33—THE SNARLING OF HIGHLY TWISTED MONOFILAMENTS. PART II: CYLINDRICAL SNARLING

An account is given of an experimental investigation of the cylindrical snarling of highly twisted monofilaments.

The theory underlying cylindrical snarling is set out, and an expression is derived for calculating the critical twist level at which normal snarling will be replaced by cylindrical snarling. Experiments on rubber filaments are described, and it is shown that there is good agreement between the theoretical and experimental results. Further experiments, in which the specimen was allowed to contract freely or forced into other forms, are also described.

It is shown from these experiments that it is difficult to establish the true equilibrium behaviour, since the situation appears to be dominated by frictional effects or by direct barriers to relative movement.     

32—THE SNARLING OF HIGHLY TWISTED MONOFILAMENTS. PART I: THE LOAD–ELONGATION BEHAVIOUR WITH NORMAL SNARLING

An account is given of an experimental investigation of the normal snarling of highly twisted monofilaments, those used being vulcanized rubber and nylon.

An earlier theoretical analysis is corrected, and the experimental results show that, after this correction, the theory put forward for the mechanical properties of the snarling mechanism holds reasonably well for elastic filaments. Although, as would be expected, there are larger deviations from the theory for viscoelastic filaments, the theory still gives a good indication of the behaviour of these filaments under torsion.     

Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom

This paper focusses on sensor fusion in robotic manipulation: six-dimensional (6-D) force/torque signals and 6-D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Apart from an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations and calculations that are required for this 6-D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented and the achieved results are discussed.     

Densification behaviour of titanium alloy powder compacts at high temperature

Abstract

Densification behaviours of titanium alloy (Ti–6Al–4V) powder compacts were investigated under uniaxial compression at high temperature. The yield function and a strain hardening law proposed by Kim were implemented into a finite element program (Abaqus) to compare with experimental data of porous titanium alloy powder preforms under PM forging. Experimental data were compared with finite element calculations for the variations of relative density with the applied pressure. Deformed geometry and density distributions of titanium alloy powder compacts under PM forging were also compared with finite element calculations.     

Effect of torque loading on the pull-out response of a steel post inserted in a polyethylene cylinder

Posts are used in various implant designs to contribute to the short- and long-term fixation stability of artificial joints. This study was undertaken to investigate the effect of torque loading on the pull-out response of a steel post inserted into high-density polyethylene (HDPE) material. An experimental apparatus was designed and fabricated to perform mechanical characterization of a steel post embedded in a polymer cylinder with initial interference fit under pull-out, torque and combined torque/pull-out loadings. To analyze the effect of preload applied torque to the load transfer at the post-fixation interface under pull-out loading, we have chosen HDPE material with uniform mechanical and tribological properties. Under pull-out loading, the micro-slip initiation and propagation at the post-HDPE interface was found to be progressive and assuming Coulomb friction at the interface, the friction coefficient was calculated from the measured pull-out force. In the torque loading condition it was found that the torque dropped suddenly from the maximum value to an initial dynamic sliding torque value. The interface behaves like a chemically bonded one, and static and dynamic friction coefficients were determined. It has been found under combined torque/pull-out conditions that in addition to the reduction of the maximum pull-out force, the preload applied torque generates two instabilities in the pull-out behavior. The first one happens once the maximum pull-out force is reached where the load falls to a level required for the post extraction from the HDPE cylinder. The second instability takes place during the extraction process for a residual (critical) implantation length which depends on the preload applied torque value. This latter instability was marked by a sudden rotation of the HDPE cylinder against the steel post.     

A kinematic analytical approach to predict roll force,rolling torque and forward slip in thin hot strip continuous rolling

Abstract

A kinematic analytical approach has been developed to predict the roll force, rolling torque and forward slip in thin hot strip continuous rolling under various rolling conditions. The approach is based on formulating a velocity field in the roll bite zone that expresses the effect of interfacial friction on the distribution of axial velocity and longitudinal stresses across the strip thickness. The results obtained from the proposed approach are in fair agreement with finite element simulation results, whereas available analytical methods, which are usually valid for billets and thick plates, have given considerable error in the results. The proposed approach is applied to study the effect of thickness reduction ratio, coefficient of friction, work roll diameter and front and back tensions on the roll force, rolling torque and forward slip in thin hot strip rolling. The main merit of the proposed analytical approach, as compared to finite element simulation, lies in the drastic reduction in the computational time required in finite element simulation, which favours its use in online control of rolling thin strips.     

OPTIMAL TORQUE CONTROL STRATEGY FOR PARALLEL HYBRID ELECTRIC VEHICLE WITH AUTOMATIC MECHANICAL TRANSMISSION

In parallel hybrid electrical vehicle (PHEV) equipped with automatic mechanical transmission (AMT), the driving smoothness and the clutch abrasion are the primary considerations for powertrain control during gearshift and clutch operation. To improve these performance indexes of PHEV, a coordinated control system is proposed through the analyzing of HEV powertrain dynamic characteristics. Using the method of minimum principle, the input torque of transmission is optimized to improve the driving smoothness of vehicle. Using the methods of fuzzy logic and fuzzy-PID, the engaging speed of clutch and the throttle opening of engine are manipulated to ensure the smoothness of clutch engagement and reduce the abrasion of clutch friction plates. The motor provides the difference between the required input torque of transmission and the torque transmitted through clutch plates. Results of simulation and experiments show that the proposed control strategy performs better than the contrastive control system, the smoothness of driving and the abrasion of clutch can be improved simultaneously.     

LUBRICATION FILM FORMATION MECHANISM OF SLIPPER PAIRS IN LOW SPEED HIGH TORQUE HYDRAULIC MOTORS

Pressure-flow analytical formulas of lubrication film of slipper pairs on camshaft connect- ing rod type low speed high torque (LSHT) hydraulic motors are put forward. The bottom surface of slipper pairs is rectangle, and the effect of squeeze flow and pressure differential flow is considered. The dynamic process of lubrication film formation through squeezing is numerically studied by com- puter simulation. Effects of supply pressure, initial lubrication film thickness, velocity damping coef- ficient, loading impact and gravity, etc are studied. Advantages of novel slipper pairs with large oil cavity area are pointed out.     

Robust motion control with the consideration algorithm of joint torque saturation for a redundant manipulator

As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. In order to consider the torque saturation in a transient state, this paper proposes a new redundant motion control system using the autonomous consideration algorithm on torque saturation. A Jacobian matrix of a redundant robot manipulator can select the optimal one considering its motion energy in the steady state. When the motion control system carries out fast motion and quick disturbance suppression, a high joint torque is required in a transient state. In the experimental results, under the condition of having a large payload torque and a fast motion reference, the proposed redundant manipulator control realizes the quick robot motion robustly and smoothly.