In order to analyze the effect of grain size on stress relaxation(SR) mechanism,the SR tests of TC4 alloy with three kinds of grain size were performed in a temperature range of 650-750℃.A modified cubic delay functi...In order to analyze the effect of grain size on stress relaxation(SR) mechanism,the SR tests of TC4 alloy with three kinds of grain size were performed in a temperature range of 650-750℃.A modified cubic delay function was used to establish SR model for each grain size.A simplified algorithm was proposed for calculating the deformation activation energy based on classical Arrhenius equation.The grain size distribution and variation were observed by microstructural methods.The experimental results indicate that smaller grains are earlier to reach the relaxation limit at the same temperature due to lower initial stress and faster relaxation rate.The SR limit at 650℃ reduces with decreasing grain size.While the effect of grain size on SR limit is not evident at 700 and 750℃ since the relaxation is fully completed.With the increase of grain size,the deformation activation energy is improved and SR mechanism at 700℃ changes from grain rotation and grain boundary sliding to dislocation movement and dynamic recovery.展开更多
We simulate the gas-atomization process of a close-coupled annular nozzle for vacuum induction gas atomization at a three-dimensional scale.Moreover,the relationship between the simulated droplet type and experimental...We simulate the gas-atomization process of a close-coupled annular nozzle for vacuum induction gas atomization at a three-dimensional scale.Moreover,the relationship between the simulated droplet type and experimentally metallic powder is established by comparing the morphology of droplets with powders.Herein,the primary atomization process is described by the volume-of-fluid(VOF)approach,whereas the prediction of powder diameter after secondary atomization is realized by the VOF-Lagrangian method.In addition,to completely reflect the breaking and deformation process of the metallic flow,we employ the VOF model to simulate the secondary atomization process of a single ellipsoidal droplet.The results show that the primary atomization process includes the formation of surface liquid film,appearance of serrated ligaments,and shredding of ligaments.Further,gas recirculation zone plays an important role in formation of the umbrella-shaped liquid film.The secondary atomization process is divided into droplet convergence and dispersion stages,and the predicted powder diameter is basically consistent with the experiment.In general,the four main powder shapes are formed by the interaction of five different typical droplets.展开更多
Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma...Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively fexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270°has good fexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.展开更多
A blasting-like lubricating process(combination of shot blasting and lubricating processes)is proposed.In this process,the specimens to be treated,alloy shots,and solid lubricating powder are rotated together in a rol...A blasting-like lubricating process(combination of shot blasting and lubricating processes)is proposed.In this process,the specimens to be treated,alloy shots,and solid lubricating powder are rotated together in a roller.The surface pockets formed due to the impact by the shots can store lubricants,and the lubricant can also adhere to the specimen surface by hitting.The effects of process parameters,including rolling time,rotational speed,mass of alloy shots,and the diameter of shots,on the surface topography of the steel specimen are investigated using 13 experimental schemes.The distribution ratio and average depth of surface pockets on the defined areas of the specimen are quantitatively analyzed.Four selected schemes with the MoS_(2) solid lubricating powder are further carried out to lubricate the cylindrical billets,and the lubricating effect is evaluated using the steady combined forward and backward extrusion test.The indicated friction factor of the novel blasting-like process is smaller than that of the conventional phosphate-soap coating process.展开更多
Superplastic forming is a practical method to manufacture complex-shaped parts of titanium alloys with large deformation.Laminated parts of dissimilar titanium alloys fabricated by superplastic forming can achieve exc...Superplastic forming is a practical method to manufacture complex-shaped parts of titanium alloys with large deformation.Laminated parts of dissimilar titanium alloys fabricated by superplastic forming can achieve excellent performance by combining the advantages of components.This work displays the superplastic tension behavior and microstructural evolution of dissimilar TC4/SP700 laminate prepared by the diffusion bonding process.Two titanium alloys can achieve metallurgical bonding at parameters of 800℃/1 h/5 MPa.Except for dynamic recrystallization and grain growth behaviors upon superplastic tension,stress-induced phase transformation plays an important role inαtoβphase transformation apart from the elevated temperature.The superplastic deformation can be attributed to the grain boundary sliding accommodated multiplex motion of dislocations.In addition,the retained strengths of all dissimilar TC4/SP700 laminates after superplastic deformation with different strain rates and temperatures range from 807 to 890 MPa.展开更多
K439B nickel-based superalloy is a new type of high-temperature material.There is insufficient research on its constitutive equations and numerical modeling of thermal stress.Isothermal tensile experiments of K439B su...K439B nickel-based superalloy is a new type of high-temperature material.There is insufficient research on its constitutive equations and numerical modeling of thermal stress.Isothermal tensile experiments of K439B superalloy at different temperatures(20°C-1,000°C)and strain rates(1.33×10^(-3)s^(-1)-5.33×10^(-3)s^(-1))were performed by using a Gleeble-3800 simulator.The elastic moduli at different temperatures(20°C-650°C)were measured by resonance method.Subsequently,stress-strain curves were measured for K439B superalloy under different conditions.The elastic-viscoplastic constitutive equations were established and the correspongding parameters were solved by employing the Perzyna model.The verification results indicate that the calculated values of the constitutive equations are in good agreement with the experimental values.On this basis,the influence of process parameters on thermal stress was investigated by numerical