Search Results (122)

This paper proposes an adaptive gain twisting sliding-mode control (AGTSMC) strategy for trapezoidal variable-stiffness joints (TVSJs) to achieve accurate trajectory tracking under both matched and mismatched uncertainties. The TVSJ employs a compact trapezoidal leaf spring with grooved bearing followers (GBFs), enabling wide-range stiffness modulation through low-friction rolling contact. To address the strong nonlinearities and unmodeled dynamics introduced by stiffness variation, a Lyapunov-based adaptive twisting controller is developed, where the gains are automatically adjusted without conservative overestimation. A second-order sliding-mode differentiator is integrated to estimate velocity and disturbance terms in finite time using only position measurements, effectively reducing chattering. The proposed controller guarantees finite-time stability of the closed-loop system despite bounded uncertainties and measurement noise. Extensive simulations and hardware-in-the-loop experiments on a TVSJ platform validate the method. Compared with conventional sliding mode controller (CSMC), terminal sliding mode controller (TSMC), and fixed-gain twisting control (TC), the AGTSMC achieves faster convergence, lower steady-state error, and improved vibration suppression across low, high, and variable stiffness modes. Experimental results confirm that the proposed approach enhances tracking accuracy and energy efficiency while maintaining robustness under large stiffness variations. Full article

This study employs molecular dynamics simulations to investigate the frictional behavior of fullerene nano-additives on Fe-C alloy surfaces under varying loads and temperatures, focusing on boundary lubrication conditions. The results show that the x-direction friction force exhibits minimal sensitivity to normal pressure due to the high rigidity of fullerene molecules, which limits variations in real contact area and atomic interactions. In contrast, temperature has a significant effect: as it rises, enhanced atomic vibrations and thermal activation lower energy barriers for sliding. The coefficient of friction (COF) consistently decreases with both increasing load and temperature, driven by the mechanism of thermally activated motion. Although partial rotational motion from sliding to rolling friction was not explicitly observed in the simulations, the study remains within the sliding-dominated regime, highlighting the importance of temperature over load in controlling friction. A linear relationship between $\ln COF$ and $1/k_{B}T$ yields an average activation energy of ~0.03 eV, supporting a thermally activated friction mechanism. By introducing a composite parameter that combines load and temperature effects, the study provides a predictive framework for modeling friction behavior under thermo-mechanical coupling. These findings enhance the understanding of the friction-reducing capabilities of fullerene additives and offer a foundation for designing advanced nano-lubricants in boundary lubrication systems. Full article

This paper focuses on mixed seeds of Vicia villosa and Avena sativa, with their discrete element model and contact parameters being systematically calibrated and validated to provide reliable theoretical support for the structural design and parameter optimization of the air-assisted seed delivery system. The physical properties of both seed types, including triaxial dimensions, density, moisture content, Poisson’s ratio, and shear modulus, were first measured. The Hertz–Mindlin (no slip) contact model and the multi-sphere aggregation method were employed to construct the discrete element models of Vicia villosa and Avena sativa, with preliminary calibration of the intrinsic model parameters. Poisson’s ratio, elastic modulus, collision restitution coefficient, static friction coefficient, and rolling friction coefficient between the seeds and PLA plastic plate were determined through uniaxial compression, free fall, inclined sliding, and inclined rolling tests. Each test was repeated five times, and the calibration criterion for contact parameters was based on minimizing the relative error between simulation and experimental results. Based on this, experiments on the packing angle of mixed seeds, steepest slope, and a three-factor quadratic rotational orthogonal combination were conducted. The inter-seed collision restitution coefficient, static friction coefficient, and rolling friction coefficient were set as the experimental factors. A total of 23 treatments were designed with repetitions at the center point, and a regression model was established for the relative error of the packing angle with respect to each factor. Based on the measured packing angle of 28.01° for the mixed seeds, the optimal contact parameter combination for the mixed seed pile was determined to be: inter-seed collision restitution coefficient of 0.312, static friction coefficient of 0.328, and rolling friction coefficient of 0.032. The relative error between the simulated packing angle and the measured value was 1.32%. The calibrated inter-seed contact parameters were further coupled into the EDEM–Fluent gas–solid two-phase flow model. Simulations and bench verification tests were carried out under nine treatment combinations, corresponding to three fan speeds (20, 25, and 30 m·s⁻¹) and three total transport efficiencies (12.5, 17.5, and 22.5 g·s⁻¹), with the consistency coefficient of seed distribution in each row being the main evaluation variable. The results showed that the deviation in the consistency coefficient of seed distribution between the simulation and experimental measurements ranged from 1.24% to 3.94%. This indicates that the calibrated discrete element model for mixed seeds and the EDEM–Fluent coupled simulation can effectively reproduce the air-assisted seed delivery process under the conditions of Vicia villosa and Avena sativa mixed sowing, providing reliable parameters and methodological support for the structural design of seeders and DEM-CFD coupled simulations in legume–grass mixed sowing systems. Full article

