪= ⎪ ⎪⎪ ⎪ ⎪ ⎪ ⎪⎪ ⎪⎝⎭⎝⎭⎝⎭ (2)max{}min{}i ij ij K I I =-, (3) where i = A , B , C , A *B , A *C , B *C ; j is the number of i rank. By calculation of the 3RPS parallel mechanism [24–35], the relationship between the target Q and each factor can be obtained, as shown inFig. 5.Fig. 5. Relation between levels of factors and QAccording to the plots in Fig. 5, we can get the superiority and the degree of the influence (sensitivity) of each design factor. The factor with bigger extreme difference K i , as expressed in Eq. (3) has more influence on Q . In this case, it can be concluded that the sensitivity of the factors A *B and A *C are high and factors B *C and C have weak influence, since K A *B and K A *C are much bigger than K B *C and K C . And the set A 3B 1, A 2C 1, A 2, B 1, C 1, B 1C 1 are the best combination of each factor levels. But there is a conflict with former 3 items in such a set. As their K i have little differences between each other, the middle course is chosen. After compromising, we take the level 2 of factor A , the level 1 of factor B and the level 1 of factor C , namely d ＝80 mm, r /R ＝0.5, L 0＝150 mm [32].It is interesting to know how good the results derived from the above 36 trials are, when compared with all other possible combinations. Because of its mutual balance of orthogonal arrays, this performance ratio can be guaranteed by the theorem in non-parametric statistics [13]. It predicts双数页码周围的图文框，相对于“页面”水平距离1.8 cm量名称与量符号间空一格缩写点与后续文字间空一格CHINESE JOURNAL OF MECHANICAL ENGINEERING·5·that this optimization is better than 97.29% of alternatives. Combined with the kinematics and dynamics simulation of the 3RPS parallel mechanism and ZJUESA with chosen design parameters by ADAMS, we perform the optimal design. Table 3 indicates the joint range and joint torque of each joint on ZJUESA. It is apparent that ZJUESA can almost cover the workspace of human upper-limb well so that it can follow the motion of human operation upper-limb with little constrain, as shown in Fig. 6.Table 3. Joint ranges and joint torques for each jointon ZJUESAJoint on ZJUESA Joint range θ/(°) Joint torque T /(N ·m) Joint density ρm / (kg ·m –3)Flexion/extension(shoulder) －60-60 36 - Abduction/adduction －50-60 36 - Rotation(shoulder) －20-90 18 - Flexion/extension(elbow) 0-90 28 - Rotation(wrist) －20-90 13 - Flexion/extension(wrist) 0-6028 - Abduction/ adduction(wrist)-Fig. 6. Motion of exoskeleton arm following the operator4 Hybrid Fuzzy-Controller for the ForceFeedback On ZjuesaIn master-slave manipulation, besides the visual feedback and man-machine soft interface, the force feedback is another good choice to enhance the control performance. If the slave faithfully reproduces the master motions and the master accurately feels the slave forces, the operator can experience the same interaction with the teleoperated tasks, as would the slave. In this way the teleoperation becomes more intuitive.In our bilateral teleoperation system with ZJUESA, a 6 axis force/torque sensor is mounted on the end effector of the slave manipulator and detects the force and torque acting on the end effector during performing the work. This information is transferred to the master site in real time.With dynamic calculation, the references of the generatingforce on actuators of ZJUESA are obtained. Hereafter, the feeling can be reproduced by means of the pneumatic system.Eq. (4) expresses the relation between the force and torque on the end effector and the torques generating on the joints: T =τJ F ,(4)where F —Force and torque on the end effector,⎛⎫= ⎪⎝⎭f F n ,τ —Torque on each joint, T 126()τττ=τ,J —Jacobian matrix of ZJUESA.By dividing the force arm, it is easy to get to the generating force on the joints, such as shoulder ring, elbow, wrist ring and wrist, as explained by Eq. (5):()TT345645673456f f f f a a a a ττττ⎛⎫== ⎪⎝⎭f , (5)where a i (i =3, 4, 5, 6) is the force arm of the shoulder ring, elbow, elbow ring and wrist joints, respectively.As for the generating force of the prismatics on the 3RPS parallel mechanism, it can be calculated as follows [35]:13RPS 23RPS 3 f F f f f ⎛⎫⎛⎫ ⎪= ⎪ ⎪⎝⎭ ⎪⎝⎭τG f , (6)where f F G —Jacobian matrix of 3RPS parallel mechanism,3RPS τ—Torques on 3RPS parallel mechanism,()T3RPS 12ττ=τ,f 3RPS —Force on 3RPS parallel mechanism.Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback.Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic数学式下方的解释语及其他数学式，各行间单倍行距Y ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation ·6·cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA.Fig. 7. Scheme of the pneumatic cylinder-valve systemp1, v1, a1—Pressure, volume and section area of cylinder chamber 1p2, v2, a2—Pressure, volume and section area of cylinder chamber 2 m p—Mass of the pistona r—Section area of rodm L —Mass of loadThe high-speed on-off valves, working as the command components in the system, are controlled by the pulse width modification(PWM) signals from the control units, respectively. Rather than the proportional or servo valve, this is an inexpensive and widely used method in the application of position and force control in the pneumatic system [23–28]. To simplify the control algorithm, there is just one valve on work at any moment. For instance, when a leftward force is wanted, the valve V1 works and valve V2 is out of work. Under this case, we can control the pressure p1 in chamber 1 by modifying the PWM signals. Chamber 2 connects to the atmosphere at that time and the pressure p2 inside the chamber 2 of cylinder is absolutely ambient pressure, and vice versa. At each port of the cylinder, there is a pressure sensor to detect the pressure value inside the chamber for the close-loop control. And the throttle valves are equipped for limiting the flow out of the chamber to reduce piston vibrations. In our previous work, we gave out the specific mathematic models of the system, including pneumatic cylinder, high-speed on-off valve and connecting tube[33].However, the pneumatic system is not usually a well linear control system, because of the air compressibility and its effect on the flow line. Also the highly nonlinear flow brings troubles into the control. The conventional controllers are often developed via simple models of the plant behavior that satisfy the necessary assumptions, via the specially tuning of relatively simple linear or nonlinear controllers. As a result, for pressure or force control in such a nonlinear system, especially in which the chamber pressure vibrates rapidly, the conventional control method can hardly have a good performance.Fortunately, the introduction of the hybrid control method mentioned, gives out a solution to this problem. But the traditional design of the hybrid controller is always complicated and only available to the proportion or servo valve system. In our system, we figured out a kind of novel hybrid fuzzy control strategy for the high-speed on-off valves, which is much simpler and can be realized by micro control units(MCUs) in the contributed architecture. This strategy is composed of two main parts: a fuzzy controller and a bang-bang controller. The fuzzy controller provides a formal methodology for representing, manipulating, and implementing a person’s heuristic knowledge about how to control a system. It can be regarded as an artificial decision maker that operates in a closed-loop system in real time and can help the system to get the control information either from a human decision maker who performs the control task or by self-study, while the bang-bang controller is added to drive the response of the system much more quickly.Fig. 8 shows the concept of the proposed hybrid fuzzy controller. The concept of multimode switching is applied to activate either the bang-bang controller or the fuzzy controller mode.Fig. 8. Concept of the hybrid fuzzy controllerBang-bang control is applied when the actual output is far away from reference value. In this mode, fast tracking of the output is implemented. The fuzzy controller is activated when the output is near the set point, which needs accuracy control.In the fuzzy-control mode, we use pressure error ref actual()()()e t P t P t=-and its change ()e t as the input variables on which to make decisions. On the other hand, the width of the high voltage in one PWM period is denoted as the output of the controller.As mentioned above, the PC on master site works as the supervisor for real-time displaying, kinematics calculation and exchanges the control data with the slave computer and so on. For the sake of reducing the burden of the master PC, the distributed control system is introduced. Each control unit contains a Mega8 MCU of A TMEL Inc., working as a hybrid fuzzy-controller for each cylinder respectively, and forms a pressure closed-loop control. The controller samples the pressure in chamber with 20 kHz sampling rate当图题后面有注释时，图题前、后各0.3行注释文字字号8磅，单倍行距，最后一行段后回车换行1次CHINESE JOURNAL OF MECHANICAL ENGINEERING·7·by the in-built analog- digital converters. These controllers keep in contact or get the differential pressure signals from the master PC through RS232, as depicted in Fig. 9. In this mode, fast tracking of the output is implemented.Fig. 9. Distributed control system of the master arm5 Force Feedback ExperimentsFig. 