simulation and orthogonal experimental design.The results of orthogonal experimental design reveal that the cooling mode of casting has a significant influence on the thermal stress,while pouring temperature and preheating temperature of shell mold have minimal impact.The distribution of physical fields under optimal process parameters,determined based on the orthogonal experimental design results,was simulated.The simulation results determine separately the specific positions with maximum values for effective stress,plastic strain,and displacement within the casting.The maximum stress is about 1,000.0 MPa,the plastic strain is about 0.135,and the displacement is about 1.47 mm.Moreover,the distribution states of thermal stress,strain,and displacement are closely related to the distribution of the temperature gradient and cooling rate in the casting.The research would provide a theoretical reference for exploring the stress-strain behavior and numerical modeling of the effective stress of the alloy during the casting process.展开更多
The aluminum alloys belonging to the 7000 series are high-strength alloys used in a wide variety of products for weight reduction.They are primarily used in the field of transportation and aerospace.Among these,the A7...The aluminum alloys belonging to the 7000 series are high-strength alloys used in a wide variety of products for weight reduction.They are primarily used in the field of transportation and aerospace.Among these,the A7075 alloy has the highest strength and is expected to be applicable in a wide range of fields,such as aircraft components and sports equipment.However,it has high deformation resistance and is prone to surface defects,which is called tearing.Tearing typically occurs at high temperatures and high ram speeds,and adversely affects productivity.The localized melting of Zn and additive compounds,due to the heat generated during the process,is considered to cause tearing.In this study,the effect of friction,heat,and tearing at the tool-metal interface was mitigated by improving the die surface quality.The reduced friction eliminated recrystallization by preventing the temperature from increasing to recrystallization temperature.In addition,an AlCrN coating was adopted instead of nitriding to improve the die surface quality.The tearing size and heat generated when using the AlCrN coating were found to be limited.Moreover,the grain size observed in the tearing region on the extruded surface was small.The simulations using the shear friction coefficient m observed from friction tests indicate that the use of the AlCrN coating improved the material flow.Thus,the AlCrN coating is considered effective for reducing friction at the interface and preventing the recrystallization of the extruded surface.From the aforementioned results,it can be inferred that a die coating can reduce the tearing sensitivity and increase the productivity of the A7075 alloy.展开更多
High temperature in diffusion bonding(DB)process severely deteriorates the performance of zirconium(Zr)R60702 in extreme chemical environment.Therefore,it is important to reduce the DB temperature of Zr R60702.In this...High temperature in diffusion bonding(DB)process severely deteriorates the performance of zirconium(Zr)R60702 in extreme chemical environment.Therefore,it is important to reduce the DB temperature of Zr R60702.In this work,low-temperature diffusion bonding of Zr R60702 at 750°C is realized by 0.3 wt%hydrogen addition while 900°C is required in DB process for unhydrogenated Zr R60702.The shear strength of the hydrogenated joint bonded at 750°C reaches 388 MPa,which is 117.98%higher than that of the unhydrogenated joint bonded at 750°C and equal to that of the unhydrogenated joint bonded at 900°C.The effects of hydrogen addition in Zr R60702 on the microstructure evolution,phase transformation temperature,interatomic bonding and self-diffusion coefficient of Zr atoms are investigated in detail.The results show that the optimized DB properties can be attributed to the improvements of its grain boundary diffusion,plasticity and self-diffusion coefficient of Zr atoms.展开更多
Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a spe...Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.展开更多
Sheet bulk metal forming is widely used for medium thick metal plate due to its convenience in the manu- facture of accurately finished 3D functional components. To obtain precise anisotropy and flow curve of metal pl...Sheet bulk metal forming is widely used for medium thick metal plate due to its convenience in the manu- facture of accurately finished 3D functional components. To obtain precise anisotropy and flow curve of metal plate is a prerequisite for correct simulation of sheet bulk metal forming processes. Inverse analysis of compression test was introduced here to evaluate the sensitivity of different flow curve models and geometric influence of compression test specimen. Besides, a methodology was proposed to compute plastic anisotropic coefficients of Hill quadratic yield cri- terion, which is based on the ratios of flow curves obtained by inverse analysis of compression tests using specimens cut in six directions on the medium-thick metal plate. The obtained flow curves and anisotropic coefficients were compared with those calculated from tensile tests. Flow curves based on inverse analysis of compression tests cover the curves of the tensile tests well, while the anisotropic coefficients are different, especially for the coefficient relat- ed to the RT45 direction. To estimate the effectiveness of the proposed method, the calculated material properties and those based on the traditional tensile tests were applied in a rim-hole process simulation. The simulation results based on the material properties from inverse analysis of compression tests accorded with the tested properties better.展开更多
This study evaluated dry-in-place lubricants used for cold forging.A group of isothermal compression tests with a strain rate(ε)e&range of 0.001–1 s^(−1) and temperature(T)range of 30–400℃ were completed.The f...This study evaluated dry-in-place lubricants used for cold forging.A group of isothermal compression tests with a strain rate(ε)e&range of 0.001–1 s^(−1) and temperature(T)range of 30–400℃ were completed.The flow stress(σ)curves of annealed steel S45C were obtained,and a corresponding Hensel–Spittel model was developed to support finite element(FE)simulation.The sensitivity of the steady combined forward and backward extrusion(SCFBE)test proposed in another study was improved by approximately 20%after it was optimized using the results of the FE simulations.Key parameters were identified,and the calibration curves after optimization were obtained.On the basis of the optimized test,a friction testing setup with a heating system was developed,in which the die temperature could be adjusted from room temperature(RT)to 230℃.Three dry-in-place lubricants and conventional phosphating lubricant were tested,and the friction factors(m),forming loads,and ejection loads were measured.The surface features of the specimens after testing were also investigated.According to the testing results,of the three tested dry-in-place lubricants,the mica type was the best.In addition,the optimized friction testing design was verified as effective.展开更多
