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Tianmiao Yu,Fengchun Jiang,Chunhe Wang,Mengxin Cao,Zhenqiang Wang,Yunpeng Chang,Chunhuan Guo 대한금속·재료학회 2021 METALS AND MATERIALS International Vol.27 No.5
In this study, the Ti–6Al–4V alloy hollow spheres were prepared by powder metallurgy method under different sinteringtemperatures (1200 °C, 1250 °C, 1300 °C, 1350 °C and 1400 °C). And the density, shrinkage and microstructure of hollowspheres were tested by Archimedes drainage method, diameter measurement, optical microscope and scanning electronmicroscope, respectively. The results show that the density and shrinkage of hollow spheres increase gradually with thesintering temperature increasing, while the porosity of the shell of hollow spheres decreased along with the increase of sinteringtemperature. When the sintering temperature is 1400 °C, the hollow sphere has the largest density of 2.10 g/cm3, thelargest shrinkage of 22.0% and the smallest porosity of 14.2%. By comparing the micro-morphology and properties underdifferent temperatures, when the sintering process lasted for 180 min at 1400 °C, the Ti–6Al–4V hollow spheres have thesmallest porosity and the largest density.
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Performance analyses of antagonistic shape memory alloy actuators based on recovered strain
Zhenyun Shi,Tianmiao Wang,Liu Da 국제구조공학회 2014 Smart Structures and Systems, An International Jou Vol.14 No.5
In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.
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Performance analyses of antagonistic shape memory alloy actuators based on recovered strain
Shi, Zhenyun,Wang, Tianmiao,Da, Liu Techno-Press 2014 Smart Structures and Systems, An International Jou Vol.14 No.5
In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.
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A Compensation Method for Enhancing Aviation Drilling Robot Accuracy Based on Co-Kriging
Dongdong Chen,Peijiang Yuan,Tianmiao Wang,Lei Xue 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.8
The positional error of aviation drilling robot has a great influence on the strength and lives of aircrafts in the aircraft assembly. In order to improve the position accuracy of aviation drilling robot, an error compensation method based on co-kriging is proposed in this paper. The error similarity based on the kinematic of drilling robot is proposed firstly. Then, the positional errors of a set of points in the workspace are measured by using precision laser tracker. The measurement data are used to fit the cross-variogram of positional error. After the cross-variogram is obtained, the predicted positional errors of verification points can be estimated based on co-kriging. The positions after compensation are given to the drilling robot. The proposed method is carried out on an aviation drilling robot for practical compensation to verify the correctness and effectiveness of the error compensation method. The experimental results show that the average absolute positional error is reduced to 0.1150 mm from 0.7168 mm, and that the maximum absolute positional error is reduced to 0.2664 mm from 1.3073 mm. The experimental results also demonstrate that the proposed method can improve the absolute position accuracy of aviation robot and could meet the requirement of aircraft assembly.
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