10 gives out the set up of the force feedback experiments. The system includes the soft interface, data acquisition, Mega8 MCU experiment board, on-off valves, sensors of displacement and pressure, and the oscilloscope. We chose the cylinder DSNU-10-40-P produced by FESTO Inc. The soft signal generator and data acquisition are both designed in the LabVIEW, with which users may take advantage of its powerful graphical programming capability. Compared with other conventional programming environments, the most obvious difference is that LabVIEW is a graphical compiler that uses icons instead of lines of text. Additionally, LabVIEW has a large set of built-in mathematical functions and graphical data visualization and data input objects typically found in data acquisition and analysis applications.Fig. 10. Set-up of force feedback experimentThe plots in Fig. 11 give out experimental results of the chamber pressure outputs with step input signals on one joint. While at frequencies higher than 80 Hz, force is sensed through the operator’s joint, muscle and tendon receptors, and the operator is unable to respond to, and low amplitude disturbances at these frequencies. We remove reflected force signals above 80Hz band by fast Fourier transfer (FFT) and get the smoothed curve in the plots. One is obtained by using hybrid control strategy and another is obtained by using traditional fuzzy controller without bang-bang controller. Although these two curves both track the reference well with very good amplitude match (less than 5% error) and a few milliseconds misalignment in the time profile, by comparing these two curves, it can be found that the adjust time of the curve with hybrid control strategy is less than 0.03 s, which is much less than 0.05 s of other with traditional fuzzy controller. It proves effect of the hybrid control strategy.Fig. 11. Experimental results with a step signalFig. 12 shows the results of tracking a sinusoidal commander. This experiment…up to 5 Hz frequency sinusoidal command well.Fig. 12. Experiment results for sinusoidal pressure commandsY ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation ·8·After then, another two experiments are carried out torealize the bilateral teleoperation with simple motion, inwhich the slave manipulator is controlled for the shoulderabduction/ adduction(the movement of a bone away/toward the midline in the frontal plane) and extension/flexion of elbow(the movement in the sagittal plane) by theteleoperation with ZJUESA.In the first experiment, the operator performs theshoulder abduction/adduction movement with ZJUESA,when the slave robot follows and holds up the load. Withthe force feedback on ZJUESA, the operator has feeling asif he holds the load directly without the mechanicalstructure, as shown in Fig. 13. Plots in Figs. 14, 15 showthe torque and force on each joint on ZJUESA during theshoulder abduction/adduction movement from 45° to 90°(in the frontal plane) with 5 kg load. There are some remarks. In plots of Fig. 14 shoulder 3RPS-x means the torque around x-axis of 3RPS mechanism at shoulder and the same to shoulder 3RPS-y. Shoulder ring, elbow, wrist ring and wrist represent the torques on these joints, respectively. The characters shoulder 3RPS-1, shoulder 3RPS-2 and shoulder 3RPS-3 in Fig. 15 represent corresponding force on the cylinders on 3RPS parallel mechanism (referring to Fig. 3) with length L1, L2 and L3, respectively.Fig. 13. Shoulder abduction/adduction teleoperation Fig. 14. Torques on the joints of the shoulderabduction/adduction for 5 kg load liftingFig. 15. Force feedback on the cylinders of the shoulder abduction/adduction for 5 kg load liftingThe operator teleoperates the slave manipulator with force feedback as if he performs for lifting a dumbbell or raising package in daily life(Fig. 16). Fig. 17 shows the moment on each joint during the process for producing the feeling of lifting a 10 kg dumbbell. Fig. 18 depicts the force output of every pneumatic cylinder on ZJUESA.Fig. 16. Extension/flexion for elbow teleoperationFig. 17. Torques on the joints of the elbowextension/flexion for 10 kg load liftingAll these results of experiments demonstrate the effect of ZJUESA system. ZJUESA performs well by following the motions of human upper-limb with little constrain and the pneumatic force feedback system supplies a proper force feedback tracking the reference well.。