A novel buckling-induced forming method is proposed to produce metal bellows.The tube billet is firstly treated by local heating and cooling,and the axial loading is applied on both ends of the tube,then the buckling ...A novel buckling-induced forming method is proposed to produce metal bellows.The tube billet is firstly treated by local heating and cooling,and the axial loading is applied on both ends of the tube,then the buckling occurs at the designated position and forms a convolution.In this paper,a forming apparatus is designed and developed to produce both discontinuous and continuous bellows of 304 stainless steel,and their characteristics are discussed respectively.Furthermore,the influences of process parameters and geometric parameters on the final convolution profile are deeply studied based on FEM analysis.The results suggest that the steel bellows fabricated by the presented buckling-induced forming method have a uniform shape and no obvious reduction of wall thickness.Meanwhile,the forming force required in the process is quite small.展开更多
On the multi-layer forging die used in daily life,stressed ring can strength the die structure within elastic deformation and the die material can be self-strengthened through uniform plastic deformation by autofretta...On the multi-layer forging die used in daily life,stressed ring can strength the die structure within elastic deformation and the die material can be self-strengthened through uniform plastic deformation by autofrettage effect,whereas the thermal effect generated during forging process can directly influence the stress state and dimension of the forging die in service.In this study,an analytical solution of the thermo-elastic-plastic deformation in the forging die is derived.The relationships between the radial and circumferential stresses and the temperature distribution,which are directly related to geometric parameters,material properties and working pressure,are determined.This helps to better understand the thermo-elastic-plastic deformation behavior of the die and design the combined forging die to achieve long service life and high accuracy product.展开更多
Compact hot extrusion(CHE) process of heavy caliber thick-wall pipe is a new material-saving production process. In order to reveal the optimum hot extrusion parameters in CHE process, the e ects of the extrusion para...Compact hot extrusion(CHE) process of heavy caliber thick-wall pipe is a new material-saving production process. In order to reveal the optimum hot extrusion parameters in CHE process, the e ects of the extrusion parameters on the microstructural evolution are investigated systematically. The metadynamic recrystallization(MDRX) kinetic models and grain size models of as-cast P91 steel are established for the first time according to the hot compression tests performed on the Gleeble-3500 thermal-simulation machine. Then a thermal-mechanical and micro-macro coupled hot extrusion finite element(FE) model is established and further developed in DEFORM software. The results indicated that the grain size of the extruded pipe increases with the increasing of initial temperature and extrusion speed, decreases when extrusion ratio increases. Moreover, the grain size is more sensitive to the initial temperature and the extrusion ratio. The optimum hot extrusion parameters are including that, the initial extrusion temperature of 1250 °C, the extrusion ratio of 9 and the extrusion speed of 50 mm/s. Furthermore, in order to verify the simulation precisions, hot extrusion experiment verification on the heavy caliber thick-wall pipe is carried out on the 500 MN vertical hot extrusion equipment. The load–displacement curve of the extrusion process and the grain sizes of the middle part extruded pipe are in good accuracy with the simulation results, which confirms that the hot extrusion FE models of as-cast P91 steel could estimate the hot extrusion behaviors. The proposed hot extrusion FE model can be used to guide the industrial production research of CHE process.展开更多
High strength steel products with good ductility can be produced via Q&P hot stamping process,while the phase transformation of the process is more complicated than common hot stamping since two-step quenching and...High strength steel products with good ductility can be produced via Q&P hot stamping process,while the phase transformation of the process is more complicated than common hot stamping since two-step quenching and one-step carbon partitioning processes are involved.In this study,an integrated model of microstructure evolution relating to Q&P hot stamping was presented with a persuasively predicted results of mechanical properties.The transformation of diffusional phase and non-diffusional phase,including original austenite grain size individually,were considered,as well as the carbon partitioning process which affects the secondary martensite transformation temperature and the subsequent phase transformations.Afterwards,the mechanical properties including hardness,strength,and elongation were calculated through a series of theoretical and empirical models in accordance with phase contents.Especially,a modified elongation prediction model was generated ultimately with higher accuracy than the existed Mileiko’s model.In the end,the unified model was applied to simulate the Q&P hot stamping process of a U-cup part based on the finite element software LS-DYNA,where the calculated outputs were coincident with the measured consequences.展开更多
Micro incision vitrectomy system(MIVS)is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.Therefore,robot...Micro incision vitrectomy system(MIVS)is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.Therefore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion(RCM)mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation accuracy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.展开更多
