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Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots
Yongwu Cai,Ligang Yao,Jun Zhang,Zhiyu Xie,Jinlong Hong 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.4
Nutation drive claims the advantages of high load capacity, large transmission ratio, desirable stability, low noise, and compact volume, which makes it an excellent alternative to typical joint reducers used in industrial robots. This paper proposes a novel two-stage nutation drive as a joint reducer for the industrial robot. The working principle of the nutation movement is first introduced followed by an analysis of transmission characteristics. The transmission ratio, the transmission efficiency as well as the structural schematic of the proposed nutation drive are presented. Finite element analysis of the main components, including nutation sleeve and bevel gears, was performed. Finally, a prototype was designed, manufactured and tested to verify the feasibility of applying the nutation drive as a joint reducer for industrial robots.
Impact Force Reconstruction of Composite materials based on Improved Regularization Technology
( Yajie Sun ),( Tao Yin ),( Jian Yang ),( Zhiyu Cai ),( Shaoen Wu ) 한국인터넷정보학회 2021 KSII Transactions on Internet and Information Syst Vol.15 No.8
In the structural health monitoring of composite materials, in order to solve the ill-posed problem of impact force reconstruction, regularization techniques are often used to deal with it. Due to the poor convergence of the traditional Tikhonov regularization method, in order to accurately reconstruct the time history of the impact force, this paper improves Tikhonov regularization method and constructs homotopy function with strong convergence. Since the optimal regularization parameters need to be found in the homotopy function, the Newton downhill method is used to find the optimal parameters and the homotopy function can be calculated, which can accurately reconstruct the time history of the impact force. In order to verify the universality of the method in this paper, impact hammers of different materials were used in the experiment in this paper to study and compare the reconstruction effect of impact time history of different impact hammers.