Self-Adaptive Control System for Additive Manufacturing Using Double Electrode Micro Plasma Arc Welding

Wire arc additive manufacturing(WAAM)has been investigated to deposit large-scale metal parts due to its high deposition efficiency and low material cost.However,in the process of automatically manufacturing the high-quality metal parts by WAAM,several problems about the heat build-up,the deposit-path optimization,and the stability of the process parameters need to be well addressed.To overcome these issues,a new WAAM method based on the double electrode micro plasma arc welding(DE-MPAW)was designed.The circuit principles of different metal-transfer models in the DE-MPAW deposition process were analyzed theoretically.The effects between the parameters,wire feed rate and torch stand-off distance,in the process of WAAM were investigated experimentally.In addition,a real-time DE-MPAW control system was developed to optimize and stabilize the deposition process by self-adaptively changing the wire feed rate and torch stand-off distance.Finally,a series of tests were performed to evaluate the con-trol system's performance.The results show that the capability against interferences in the process of WAAM has been enhanced by this self-adaptive adjustment system.Further,the deposition paths about the metal part's layer heights in WAAM are simplified.Finally,the appearance of the WAAM-deposited metal layers is also improved with the use of the control system.     

基于光刀图像的机器人示教纠偏方法

为了解决机器人辅助在线检测系统示教过程中效率低、人为干预多的问题,针对孔类特征,提出一种通过处理光刀图像获取机器人位姿纠正参数的方法。在该方法中,纠偏过程按照将图像光刀线调整为水平方向、将被测特征调整至图像中央、根据不同特征调整最优扫描方向3个步骤进行。根据光刀图像可以求出测量坐标系与被测特征的位姿关系,并得到该位姿与理想测量位姿的偏差。经过坐标变换即可得到在机器人基坐标系下的调整参数。另外,可利用电脑控制机器人运动,从而实现了纠偏过程的自动化。实验结果表明,该方法可将初始的示教位姿修正为理想位姿,且比传统方式效率更高。     

Localized corrosion of (lean) duplex stainless steels in immersion units of urban wastewater treatment plants

With lower alloying cost and higher mechanical properties, lean duplex stainless steels can be an alternative to the more commonly used austenitic stainless steels. However, these alloys are still not the preferred choice, probably due to a lack of field experience. A study was thus initiated in view of defining the limits of use of selected (lean) duplexes for urban wastewater treatment units. The present paper shows the localized corrosion performance of selected lean duplexes in chloride contaminated solutions. The results are compared with austenitic S30403 and S31603 and with the more standard duplexes S82441 and S32205. The effect of welding was also investigated. Exposures in field municipal wastewater plants were conducted for 1 year in low and high chloride content units. The results show that lean duplexes S32101 and S32202 can be used as alternatives to S30403 and S31603 in low chloride electrolytes. At 500 ppm of chloride content, duplex stainless steel S32304 showed better corrosion resistance than S30403 and S31603. For higher chloride contents (1000 ppm and above) the standard duplexes S82441 and S32205 shall be preferred.     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

内含实体对H型垂直轴风力机气动性能的影响

以H型垂直轴风力机及其内含圆柱形实体为研究对象,对NACA0018翼型的五叶片H型垂直轴风力机的气动性能进行数值模拟和实验验证。分析8种不同直径的内含圆柱体,在内含实体截面积占风轮迎风面积之比分别为21.2%、50.0%和76.9%时,风力机风能利用率的峰值分别下降8.04%、20.7%及74.3%。结果表明：随着内含实体直径的增大,风能利用率的峰值逐渐减小,开始较为缓慢,达到一定值时快速下降。小直径内含实体主要影响叶片在下风区的转矩,对风能利用率的影响较小,而大直径内含实体还会影响叶片在上风区的转矩,其风能利用率迅速减小。对于内含固定直径的实体,比如在现有建筑物外侧安装风力机时,其风轮半径的选择需综合考虑风能利用率和风力机的建造成本两方面的因素。研究结果可为建筑物与垂直轴风力机进行有效结合以提高风能的利用提供参考。     

复杂环境下氧化铝储槽定向爆破拆除

在较为复杂的环境下,爆破拆除钢筋混凝土氧化铝储槽。该储槽自重大、呈圆形,内有4根立柱支撑下料漏斗。为使储槽顺利定向倒塌,通过爆破方案选择、参数确定,采取梯形切口和预处理以及安全防护和减振措施,使储槽爆破拆除获圆满成功。     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

Non-keyhole Friction Stir Welding for 6061-T6 Aluminum Alloy

A novel non-keyhole friction stir welding technique was proposed to weld the butt joint of 6061-T6 aluminum alloy with the thickness of 6 mm. A sound joint was obtained by this technique, simultaneously eliminating the flash, shoulder mark and keyhole defects. The sleeve directly affected zone (SDAZ) and the sleeve indirectly affected zone (SIAZ) were divided into the joint according to the plunging position of the hollow sleeve. The lack of root penetration defect was avoided when the plunging depth of the hollow sleeve was only 4.2 mm, because the hollow part inside the sleeve improved the material flow below the sleeve. An S-shaped line was left at the SIAZ, and the height of it had the minimum value of 1.47 mm at 20 mm/min. Whether the failure location of the joint was in SIAZ/SDAZ or the heat-affected zone (HAZ) depended on the height and bonding strength of the S-shaped line. The joint fracture location changed from the SIAZ/SDAZ at 35 mm/min to the HAZ at 20 and 30 mm/min. The maximum tensile strength of 224.3 MPa was obtained at 30 mm/min which was 73.7% of that of the base material. The fracture surface morphology exhibited the typical ductile fracture.