The static recrystallization behavior of SA508-III steel was investigated by isothermal double-hit hot compression tests at the deformation temperature of 950-1 250 ℃,the strain rate of 0. 01-1 s^（-1）,and the inter...The static recrystallization behavior of SA508-III steel was investigated by isothermal double-hit hot compression tests at the deformation temperature of 950-1 250 ℃,the strain rate of 0. 01-1 s^（-1）,and the inter-pass time of 1-300 s.The effects of deformation parameters,including forming temperature,strain rate,degree of deformation（ pre-strain） and initial austenite grain size,on the softening kinetics were analyzed. Experimental results show that static recrystallization kinetics is strongly dependent on deformation temperature and degree of deformation,while less affected by the strain rate and initial grain size. The kinetics and microstructural evolution equations of static recrystallization for SA508-III steel were developed to predict the softening behavior and the statically recrystallized grain size,respectively. Based on the comparison between the experimental and predicted results,it is found that the established equations can give a reasonable estimate of the static softening behavior for SA508-III steel.展开更多
Galling phenomena in metal forming not only affect the quality of the engineered surfaces but also the success or failure of the manufacturing operation itself.This paper reviews the different galling conditions in sh...Galling phenomena in metal forming not only affect the quality of the engineered surfaces but also the success or failure of the manufacturing operation itself.This paper reviews the different galling conditions in sheet and bulk metal forming processes along with their evolution and the effects of temperature on galling.A group of anti-galling methods employed to prevent galling defects are also presented in detail.The techniques for quantitatively measuring galling are introduced,and the related prediction models,including friction,wear,and galling growth models,are presented to better understand the underlying phenomena.Galling phenomena in other processes similar to those occurring in metal forming are also examined to suggest different ways of further studying galling in metal forming.Finally,future research directions for the study of galling in metal forming are suggested.展开更多
In hot deformation, the flow stress curves of steels always present as two typical types: at relatively high temperature and low strain rate, the flow stress may first increase and then attain a steady value without r...In hot deformation, the flow stress curves of steels always present as two typical types: at relatively high temperature and low strain rate, the flow stress may first increase and then attain a steady value without reaching an obvious peak stress; in other situations, the flow stress decreases after reaching peak stress and then attains a steady value. A new phenomenological model,described by a sine-function equation, is proposed to define the relationship between flow stress and deformation parameters. A series of isothermal compressions for a carbon steel were carried out, as a case study, to obtain basic experimental data.Parameters of the new model were sequentially determined. The predicted results of the proposed model were compared with actual measured data. Good accuracy was found in the standard statistical parameters of correlation coefficient, root mean square error, and average absolute relative error with the values of 0.935, 7.137 MPa and 4.352%, respectively. Discussion of applications of different models in finite-element simulation demonstrated the benefit of the new model. When comparing the simulation results of three different deformation patterns with large strain, the new model showed 10%–20% lower predicted forming load than the original Arrhenius equation, and better applicability and reliability than modified Arrhenius equations.展开更多
The magnetic properties of the claw pole have a direct effect on the output power of a generator Many methods can be used to measure these magnetic properties,each with its own advantages,but an important shortcoming ...The magnetic properties of the claw pole have a direct effect on the output power of a generator Many methods can be used to measure these magnetic properties,each with its own advantages,but an important shortcoming is that all are destructive.In this study,a new non-destructive method to measure the magnetic properties of claw pole was proposed and a corresponding testing set-up was designed.A finite-element model was constructed to simulate the measurement process.Results proved that the measured magnetization-like curves had good agreement with the trend of the input magnetic curves and the effect of the positioning error in the measuring process could be neglected.To further validate the new method,seven types of claw poles of different materials subjected to different heat-treatment processes were forged and tested by both the new method and the conventional ring-sample method.Compared with the latter,the new method showed better consistency,relatively higher accuracy,and much stronger stability of measurement results;however,its sensitivity needs to be improved.The effects of material compositions and heat-treatment parameters on the magnetic properties of the claw pole were briefly analyzed.展开更多
基金Projects(2016ZE57008,20163657004)supported by Aeronautical Science Foundation of ChinaProject(USCAST2016-20)supported by the SAST-SJTU Joint Research Centre of Advanced Aerospace Technology,ChinaProject(51875350)supported by the National Natural Science Foundation of China
文摘In order to analyze the effect of grain size on stress relaxation(SR) mechanism,the SR tests of TC4 alloy with three kinds of grain size were performed in a temperature range of 650-750℃.A modified cubic delay function was used to establish SR model for each grain size.A simplified algorithm was proposed for calculating the deformation activation energy based on classical Arrhenius equation.The grain size distribution and variation were observed by microstructural methods.The experimental results indicate that smaller grains are earlier to reach the relaxation limit at the same temperature due to lower initial stress and faster relaxation rate.The SR limit at 650℃ reduces with decreasing grain size.While the effect of grain size on SR limit is not evident at 700 and 750℃ since the relaxation is fully completed.With the increase of grain size,the deformation activation energy is improved and SR mechanism at 700℃ changes from grain rotation and grain boundary sliding to dislocation movement and dynamic recovery.