This work examines the robotic technique of ungrasping, in which an object held by a gripper is intentionally released into the environment. The proposed method achieves controlled object release through non-static contact interactions that permit rolling and sliding. This form of dexterous manipulation is especially important for thin or slender objects, as demonstrated through physical experiments. This study first addresses how three-dimensional stability can be established using a minimal number of contacts. It then introduces a planning framework for three-dimensional ungrasping that extends our prior planar formulation. Experimental results obtained with a two-fingered gripper—the most common gripper type—validate the feasibility, effectiveness, and practicality of the presented approach. Full article

Oils with low-friction performance are essential to meet the evolving requirements of the modern industry. Except for the viscosity, there is still a lack of a high-pressure rheological parameter that can quantitatively compare the friction performance of base oils. This study investigated the frictional behavior of six types of base oils with identical viscosity at 40 °C—paraffinic mineral oil 500N, naphthenic mineral oil, polyalphaolefin (PAO), oil-soluble polyether, ester oil, and alkyl naphthalene. Stribeck and traction curves were measured. The limiting shear stress (LSS) has been proposed and modeled for the quantitative comparison of the friction behavior of the base oils at high pressures (1.2–1.7 GPa). Results indicate that the PAO exhibits the lowest friction coefficient. Additionally, the LSS of all tested oils has a linear relation with the average contact pressure (R² > 99%), suggesting that the LSS at different mean contact pressures can be predicted using a linear LSS-pressure fitting model. This work contributes to providing fluid rheological models for the quantitative EHL friction prediction and provides guidance for choosing low-friction base oils for EHL-lubricated rolling/sliding contacts. Full article

Biomimetic knee exoskeletons often struggle to balance accurate replication of joint biomechanics with efficient torque transmission. This study presents a knee exoskeleton featuring a single-stage planetary gear set with three coupled interface gears to reproduce the coupled rolling–sliding motion of the human knee. By mapping rolling and sliding displacements into distinct gear-driven motions, the design achieves a near-linear relationship approximating the physiological J-shaped instantaneous center of rotation (ICR). Gear parameters were optimized under biomechanical and engineering constraints, producing a compact, manufacturable configuration with ICR deviation ≤ 5 mm (sliding distance). Performance experience demonstrates that the optimized joint reduced sliding misalignment of the contact point by 73.4%, delivered peak output torque in agreement with predictions, and maintained an average efficiency of 95.4% across operating speeds. These findings confirm that the proposed mechanism enhances kinematic fidelity and actuation performance, offering a promising solution for next-generation rehabilitation exoskeletons. Full article

When exposed to high contact pressure and shear conditions, the sliding and/or rolling contact interfaces of moving mechanical systems can experience significant friction and wear losses, thereby impairing their efficiency, reliability, and environmental sustainability. Traditionally, these losses have been minimized using high-performance solid and liquid lubricants or surface engineering techniques like physical and chemical vapor deposition. However, increasingly harsh operating conditions of more advanced mechanical systems (including wind turbines, space mechanisms, electric vehicle drivetrains, etc.) render such traditional methods less effective or impractical over the long term. Looking ahead, an emerging and complementary solution could be tribocatalysis, a process that spontaneously triggers the formation of nanocarbon-based tribofilms in situ and on demand at lubricated interfaces, significantly reducing friction and wear even without the use of high-performance additives. These films often comprise a wide range of amorphous or disordered carbons, crystalline graphite, graphene, nano-onions, nanotubes, and other carbon nanostructures known for their outstanding friction and wear properties under the most demanding tribological conditions. This review highlights recent advances in understanding the underlying mechanisms involved in forming these carbon-based tribofilms, along with their potential applications in real-world mechanical systems. These examples underscore the scientific significance and industrial potential of tribocatalysis in further enhancing the efficiency, reliability, and environmental sustainability of future mechanical systems. Full article