机械工程学报英文版的审稿状态

机械工程学报英文版的审稿状态机械工程学报英文版是我国机械工业领域内级别最高的学术期刊之一，每一篇发表的论文经过多轮严格的审稿程序。

在这篇文章中，我们将对机械工程学报英文版的审稿状态进行详细阐述。

第一步：初审机械工程学报英文版的审稿程序一般由三个步骤组成，首先是初审环节。

在这个步骤中，编辑会对论文的主题和内容进行初步的评估，以确定它是否符合期刊的主题范围。

如果论文主题不符合期刊要求，就会被退回。

如果符合，那么就会进入下一步。

第二步：外审在初审通过之后，论文将被分派给两位或更多的评审人，这些评审人通常是同行专家。

通过评审人的多方审核，论文的内容、实验结果、数据分析、图像展示等方面的问题都会被透彻地检查和解析，审核人员将对论文进行详细的审评，并提出评审意见和建议。

评审人员不能知道论文所属的作者是谁，因为期刊编辑要保持专业的评价和公正性，只有在评审和论文修改完毕后才会披露作者信息。

评审的目的是检验论文真实性、权威性和一贯性，以确保它符合期刊的要求和学术标准。

第三步：修改和录用一旦得到评审人员的反馈，作者需要认真阅读评审意见，并根据建议修改论文。

如果文章内容经过协作修改与审稿人认可，则文章将被录用。

如果还需要进行进一步的修改，则会进入迭代修改过程，直到作者和审稿人达成共识为止。

在最终稿件得到审稿人同意之后，编辑会安排论文的发表，并与作者联系确认细节和版权协议等。

待准确的排版后，文章将正式发表在机械工程学报英文版上。

总结起来，机械工程学报英文版的审稿状态是严格、公正的，并且在充分尊重作者知识产权的基础上确保文章的权威、真实和科学性。

如果论文符合期刊要求和学术标准，则会得到编辑和审稿人的肯定，从而有望在机械工程学术界获得广泛的关注和认可。

《机械工程学报》英文版2007年第20卷第5期目次、摘要预告

《机械工程学报》英文版2007年第20卷第5期目次、摘要预告佚名【期刊名称】《机械工程学报》【年(卷),期】2007(43)9【摘要】散乱点云直接生成粗加工刀具路径吴世雄王成勇樊晶明(广东工业大学机电工程学院广州510006)摘要:提出散乱点云直接生成无干涉粗加工刀具路径方法,采用层切法去除材料。

把散乱点云转化为截面数据,并建立刀路网数据结构以存储刀路数据。

提出优化的子区域划分法则及无干涉刀位计算法则。

最终以z字形走刀方式链接刀具路径,该过程可转化为旅行商问题。

试验表明,该种方法可以获取优化的刀具路径,计算效率高,并可避免干涉出现。

【总页数】4页(P235-238)【关键词】摘要;中图分类号;中国图书分类号;机械工程学报;刀具路径;散乱点云;英文版;国家自然科学基金;多轴车辆;资助项目;节流槽;导靴;分流叶片;液压冲击器;制动盘;目次;卷第【正文语种】中文【中图分类】TH【相关文献】1.《CHINESE JOURNAL OF MECHANICAL ENGINEERING》(中国机械工程学报,原《机械工程学报》英文版)2009年第22卷第3期目次、摘要预告 [J],2.《CHINESE JOURNAL OF MECHANICAL ENGINEERING》(中国机械工程学报,原《机械工程学报》英文版)2009年第22卷第4期目次、摘要预告 [J],3.《CHINESE JOURNAL OF MECHANICAL ENGINEERING》(中国机械工程学报,原《机械工程学报》英文版)2009年第22卷第5期目次、摘要预告 [J],4.《CHINESE JOURNAL OF MECHANICAL ENGINEERING》（中国机械工程学报，原《机械工程学报》英文版）2009年第22卷第1期目次、摘要预告 [J],5.《CHINESE JOURNAL OF MECHANICAL ENGINEERING》(中国机械工程学报,原《机械工程学报》英文版)2009年第22卷第2期目次、摘要预告 [J],因版权原因，仅展示原文概要，查看原文内容请购买。

机械工程学报与英文版投稿须知

/《机械工程学报》和《中国机械工程学报》投稿须知2009年1月8日《机械工程学报》和《中国机械工程学报》（原《机械工程学报(英文版)》）是由中国科学技术协会主管、中国机械工程学会主办的学术期刊。