基金Project supported by the National Natural Science Foundation of China(Grant No.51975240)the Open Fund of State Key Laboratory of Advanced Forming Technology and Equipment(Grant No.SKL2019006)。
文摘We simulate the gas-atomization process of a close-coupled annular nozzle for vacuum induction gas atomization at a three-dimensional scale.Moreover,the relationship between the simulated droplet type and experimentally metallic powder is established by comparing the morphology of droplets with powders.Herein,the primary atomization process is described by the volume-of-fluid(VOF)approach,whereas the prediction of powder diameter after secondary atomization is realized by the VOF-Lagrangian method.In addition,to completely reflect the breaking and deformation process of the metallic flow,we employ the VOF model to simulate the secondary atomization process of a single ellipsoidal droplet.The results show that the primary atomization process includes the formation of surface liquid film,appearance of serrated ligaments,and shredding of ligaments.Further,gas recirculation zone plays an important role in formation of the umbrella-shaped liquid film.The secondary atomization process is divided into droplet convergence and dispersion stages,and the predicted powder diameter is basically consistent with the experiment.In general,the four main powder shapes are formed by the interaction of five different typical droplets.
基金the National Natural Science Foundation of China(Nos.62133009,61973211,51911540479 and M-0221)the Project of the Science and Technology Commission of Shanghai Municipality(No.21550714200)+1 种基金the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University,the Foreign Cooperation Project of Fujian Science and Technology Plan(No.202210041)the Quanzhou High-Level Talent Innovation and Entrepreneurship Project(No.2021C003R)。
文摘Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively fexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270°has good fexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.
基金the National Natural Science Foundation of China(No.51475294)。
文摘A blasting-like lubricating process(combination of shot blasting and lubricating processes)is proposed.In this process,the specimens to be treated,alloy shots,and solid lubricating powder are rotated together in a roller.The surface pockets formed due to the impact by the shots can store lubricants,and the lubricant can also adhere to the specimen surface by hitting.The effects of process parameters,including rolling time,rotational speed,mass of alloy shots,and the diameter of shots,on the surface topography of the steel specimen are investigated using 13 experimental schemes.The distribution ratio and average depth of surface pockets on the defined areas of the specimen are quantitatively analyzed.Four selected schemes with the MoS_(2) solid lubricating powder are further carried out to lubricate the cylindrical billets,and the lubricating effect is evaluated using the steady combined forward and backward extrusion test.The indicated friction factor of the novel blasting-like process is smaller than that of the conventional phosphate-soap coating process.
基金The authors gratefully appreciate financial support by the National Natural Science Foundation of China(No.51875350).
文摘Superplastic forming is a practical method to manufacture complex-shaped parts of titanium alloys with large deformation.Laminated parts of dissimilar titanium alloys fabricated by superplastic forming can achieve excellent performance by combining the advantages of components.This work displays the superplastic tension behavior and microstructural evolution of dissimilar TC4/SP700 laminate prepared by the diffusion bonding process.Two titanium alloys can achieve metallurgical bonding at parameters of 800℃/1 h/5 MPa.Except for dynamic recrystallization and grain growth behaviors upon superplastic tension,stress-induced phase transformation plays an important role inαtoβphase transformation apart from the elevated temperature.The superplastic deformation can be attributed to the grain boundary sliding accommodated multiplex motion of dislocations.In addition,the retained strengths of all dissimilar TC4/SP700 laminates after superplastic deformation with different strain rates and temperatures range from 807 to 890 MPa.
基金supported by the National Science and Technology Major Project of China(Grant No.J2019-VI-0004-0117)the State Key Laboratory of Special Rare Metal Materials(No.SKL2021K002)Northwest Rare Metal Materials Research Institute Ningxia Co.,Ltd.