This paper deals with static stability in planar grasps of an object by multiple fingers. Differently from previous research, we focus on the case that each finger has redundant links and joints. Based on contact constraints between the object and fingers, the relationships among displacements of object’s pose, contact positions, and joint positions are formulated. Using the constraints, the redundant joints are reduced to independent parameters. The relationship between the displacement and reaction torque of each joint is modeled as a linear spring, and potential energy of the grasp is formulated. Not only for frictionless sliding contact but also for pure rolling contact, we derive stable conditions on the contact positions and joint positions. Based on the conditions, partially differentiating the potential energy, a wrench (force and moment) vector and a stiffness matrix applied to the object by each finger are derived. Summing up the wrenches and matrices of all the fingers, we obtain a wrench vector and a stiffness matrix of the grasp, and we evaluate the grasp stability. Because of our analytical formulation, grasp parameters such as local curvatures at contact points, joint stiffnesses, etc., are explicitly included in the derived matrices. Partially differentiating the wrenches and matrices by the grasp parameters, we clarify effects of the parameters on the stability. Moreover, the difference between the frictionless sliding contact and pure rolling contact is derived in the wrench vector and the stiffness matrix. Using numerical examples, we validate our analysis. Full article

Enhanced lubrication is critical for improving gear wear resistance. Current research on surface textures has overlooked the fundamental role of structural connectivity. Inspired by biological scales, a biomimetic hexagonal texture (BHT) was innovatively designed for tooth flanks, featuring dual-orientation grooves (perpendicular and inclined to the rolling-sliding direction) with bidirectional interconnectivity. This design synergistically combines hydrodynamic effects and directional lubrication to achieve tribological breakthroughs. A lubrication model for line contact conditions was established. Subsequently, the texture parameters were then optimized using response surface methodology and numerical simulations. FZG gear tests demonstrated the superior performance of the optimized BHT, which achieved a substantial 82.83% reduction in the average wear area ratio and a 25.35% decrease in tooth profile deviation variation. This indicated that the biomimetic texture can effectively mitigate tooth surface wear, thereby extending the service life of gears. Furthermore, it significantly improves thermal management by enhancing convective heat transfer and lubricant distribution, as evidenced by a 7–11 °C rise in bulk lubricant temperature. This work elucidates the dual-mechanism coupling effect of bio-inspired textures in tribological enhancement, thus establishing a new paradigm for gear surface engineering. Full article

Lubrication failure has become a predominant failure mode in aviation roller bearings. Timely identification of lubrication degradation is critical for preventing premature bearing failure. This paper presents a fuzzy identification method of lubrication degradation stages by fusing multiple indicators. Firstly, four monitoring indicators, including the oil film thickness (OFT), wear surface roughness (WSR), contact resonance frequency (CRF), and amplitude of CRF (CRFA), are extracted through numerical simulations to characterize the lubrication degradation process. Then, a fuzzy evaluation method is proposed to identify the lubrication degradation stages by integrating these indicators. The results indicate that these four indicators can identify three typical stages of the lubrication degradation process—good lubrication, normal wear, and severe wear, with an accuracy rate exceeding 92%. Finally, lubrication degradation experiments are carried out on a sliding-rolling test rig to verify the method’s effectiveness. This work provides superior interpretability of the multifactorial coupled lubrication degradation process analysis. Full article

The traction behavior in cryogenic solid-lubricated ball bearings (CSLBBs) used in liquid rocket engines (LREs) affects not only the dynamic response of the bearing but also the lubricity and wear characteristics of the solid lubrication coating. The traction coefficient between the ball and raceway depends on factors such as contact material, relative sliding velocity, and contact pressure. However, existing traction curve models for CSLBBs typically consider only one or two of these factors, limiting the accuracy and applicability of theoretical predictions. In this study, a novel traction model for CSLBBs is proposed, which incorporates the combined effects of contact material, relative sliding velocity, and contact pressure. Based on this model, a tribo-dynamic framework is developed to investigate the tribological and dynamic behavior of CSLBBs. The model is validated through both theoretical analysis and experimental data. Results show that the inclusion of solid lubricant effects significantly alters the relative sliding and frictional forces between the rolling elements and the raceway. These changes in turn influence the impact dynamics between the rolling elements and the cage, leading to notable variations in the bearing’s vibrational response. The findings may offer valuable insights for the wear resistance and vibration reduction design of CSLBBs. Full article

