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To improve the machining accuracy of free-form surface parts, a coarse-to-fine free-form surface machining error decomposition and compensation method is proposed in this paper. First, the machining error was coarsely decomposed using variational mode decomposition (VMD), and the correlation coefficients between the intrinsic mode function (IMF) and the machining error were obtained to filter out the IMF components that were larger than the thresholding value of the correlation coefficients, which was the coarse systematic error. Second, the coarse systematic errors were finely decomposed using empirical mode decomposition (EMD), which still filters out the IMF components that are larger than the thresholding value of the set correlation coefficient based on the correlation coefficient. Then, the wavelet thresholding method was utilized to finely decompose all the IMF components whose correlation coefficients in the first two decomposition processes were smaller than the threshold value of the correlation coefficient set. The decomposed residual systematic errors were reconstructed with the IMF components screened in the EMD fine decomposition, which gave the fine systematic error. Finally, the machining surface was reconstructed according to the fine systematic error, and its corresponding toolpath was generated to compensate for the machining error without moving the part. The simulation and analysis results of the design show that the method has a more ideal processing error decomposition ability and can decompose the systematic error contained in the processing error in a more complete way. The results of actual machining experiments show that, after using the method proposed in this paper to compensate for the machining error, the maximum absolute machining error decreased from 0.0580 mm to 0.0159 mm, which was a 72.5% reduction, and the average absolute machining error decreased from 0.0472 mm to 0.0059 mm, which was an 87.5% reduction. It was shown that the method was effective and feasible for free-form surface part machining error compensation. [ABSTRACT FROM AUTHOR]

Replacing fossil fuels with renewable energy is one of the important means to improve energy scarcity and environmental protection, and is of great significance for achieving sustainable development of human society. Vertical axis wind turbine (VAWT) is one of the key equipment for applying green energy — wind energy. During the operation of VAWT, its blades not only have to withstand periodic aerodynamic loads, but also suffer from centrifugal force effects and the Coriolis force effect caused by coupling with multi-dimensional deformation. The complex stress situation makes the blades susceptible to damage, resulting in structural resonance and instability of aeroelastic stability. This paper applies the Euler beam model and Hamilton principle to establish a nonlinear structural vibration motion equation for large-span vertical axis wind turbine blades with fully coupled four-dimensional deformation (i.e. lateral bending deformation, chord bending deformation, axial torsion deformation, and axial tensile deformation), and retains the nonlinear term of the motion equation to the third-order infinitesimal. Separating the motion equation into equilibrium equation and dynamic equation, it can be seen that the displacement of equilibrium state caused by the centrifugal force of the rigid body exists in the form of a coefficient in the dynamic equation, which will have an impact on the dynamic characteristics. This modeling work can provide a research foundation for exploring the dynamic characteristics and aeroelastic stability of VAWT blades in the future. [ABSTRACT FROM AUTHOR]

High-precision trajectory tracking control is an important factor in the performance of industrial robots. In this study, a high-precision trajectory tracking strategy was proposed for controlling a degree of freedom serial robot on the basis of improved active disturbance rejection control. An independent control strategy of a single joint was adopted, and the corresponding decoupling control law was designed. An attitude trajectory-planning algorithm based on the circular-blending quaternion curve was improved. The position and attitude trajectories were transformed into the joint trajectory by using a kinematics equation and inverse velocity Jacobian matrix. The above-mentioned transformation link was used as a preprocessing link of the active disturbance rejection control, which is used for replacing the tracking differentiator of a typical active disturbance rejection control to eliminate the effect of the tracking delay. An experimental simulation was conducted by combining MATLAB and ADAMS. Simulation results show that the proposed control strategy can perform the tracking control of a task-space trajectory. The tracking precision of position and attitude trajectories were 0.01 mm and 0.01 s, respectively. [ABSTRACT FROM AUTHOR]

Magnetorheological (MR) fluid is a well-established controllable smart material for fabricating electromagnetic functional components and for magnetorheological finishing. However, the water and labor consumption in cleaning work could seriously reduce its efficiency. Superhydrophobic surface has been widely used in self-cleaning applications owing to its excellent anti-wetting property. In this work, superhydrophobic surface was adopted to prevent the microparticles from adhering to the solid surface, in order to realize the easy washing of MR fluid. The superhydrophobic surface showed water-repellency when MR fluid contact angles exceeded 150°. The bouncing phenomena of the MR fluid were observed even though the carbonyl iron powders concentration was up to 70 vol%. Additionally, the mechanical durability and robustness of prepared surface were satisfactory during the sandpaper polishing process and MR fluid wear tests. Moreover, excellent self-cleaning properties can be obtained by changing micropowders scale from millimeter to nanometer and MR fluid-a complex suspension system. The superhydrophobic surface is expected to be an adaptable and efficient method for reducing human labor and saving water during the cleaning of MR fluid, and may have potential of applications in the precise analysis of complex suspensions. [ABSTRACT FROM AUTHOR]

Ion-beam-thinning is a well-established sample preparation technique for transmission electron microscopy (TEM), but tedious procedures and labor consuming pre-thinning could seriously reduce its efficiency. In this work, we present a simple pre-thinning technique by using magnetorheological (MR) polishing to replace manual lapping and dimpling, and demonstrate the successful preparation of electron-transparent single crystal silicon samples after MR polishing and single-sided ion milling. Dimples pre-thinned to less than 30 microns and with little mechanical surface damage were repeatedly produced under optimized MR polishing conditions. Samples pre-thinned by both MR polishing and traditional technique were ion-beam thinned from the rear side until perforation, and then observed by optical microscopy and TEM. The results show that the specimen pre-thinned by MR technique was free from dimpling related defects, which were still residual in sample pre-thinned by conventional technique. Nice high-resolution TEM images could be acquired after MR polishing and one side ion-thinning. MR polishing promises to be an adaptable and efficient method for pre-thinning in preparation of TEM specimens, especially for brittle ceramics. [ABSTRACT FROM AUTHOR]