文摘K439B nickel-based superalloy is a new type of high-temperature material.There is insufficient research on its constitutive equations and numerical modeling of thermal stress.Isothermal tensile experiments of K439B superalloy at different temperatures(20°C-1,000°C)and strain rates(1.33×10^(-3)s^(-1)-5.33×10^(-3)s^(-1))were performed by using a Gleeble-3800 simulator.The elastic moduli at different temperatures(20°C-650°C)were measured by resonance method.Subsequently,stress-strain curves were measured for K439B superalloy under different conditions.The elastic-viscoplastic constitutive equations were established and the correspongding parameters were solved by employing the Perzyna model.The verification results indicate that the calculated values of the constitutive equations are in good agreement with the experimental values.On this basis,the influence of process parameters on thermal stress was investigated by numerical simulation and orthogonal experimental design.The results of orthogonal experimental design reveal that the cooling mode of casting has a significant influence on the thermal stress,while pouring temperature and preheating temperature of shell mold have minimal impact.The distribution of physical fields under optimal process parameters,determined based on the orthogonal experimental design results,was simulated.The simulation results determine separately the specific positions with maximum values for effective stress,plastic strain,and displacement within the casting.The maximum stress is about 1,000.0 MPa,the plastic strain is about 0.135,and the displacement is about 1.47 mm.Moreover,the distribution states of thermal stress,strain,and displacement are closely related to the distribution of the temperature gradient and cooling rate in the casting.The research would provide a theoretical reference for exploring the stress-strain behavior and numerical modeling of the effective stress of the alloy during the casting process.
文摘The aluminum alloys belonging to the 7000 series are high-strength alloys used in a wide variety of products for weight reduction.They are primarily used in the field of transportation and aerospace.Among these,the A7075 alloy has the highest strength and is expected to be applicable in a wide range of fields,such as aircraft components and sports equipment.However,it has high deformation resistance and is prone to surface defects,which is called tearing.Tearing typically occurs at high temperatures and high ram speeds,and adversely affects productivity.The localized melting of Zn and additive compounds,due to the heat generated during the process,is considered to cause tearing.In this study,the effect of friction,heat,and tearing at the tool-metal interface was mitigated by improving the die surface quality.The reduced friction eliminated recrystallization by preventing the temperature from increasing to recrystallization temperature.In addition,an AlCrN coating was adopted instead of nitriding to improve the die surface quality.The tearing size and heat generated when using the AlCrN coating were found to be limited.Moreover,the grain size observed in the tearing region on the extruded surface was small.The simulations using the shear friction coefficient m observed from friction tests indicate that the use of the AlCrN coating improved the material flow.Thus,the AlCrN coating is considered effective for reducing friction at the interface and preventing the recrystallization of the extruded surface.From the aforementioned results,it can be inferred that a die coating can reduce the tearing sensitivity and increase the productivity of the A7075 alloy.
基金supported by the NSFC-Liaoning Province United Foundation(U1908229)the National Natural Science Foundation of China(51875350)the Program of Shanghai Academic Research Leader(22XD1421600).
文摘High temperature in diffusion bonding(DB)process severely deteriorates the performance of zirconium(Zr)R60702 in extreme chemical environment.Therefore,it is important to reduce the DB temperature of Zr R60702.In this work,low-temperature diffusion bonding of Zr R60702 at 750°C is realized by 0.3 wt%hydrogen addition while 900°C is required in DB process for unhydrogenated Zr R60702.The shear strength of the hydrogenated joint bonded at 750°C reaches 388 MPa,which is 117.98%higher than that of the unhydrogenated joint bonded at 750°C and equal to that of the unhydrogenated joint bonded at 900°C.The effects of hydrogen addition in Zr R60702 on the microstructure evolution,phase transformation temperature,interatomic bonding and self-diffusion coefficient of Zr atoms are investigated in detail.The results show that the optimized DB properties can be attributed to the improvements of its grain boundary diffusion,plasticity and self-diffusion coefficient of Zr atoms.
基金the National Natural Science Foundation of China(Nos.61973211,62133009,51911540479 and M-0221)the Project of the Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)the Project of the Institute of Medical Robotics of Shanghai Jiao Tong University,and the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.ZH2018QNB31 and YG2017MS27)。
文摘Flexible ureteroscopy(FURS)has been widely used in the diagnosis and treatment of upper urinarytract diseases.The key operation of FURS is that the surgeon manipulates the distal shaft of flexible ureteroscopeto a specific target for diagnosis and treatment.However,the hysteresis of flexible ureteroscope may be one ofthe most important factors that degrade the manipulation accuracy and the surgeon usually spends a long timenavigating the distal shaft during surgery.In this study,we obtained hysteresis curves of distal shaft deflectionfor the flexible ureteroscope through extensive repeated experiments.Then,two methods based on piecewiselinear approximation and long short-term memory neural network were employed to model the hysteresis curves.On this basis,we proposed two hysteresis compensation strategies for the distal shaft deflection.Finally,wecarried out hysteresis compensation experiments to verify the two proposed compensation strategies.Experimentalresults showed that the hysteresis compensation strategies can significantly improve position accuracy with meancompensation errors of no more than 5°.
