中国机械工程学报(英文版)论文模板

CHINESEJOURNALOFMECHANICALENGINEERINGVol.27,aNo.4,a2014·1·DOI:10.3901/CJME.2014.0320.001,availableonlineat*,FUHailun2,DONGYiming1,ZHANGYu1,YANGCanjun1,andCHENYing11StateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,Hangzhou310027,China2ZhejiangProvinceInstituteofMetrology,Hangzhou310027,China3NationalDie&MoldCADEngineeringResearchCenter,ShanghaiJiaoTongUniversity,Shanghai200030,ChinaReceivedMarch1,2014;revisedJune17,2014;acceptedAugust17,2014Abstract:Magneticdrivepumphasgottengreatachievementandhasbeenwidelyusedinsomespecialfields.Currently,theresearchesonmagneticdrivepumphavefocusedonhydraulicdesign,bearing,axialforceinChina,andanewmagneticdrivepumpwithlowflowandhighheadhavebeendevelopedoverseas.However,lowefficiencyandlargesizearethecommondisadvantagesforthemagneticdrivepump.Inordertostudytheperformanceofhigh-speedmagneticdrivepump,FLUENTisusedtosimulatetheinnerflowfieldofmagneticdrivepumpswithdifferentrotatespeeds,andgetvelocityandpressuredistributionsofinnerflowfield.Accordingtoanalysisthechangesofvelocityandpressuretoensurethestableoperationofpumpandavoidcavitation.Basedontheanalysisofvelocityandpressure,thispaperpresentsthepumpefficiencyofmagneticdrivepumpswithdifferentrotatedspeedsbycalculatingthepowerlossinimpellerandvolute,hydraulicloss,volumetricloss,mechanicallossanddiscussingthedifferentreasonsofpowerlossbetweenthemagneticdrivepumpswithdifferentrotatedspeeds.Inaddition,themagneticdrivepumpsaretestedinaclosedtestingsystem.Pressuresensorsaresetininletandoutletofmagneticdrivepumpstogetthepressureandthehead,whilethepumpefficiencycanbegotbycalculatingthepowerlossbetweentheinputpowerandtheoutletpower.Theresultsofsimulationandtestaresimilar,whichshowsthatthemethodofsimulationisfeasible.Theproposedresearchprovidestheinstructiontodesignhigh-speedmagneticdrivepump.Keywords:exoskeletonarm,teleoperation,pneumaticforce-feedback,hybridfuzzycontrol1IntroductionAtfirstlookatmodernsociety,moreandmorerobotsandautomateddevicesarecomingintoourlifeandserveforhuman.Butonevenfurtherinspection,onecanfindthatmechatronicdevicesreplacehumansubordinatelyonlyatlowerlevels,essentiallyprovidingthe“grunt”toperformroutinetasks.Humancontrolisstillnecessaryatallhigherlevelsjustasthetermhumansupervisorycontrol(HSC),whichiscoinedbySHERIDAN[1].Themodernmaster-slaveteleoperationsystemforthesafemanipulationofradioactivematerialsinacontaminatedareain1954ofGOERTZ,etal[2],wasthetypicalexampleofthisconcept.Hereafter,exoskeletonarmswithforce-feedbackhavebeenwidelydevelopedinthefieldsofrobotteleoperationandhapticinterfacetoenhancetheperformanceofthehumanoperator,alsointheexcitingapplicationsinsurgeryplanning,personneltraining,andphysicalrehabilitation.*Correspondingauthor.E-mail:[e-mail]turalScienceFoundationofChina(GrantNo.50305035),NationalHi-techResearchandDevelopmentProgramofChina(863Program,GrantNo.##),BeijingMunicipalNaturalScienceFoundationofChina((GrantNo.##),andZhejiangProvincialNaturalScienceFoundationofChina((GrantNo.##)©ChineseMechanicalEngineeringSocietyandSpringer-VerlagBerlinHeidelberg2014DUBEY,etal[3],developedamethodologytoincorporatesensorandmodelbasedcomputerassistanceintohumancontrolledteleoperationsystems.Intheirapproach,thehumanoperatorwasretainedatallphasesoftheoperation,andwasassistedbyadjustingsystemparameterswhichwerenotunderdirectcontrolbytheoperator,specifically,themappingofpositionsandvelocitiesbetweenthemasterandslaveandtheirimpedanceparameters.TheESAhumanarmexoskele-tonwasdevelopedtoenableforce-feedbacktele-manipulationontheexterioroftheinternationalspacestationwithredundantroboticarms[4].Inrecentwork[5–6],theneuromuscularsignalhasbeenusedtocontroltheexoskeletonarmandmanynewconceptswereappliedintherehabilitation[7–10].SeveralresearchersfromKoreaInstitutionofScienceandTechnology(KIST)introducedthepneumaticactuatorintotheexoskeletonanddesignedanovelmanipulatorwiththe3RPSparallelmechanism[11–12].Theyexploredanewexoskeleton-typemasterarm,inwhichtheelectricbrakeswiththetorquesensorbeamswereusedforforcereflection[14].Likewise,theauthorsgaveouta2-portnetworkmodeltodescribethebilateralremotemanipulationintheviewofthecontroltheory[15–17].Inthisresearch,awearableexoskeletonarm,ZJUESA,basedonman-machinesystemisdesignedandahierarchicallydistributedteleoperationcontrolsystemis菜单栏“格式”中的“段落”，其中“缩进和间距”标签的复选框“如果定义了文档网络，则自动调整右缩进（D）”和“如果定义了文档网络，则对齐网格（W）”不要勾选字号8磅，段后回车换行2次论文题目字号14磅，行距固定值16磅，段后回车换行2次字号11磅，段后8磅字号10磅，斜体，段后回车换行1次字号8磅，段后回车换行1次字号9磅，段后回车换行1次字号9磅，段后回车换行2次一级标题字号12磅，段前空1行，段后回车换行1次字号8磅，单倍行距首页上行页眉字号10.5磅，单倍行距，段后1.2磅下行页眉字号9磅，单倍行距，段后1.2磅正文字号为10磅，除特别标注外，行距均为固定值13磅，行首缩进0.35cm；含有上下标或较复杂数学式的段落为多倍行距，设置值为1.1~1.2字号6.5磅，单倍行距YZHANGJiafan,etal:Novel6-DOFWearableExoskeletonArmwithPneumaticForce-FeedbackforBilateralTeleoperation·2·explained.Thissystemincludesthreemainlevels:①supervisorgivingthecommandthroughtheexoskeletonarminsafez