The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some limitations, such as comple...The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some limitations, such as complex workspace, high nonlinear relationship between input and output, difficulties in static and dynamic analysis, and the development of control system, which restricts its application fields. The decoupled parallel mechanism is currently one of the research focuses of the mechanism fields, while the study on the different characteristics between the deeoupled and coupled parallel mechanisms has not been reported. Therefore, this paper performs the systematic comparative analysis of the 3-RPUR and the 3-CPR parallel mechanisms. The features of the two mechanisms are described and their movement forms are analyzed with screw theory. The inverse and forward displacement solutions are solved and the Jacobian matrices are obtained. According to the Jacobian matrices and by using the theory of physical model of the solution space, the workspace, dexterity, velocity, payload capability, and stiffness of the mechanisms are analyzed with plotting the indices atlases. The research results prove that the effects of the coupling on the parallel mechanism are double-side, and then the adoption of the decoupled parallel mechanism should be determined by the requirements of the concrete application situation. The contents of this paper should be useful for the type synthesis and practical application of the parallel mechanism.展开更多
To study the temperature distribution and thermal-stress field in different service stages, a two-dimensional model of a turbine blade with thermal barrier coatings is developed, in which the conjugate heat transfer a...To study the temperature distribution and thermal-stress field in different service stages, a two-dimensional model of a turbine blade with thermal barrier coatings is developed, in which the conjugate heat transfer analysis and the decoupled thermal-stress calculation method are adopted. Based on the simulation results, it is found that a non-uniform distribution of temperature appears in different positions of the blade surface, which has directly impacted on stress field. The maximum temperature with a value of 1030 ℃ occurs at the leading edge. During the steady stage, the maximum stress of thermally grown oxide （TGO） appears in the middle of the suction side, reaching 3.75 GPa. At the end stage of cooling, the maximum compressive stress of TGO with a value of-3.5 GPa occurs at the leading edge. Thus, it can be predicted that during the steady stage the dangerous regions may locate at the suction side, while the leadine edge mav be more Drone to failure on cooling.展开更多
It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel ...It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel mechanism are especially difficult. If decoupling can be realized, the kinematic analysis of the mechanism will be very simple. Presently, the research of the parallel mechanism is focused on the inverse solution and structure optimization, and there is a lack of rotation decoupled parallel mechanisms （DPMs）. So this paper proposes a family of 2 degree of freedom （DOF） rotational DPMs based on the four-bar linkage mechanism, and performs a characteristic analysis. This family of DPMs is composed of a moving platform, a fixed base and three limbs. Taking U_RRU SPU DPM as an example, the motion feature of this DPM is analyzed with the constraint screw method, and its mobility is calculated by using the Modified Kutzbach-Grtibler criterion. The inverse and forward displacement problems of the proposed parallel mechanism are solved. The decoupled feature of the proposed parallel mechanism is validated by the deduction of the expression of the Jaeobian matrix. Three kinds of singularity conditions of this DPM are discussed, and the atlases of the output parameter concerning different geometric parameters are plotted with the theory of the physical model of the solution space. The proposition and characteristic analysis of the novel rotational DPMs in this paper should be useful for further research and application of the parallel mechanisms.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50875227)
文摘The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some limitations, such as complex workspace, high nonlinear relationship between input and output, difficulties in static and dynamic analysis, and the development of control system, which restricts its application fields. The decoupled parallel mechanism is currently one of the research focuses of the mechanism fields, while the study on the different characteristics between the deeoupled and coupled parallel mechanisms has not been reported. Therefore, this paper performs the systematic comparative analysis of the 3-RPUR and the 3-CPR parallel mechanisms. The features of the two mechanisms are described and their movement forms are analyzed with screw theory. The inverse and forward displacement solutions are solved and the Jacobian matrices are obtained. According to the Jacobian matrices and by using the theory of physical model of the solution space, the workspace, dexterity, velocity, payload capability, and stiffness of the mechanisms are analyzed with plotting the indices atlases. The research results prove that the effects of the coupling on the parallel mechanism are double-side, and then the adoption of the decoupled parallel mechanism should be determined by the requirements of the concrete application situation. The contents of this paper should be useful for the type synthesis and practical application of the parallel mechanism.
基金supported by the National Natural Science Foundation of China(Grant Nos.51172192,11272275 and 11002122)the Natural Science Foundation of Hunan Province(Grant No.11JJ4003)the Doctoral Scientific Research Foundation of Xiangtan University(Grant Nos.KZ08022,KZ03013 and KF20140303)
文摘To study the temperature distribution and thermal-stress field in different service stages, a two-dimensional model of a turbine blade with thermal barrier coatings is developed, in which the conjugate heat transfer analysis and the decoupled thermal-stress calculation method are adopted. Based on the simulation results, it is found that a non-uniform distribution of temperature appears in different positions of the blade surface, which has directly impacted on stress field. The maximum temperature with a value of 1030 ℃ occurs at the leading edge. During the steady stage, the maximum stress of thermally grown oxide （TGO） appears in the middle of the suction side, reaching 3.75 GPa. At the end stage of cooling, the maximum compressive stress of TGO with a value of-3.5 GPa occurs at the leading edge. Thus, it can be predicted that during the steady stage the dangerous regions may locate at the suction side, while the leadine edge mav be more Drone to failure on cooling.
基金supported by National Natural Science Foundation of China (Grant No. 50875227)
文摘It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel mechanism are especially difficult. If decoupling can be realized, the kinematic analysis of the mechanism will be very simple. Presently, the research of the parallel mechanism is focused on the inverse solution and structure optimization, and there is a lack of rotation decoupled parallel mechanisms （DPMs）. So this paper proposes a family of 2 degree of freedom （DOF） rotational DPMs based on the four-bar linkage mechanism, and performs a characteristic analysis. This family of DPMs is composed of a moving platform, a fixed base and three limbs. Taking U_RRU SPU DPM as an example, the motion feature of this DPM is analyzed with the constraint screw method, and its mobility is calculated by using the Modified Kutzbach-Grtibler criterion. The inverse and forward displacement problems of the proposed parallel mechanism are solved. The decoupled feature of the proposed parallel mechanism is validated by the deduction of the expression of the Jaeobian matrix. Three kinds of singularity conditions of this DPM are discussed, and the atlases of the output parameter concerning different geometric parameters are plotted with the theory of the physical model of the solution space. The proposition and characteristic analysis of the novel rotational DPMs in this paper should be useful for further research and application of the parallel mechanisms.