基金Sponsored by National Natural Science Foundation of China(51105250)National Science and Technology Specific Projects of China(2011ZX04016-051)
文摘Sheet bulk metal forming is widely used for medium thick metal plate due to its convenience in the manu- facture of accurately finished 3D functional components. To obtain precise anisotropy and flow curve of metal plate is a prerequisite for correct simulation of sheet bulk metal forming processes. Inverse analysis of compression test was introduced here to evaluate the sensitivity of different flow curve models and geometric influence of compression test specimen. Besides, a methodology was proposed to compute plastic anisotropic coefficients of Hill quadratic yield cri- terion, which is based on the ratios of flow curves obtained by inverse analysis of compression tests using specimens cut in six directions on the medium-thick metal plate. The obtained flow curves and anisotropic coefficients were compared with those calculated from tensile tests. Flow curves based on inverse analysis of compression tests cover the curves of the tensile tests well, while the anisotropic coefficients are different, especially for the coefficient relat- ed to the RT45 direction. To estimate the effectiveness of the proposed method, the calculated material properties and those based on the traditional tensile tests were applied in a rim-hole process simulation. The simulation results based on the material properties from inverse analysis of compression tests accorded with the tested properties better.
基金This research was partially supported by the National Natural Science Foundation of China(NSFC,No.51875348).
文摘This study evaluated dry-in-place lubricants used for cold forging.A group of isothermal compression tests with a strain rate(ε)e&range of 0.001–1 s^(−1) and temperature(T)range of 30–400℃ were completed.The flow stress(σ)curves of annealed steel S45C were obtained,and a corresponding Hensel–Spittel model was developed to support finite element(FE)simulation.The sensitivity of the steady combined forward and backward extrusion(SCFBE)test proposed in another study was improved by approximately 20%after it was optimized using the results of the FE simulations.Key parameters were identified,and the calibration curves after optimization were obtained.On the basis of the optimized test,a friction testing setup with a heating system was developed,in which the die temperature could be adjusted from room temperature(RT)to 230℃.Three dry-in-place lubricants and conventional phosphating lubricant were tested,and the friction factors(m),forming loads,and ejection loads were measured.The surface features of the specimens after testing were also investigated.According to the testing results,of the three tested dry-in-place lubricants,the mica type was the best.In addition,the optimized friction testing design was verified as effective.
基金National Natural Science Foundation of China(Grant No.52175349)Aeronautical Science Foundation of China(Grant No.20200009057004)。
文摘A novel buckling-induced forming method is proposed to produce metal bellows.The tube billet is firstly treated by local heating and cooling,and the axial loading is applied on both ends of the tube,then the buckling occurs at the designated position and forms a convolution.In this paper,a forming apparatus is designed and developed to produce both discontinuous and continuous bellows of 304 stainless steel,and their characteristics are discussed respectively.Furthermore,the influences of process parameters and geometric parameters on the final convolution profile are deeply studied based on FEM analysis.The results suggest that the steel bellows fabricated by the presented buckling-induced forming method have a uniform shape and no obvious reduction of wall thickness.Meanwhile,the forming force required in the process is quite small.
基金National Natural Science Foundation of China(No.51875348)。
文摘On the multi-layer forging die used in daily life,stressed ring can strength the die structure within elastic deformation and the die material can be self-strengthened through uniform plastic deformation by autofrettage effect,whereas the thermal effect generated during forging process can directly influence the stress state and dimension of the forging die in service.In this study,an analytical solution of the thermo-elastic-plastic deformation in the forging die is derived.The relationships between the radial and circumferential stresses and the temperature distribution,which are directly related to geometric parameters,material properties and working pressure,are determined.This helps to better understand the thermo-elastic-plastic deformation behavior of the die and design the combined forging die to achieve long service life and high accuracy product.
基金Supported by National Natural Science Foundation of China(Grant Nos.51675361,51135007)Shanxi Scholarship Council of China(Grant Nos.2015-086,2016-096)Shanxi Provincial Key Research and Development Program of China(Grant No.03012015004)
文摘Compact hot extrusion(CHE) process of heavy caliber thick-wall pipe is a new material-saving production process. In order to reveal the optimum hot extrusion parameters in CHE process, the e ects of the extrusion parameters on the microstructural evolution are investigated systematically. The metadynamic recrystallization(MDRX) kinetic models and grain size models of as-cast P91 steel are established for the first time according to the hot compression tests performed on the Gleeble-3500 thermal-simulation machine. Then a thermal-mechanical and micro-macro coupled hot extrusion finite element(FE) model is established and further developed in DEFORM software. The results indicated that the grain size of the extruded pipe increases with the increasing of initial temperature and extrusion speed, decreases when extrusion ratio increases. Moreover, the grain size is more sensitive to the initial temperature and the extrusion ratio. The optimum hot extrusion parameters are including that, the initial extrusion temperature of 1250 °C, the extrusion ratio of 9 and the extrusion speed of 50 mm/s. Furthermore, in order to verify the simulation precisions, hot extrusion experiment verification on the heavy caliber thick-wall pipe is carried out on the 500 MN vertical hot extrusion equipment. The load–displacement curve of the extrusion process and the grain sizes of the middle part extruded pipe are in good accuracy with the simulation results, which confirms that the hot extrusion FE models of as-cast P91 steel could estimate the hot extrusion behaviors. The proposed hot extrusion FE model can be used to guide the industrial production research of CHE process.