作为中国机械工程技术领域的权威学术期刊，两刊紧密把握机械工程学科的发展方向，着重报道具有综合、基础、开发和边缘性质的科技成果和先进经验，发表具有国内、国际先进水平的学术论文。

刊登论文的主要类型包括机械工程及其相关领域的前沿性综述研究、高水平基础理论研究和高应用价值工程技术应用研究，多数属于国家或省部级资助项目。

《机械工程学报》为月刊（创刊于1953年），《中国机械工程学报》为双月刊（创刊于1988年），内容不重复。

1 投稿要求和注意事项作者所投稿件应符合以下要求：（1）论文报道的内容符合党和国家的方针、政策和路线, 充分体现科技兴国战略, 促进科技、教育并与经济紧密结合, 为振兴机械工业服务，并达到国际或国内先进水平；同时应具有科学性、创新性，有一定的个人见解和前瞻性，综述性稿件应注意时效性。

（2）论文的写作符合有关国家标准及专业技术手册。

目前我刊参照的国家标准主要包括：①GB 3100-1993 国际单位制及其应用②GB 3101-1993 有关量、单位和符号的一般规则③GB 3102.1～13-1993 量和单位④GB/T 7714-2005 文后参考文献著录规则⑤GB/T 15834-1995 标点符号用法⑥GB/T 15835-1995 出版物上数字用法的规定参照相关专业技术手册包括：《机械工程手册》和《电机工程手册》等。

（3）通过《机械工程学报》工作平台投稿，必要时可打电话或发邮件向编辑部询问有关情况。

注意不要一稿多投！（4）作者应提供详细的通信地址及联系方式（电话、E-mail等），并与编辑部密切合作，积极配合编辑部进行论文修改工作，提供与论文发表相关的各类材料。

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性能。
摘要：上海某机场使用的种后轮驱动的牵引车的驱动轮刻花现象进对
行讨论并发现：驱动轮的圆周上均分布三个同样大小的破损区。该牵引
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任锟傅建中陈子辰
杭州３０２）１０７（浙江大学机械１－程学院
摘要：为解决高速加Ｉ中的过切和过冲，提Ｌ速度光滑衔接的新方法。｛Ｊ针对离散加工路径，三次样条拟合方法用于发现路径中的危险点。根据
的数目为了的现象。最后指出，当该机场牵引车传动系的扭转阻尼超过
割单元法。通过将自适应分层切片算法与改进的笛卡尔切割单元法相结
无跳刀轮廓平移刀路轨迹优化算法
郝泳涛蒋莉莉
２０９）００２ｆ同济大学ＣＤ研究中心上海Ａ
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的扭转自激振动，导致牵引车的半轴转速有规律地波动剧烈，从而加速了轮胎的磨损：与此同时，驱动轮上任一点接地两次之间的时问间隔是传动系的扭转自激振动周期的三倍，个倍数关系解释了驱动轮破损区这
高速加工中运动速度的光滑衔接
某一值时，可以完全防ｔ驱动轮刻花现象的发生。关键词：驱动轮牵引车传动系自激振动
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速算法。在线实例运行结果表明，较之丁统速度控制方法，该方法使二传
基于自适应分层切割单元法的非结构化笛卡尔网格生成方法
吴培宁谭建荣刘振宇
杭州３０２）１０７（汀大学ＣＤ＆Ｃ国家重点实验室浙ＡＧ
车每天牵引着人于自身质量几倍的货物车，行驶在同一路面上。理论分析表明：这种轮胎刻花现象是传动系的扭转自激振动引起的。通过对传动系进行简化，得到一个二阶常微分方程来描述这个扭转自激振动系
统。该微分方程具有一个极限环。试验和数值仿真结果表明：由于该机
得）速度衔接更加光滑，并大大提高了生产效率。Ｊｖｌ＿
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摘要：针对复杂ＣＤ模型非结构化各向异性六面体网格生成目前存在Ａ的问题，提出自适应分层笛卡尔切割单元法。采用基于松弛ＡＬ树的Ｖ顶点归并算法构建了表面ｉ角化数据格式（Ｔ）ＳＬ文件的拓扑关系，在此基础卜出基于拓扑关系的ＳＬ文件自适应分层切片与局部特征控制提Ｔ算法，并采用基于凸包的点与多边形关系判断算法来改进传统笛卡尔切