Many low-temperature applications, such as rocket engines and liquefied natural gas (LNG) transport pumps, necessitate ultra-low-temperature operational environments. In these conditions, the properties of lubricating oils and greases are significantly influenced by temperature, leading to the widespread adoption of solid lubrication. Currently, there is no international research regarding the influence of bearing coatings on the subsurface stress distribution in raceways. The Lundberg–Palmgren (L-P) theory states that subsurface stress variations govern bearing lifespan. Therefore, this paper utilizes existing formulas and Python programming to calculate the subsurface stress field of the inner raceway in a MoS₂ solid-lubricated angular contact ball bearing. Furthermore, it analyzes the impacts of factors such as coating material properties, slide-to-roll ratio, traction coefficient, and load on its subsurface stress field. The results reveal that for solid-lubricated ball bearings, as the load increases, the maximum subsurface stress shifts closer to the center of the contact area, and the maximum subsurface shear stress becomes more concentrated. As the traction coefficient increases, the stress on the XZ-plane side increases and its position moves closer to the surface, while the opposite trend is observed on the other side. Additionally, the maximum value of the subsurface von Mises stress is approximately 0.64P₀, and the maximum value of the orthogonal shear stress component τ_yz in the subsurface is approximately 0.25P₀. Full article

Considering the greater contact stress of turnout rails during wear and the development of heavy-haul railways, twin-disc sliding–rolling wear tests were performed on U75VH heat-treated rail steels applied for turnouts under high contact stress ranging from 1980 MPa to 2270 MPa. The microstructure of the worn surfaces was analyzed using optical microscope (OM), scanning electron microscope (SEM), 3D microscope, electron backscatter diffraction (EBSD), and hardness tests. The results indicated that after 10 h of wear, the weight loss was 63 mg at a contact stress of 1980 MPa, while it reached 95 mg at a contact stress of 2270 MPa. At a given contact stress, the wear rate increased with increasing wear time, while a nearly linear increase in wear rate was observed with increasing contact stress. As wear time and contact stress increased, the worn surface showed more pronounced wear morphology, leading to greater surface roughness. Crack length significantly increased with wear time, and higher contact stress facilitated crack propagation, resulting in longer, deeper cracks. After 10 h of wear under a contact stress of 2270 MPa, large-scale cracks with a maximum length of 128.29 μm and a maximum depth of 31.10 μm were formed, indicating severe fatigue wear. Additionally, the thickness of the plastic deformation layer increased with the wear time and contact stress. The surface hardness was dependent on the thickness of this layer. After 10 h of wear under the minimum and maximum contact stresses, hardening rates of 0.39 and 0.48 were achieved, respectively. Full article

An excessive temperature rise in vehicle tires during driving can degrade dynamic performance, safety, and fuel efficiency by increasing rolling resistance and softening materials. To mitigate these issues, it is essential to enhance the cooling performance of tires without inducing significant aerodynamic penalties. In this study, we propose the use of sidewall-mounted cooling fins and investigate their aero-thermal effects under both ground-contact and no-ground-contact conditions. Seven fin configurations were tested, with installation angles ranging from −67.5° to 67.5°, with positive angles indicating an orientation opposite to the direction of wheel rotation and negative angles indicating alignment with the direction of rotation. High-fidelity unsteady Reynolds-averaged Navier–Stokes simulations were conducted using the SST k-w turbulence model. The sliding mesh technique was employed to capture the transient flow behavior induced by tire rotation. The results showed that, under no-ground-contact conditions, the 45° configuration achieved a 16.8% increase in convective heat transfer with an increase in drag less than 3%. Under ground-contact conditions, the 22.5° configuration increased heat transfer by over 13% with a minimal aerodynamic penalty (~1.7%). These findings provide valuable guidance for designing passive cooling solutions that improve tire heat dissipation performance without compromising aerodynamic efficiency. Full article

Symmetrical bearing raceway led to the axial sliding of rolling elements, which is a crucial factor in shortening the operational lifespan. This study addresses this limitation through three-step advancements: first, a parametric equation for logarithmic spiral raceways is developed by analyzing their asymmetric geometric features; second, based on the geometrical model, we systematically investigate the parameters of the logarithmic spiral that affects the bearing performance metrics; and finally, a novel fatigue life prediction framework that integrates static mechanical analysis with raceway parameters establishes the theoretical foundation for optimizing the raceway parameters. The results of the model analysis show that the error of the maximum contact stress verified by the finite element method is less than 8.3%, which verifies the model’s accuracy. Increasing the contact angle α of the outer ring from 82 to 85 can increase fatigue life by 15.6 times while increasing the initial polar radius O of the inner ring from 7.8 mm to 8.1 mm will cause fatigue life to drop by 86.9%. The orthogonal experiment shows that the contact angle α of the outer ring has the most significant influence on the service life, and the optimal parameter combination (clearance δ of 0.02 mm, inner race and outer race strike angles α of 85°, an inner race initial polar radius $r_o$ of 7.8 mm, and an outer race initial polar radius $r_o$ of 7.9 mm) achieves a 60.7% fatigue life increase. The findings provide theoretical support and parameter guidance for the optimal bearing design with logarithmic spiral raceways. Full article