基金Supported by National Natural Science Foundation of China (Grant Nos. 51775336,U1564203)Program of Shanghai Academic Research Leadership (Grant No. 19XD1401900)
文摘High strength steel products with good ductility can be produced via Q&P hot stamping process,while the phase transformation of the process is more complicated than common hot stamping since two-step quenching and one-step carbon partitioning processes are involved.In this study,an integrated model of microstructure evolution relating to Q&P hot stamping was presented with a persuasively predicted results of mechanical properties.The transformation of diffusional phase and non-diffusional phase,including original austenite grain size individually,were considered,as well as the carbon partitioning process which affects the secondary martensite transformation temperature and the subsequent phase transformations.Afterwards,the mechanical properties including hardness,strength,and elongation were calculated through a series of theoretical and empirical models in accordance with phase contents.Especially,a modified elongation prediction model was generated ultimately with higher accuracy than the existed Mileiko’s model.In the end,the unified model was applied to simulate the Q&P hot stamping process of a U-cup part based on the finite element software LS-DYNA,where the calculated outputs were coincident with the measured consequences.
基金the National Natural Science Foundation of China(Nos.61973211,51911540479 and M-0221)the Project of Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)+1 种基金the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong Universitythe Interdisciplinary Program of Shanghai Jiao Tong University(Nos.ZH2018QNB31 and YG2017ZD03)。
文摘Micro incision vitrectomy system(MIVS)is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.Therefore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion(RCM)mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation accuracy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.
基金Item Sponsored by National Basic Research Program of China(2011CB012903)National Science and Technology Major Project of China(2012ZX04012-011)
文摘The static recrystallization behavior of SA508-III steel was investigated by isothermal double-hit hot compression tests at the deformation temperature of 950-1 250 ℃,the strain rate of 0. 01-1 s^（-1）,and the inter-pass time of 1-300 s.The effects of deformation parameters,including forming temperature,strain rate,degree of deformation（ pre-strain） and initial austenite grain size,on the softening kinetics were analyzed. Experimental results show that static recrystallization kinetics is strongly dependent on deformation temperature and degree of deformation,while less affected by the strain rate and initial grain size. The kinetics and microstructural evolution equations of static recrystallization for SA508-III steel were developed to predict the softening behavior and the statically recrystallized grain size,respectively. Based on the comparison between the experimental and predicted results,it is found that the established equations can give a reasonable estimate of the static softening behavior for SA508-III steel.
文摘Galling phenomena in metal forming not only affect the quality of the engineered surfaces but also the success or failure of the manufacturing operation itself.This paper reviews the different galling conditions in sheet and bulk metal forming processes along with their evolution and the effects of temperature on galling.A group of anti-galling methods employed to prevent galling defects are also presented in detail.The techniques for quantitatively measuring galling are introduced,and the related prediction models,including friction,wear,and galling growth models,are presented to better understand the underlying phenomena.Galling phenomena in other processes similar to those occurring in metal forming are also examined to suggest different ways of further studying galling in metal forming.Finally,future research directions for the study of galling in metal forming are suggested.
基金supported by the National Natural Science Foundation of China(Grant No.51475294)
文摘In hot deformation, the flow stress curves of steels always present as two typical types: at relatively high temperature and low strain rate, the flow stress may first increase and then attain a steady value without reaching an obvious peak stress; in other situations, the flow stress decreases after reaching peak stress and then attains a steady value. A new phenomenological model,described by a sine-function equation, is proposed to define the relationship between flow stress and deformation parameters. A series of isothermal compressions for a carbon steel were carried out, as a case study, to obtain basic experimental data.Parameters of the new model were sequentially determined. The predicted results of the proposed model were compared with actual measured data. Good accuracy was found in the standard statistical parameters of correlation coefficient, root mean square error, and average absolute relative error with the values of 0.935, 7.137 MPa and 4.352%, respectively. Discussion of applications of different models in finite-element simulation demonstrated the benefit of the new model. When comparing the simulation results of three different deformation patterns with large strain, the new model showed 10%–20% lower predicted forming load than the original Arrhenius equation, and better applicability and reliability than modified Arrhenius equations.
基金Partially supported by National Natural Science Foundation of China(Grant No.51875348)
文摘The magnetic properties of the claw pole have a direct effect on the output power of a generator Many methods can be used to measure these magnetic properties,each with its own advantages,but an important shortcoming is that all are destructive.In this study,a new non-destructive method to measure the magnetic properties of claw pole was proposed and a corresponding testing set-up was designed.A finite-element model was constructed to simulate the measurement process.Results proved that the measured magnetization-like curves had good agreement with the trend of the input magnetic curves and the effect of the positioning error in the measuring process could be neglected.To further validate the new method,seven types of claw poles of different materials subjected to different heat-treatment processes were forged and tested by both the new method and the conventional ring-sample method.Compared with the latter,the new method showed better consistency,relatively higher accuracy,and much stronger stability of measurement results;however,its sensitivity needs to be improved.The effects of material compositions and heat-treatment parameters on the magnetic properties of the claw pole were briefly analyzed.
