Search results

This paper aims to propose an electromagnetic prismatic joint with variable stiffness. The joint can absorb the sudden shocks and improve the natural dynamics of robotics. The ability of regulating the output stiffness can also be used for force control in industrial applications.

Unlike some existing designs of variable stiffness joints (VSJs) in which the stiffness regulation is implemented using the stiffness adjustment motor and mechanisms, the main structure of the electromagnetic VSJ is a permanent magnet (PM) arranged inside coaxial cylinder coils. The adjustment of input current can cause the change of magnetic force between the PM and the cylinder coils, and thus leads to the variation of output stiffness.

According to the theoretical model, the output stiffness of the electromagnetic VSJ is linearly proportional to the input current. The experiments further indicate that the current-controlled stiffness can make the stiffness variation response of this VSJ more rapid for practical applications. Due to the large damping introduced by the copper-based self-lubrication bearings, the VSJ shows good properties in motion positioning and trajectory tracking.

In summary, the electromagnetic VSJ is compact in size and light in weight. It is possible to realize the online adaptability to work conditions with dynamic load by using this VSJ.

A new deviation propagation model considering the form defects in compliant assembly process is proposed. The purpose of this paper is to analyze the deviation propagation by using the basic deviation fields. In particular, each basic deviation field is defined with a generalized compliance matrix of part.

First, the form defects of parts may be decomposed into a linear combination of basic deviation fields, which are constructed by the eigen-decomposition of the structure stiffness of parts with ideal dimensions. Each basic deviation field is defined with a generalized compliance of part. Moreover, by analyzing the relationship between the basic deviation fields before and after assembling process, a new sensitive matrix is obtained in which each value expresses the correlation of a basic deviation field between the parts and the assembly.

This model may solve the deviation propagation problems of compliant assembly with considering form defects. Here, one case is used to illustrate the deviation propagation in the assembly process. The results indicate that the proposed method has higher accuracy than the method of influence coefficient when the entire deviation fields of parts are considered. Moreover, the numerical results with the proposed method basically agree with the experimental measurements.

Owing to the hypothesis of linear superposition of basic deviation fields, the research in this paper is limited to the parts with linear elastic deformation. However, the entire form defects of parts are considered rather than the deviations of the local feature points. It may be extended to analyze the three-dimensional deviations of complex thin-walled parts.

A deviation propagation model considering parts form defects is developed to achieve more accurate predictions of assembly deviation by using the basic deviation fields.

The structure stiffness is greatly affected by the fixture constraints during assembly due to the flexibility of large-scale thin-walled structures. The compliant deformation of structures is usually not consistent for the non-uniform stiffness in various clamping schemes. The purpose of this paper is to investigate the correlation between the assembly quality and the clamping schemes of structures with various initial deviations and geometrical parameters, which is based on the proposed irregular quadrilateral plate element via absolute nodal coordinate formulation (ANCF).

Two typical clamping schemes are specified for the large-scale thin-walled structures. Two typical deviation modes are defined in both free and clamping states in the corresponding clamping schemes. The new irregular quadrilateral plate element via ANCF is validated to analyze the compliant deformation of assembled structures. The quasi-static force equilibrium equations are extended considering the factors of clamping constraints and geometric deviations.

The initial deviations and geometrical parameters strongly affect the assembly deviations of structures in two clamping schemes. The variation tendencies of assembly deviations are demonstrated in details with the circumferential clamping position and axial clamping position in two clamping schemes, providing guidance to optimize the fixture configuration. The assembly quality of structures with deviations can be improved by configuration synthesis of the clamping schemes.

Typical over-constraint clamping schemes and deviation modes in clamping states are defined for large-scale thin-walled structures. The plate element via ANCF is extended to analyze the assembly deviations of thin-walled structures in various clamping schemes. Based on the proposed theoretical model, the effects of clamping schemes and initial deviations on the deformation and assembly deviation propagation of structures are investigated.

The purpose of this paper is to focus on optimal sensor placement for the fixture variation diagnosis of compliant sheet metal assembly process. Fixture variations are the main sources for complex automotive body dimensional failures. An effective measurement strategy can help exactly and timely diagnose these fixture variations. Research on sensor placement strategy of compliant sheet metal assembly process is not much stated formerly.

The impact principle of fixture variations is analyzed to set up the relationship between the assembly variation and fixture variations applying the method of influence coefficients and the effective independence (EI) method is used to find the optimal sensor positions based on the impact principle analysis of fixture variations.

The obtained fixture variation sensitivity matrix describes the influence of fixture variations to compliant sheet metal assembly variation and can be used for diagnosing fixture variations. The EI method can effectively solve the optimal sensor positions for compliant sheet metal assembly by a case demonstration.

The proposed method can solve the sensor placement of online assembly station for diagnosing fixture variations. It takes the compliant characteristics of sheet metal parts into account and the sensor information has much greater diagnosability than that from applying other methods.

Material variation is inevitable in volume production, especially the sheet metal thickness variation, which influences part stiffness characteristic. The purpose of this paper is to present a new variation model of compliant sheet metal assembly with consideration of material variation influence.

The theory of computational solid mechanics is used to obtain the relationship between part stiffness matrix and material characteristic. The method of influence coefficients is adopted to deduce the assembly variation model.

Material variation‐induced influence coefficients to assembly variation are obtained, and a variation model of compliant sheet metal assembly with sources of material variations, part geometric variations and fixture variations is presented. Analysis shows that material variation has an important influence to assembly variations.

A quantitative relationship between assembly variations and material thickness variations is firstly given and a new variation model of compliant sheet metal assembly is presented to help designers to more exactly predict the assembly variation and diagnose variation sources.

The purpose of this paper is to make objective descriptions on various money‐laundering techniques and to put forward countermeasures in order to combat money laundering more effectively and efficiently.

This paper based on 20 simplified money‐laundering cases, describes various money‐laundering techniques, analyses the reasons why these methods prevail, and points out the future efforts to be made in the fight against money laundering.

As usual, the ways of money laundering include cash smuggling, making use of banks or insurance company, or making use of shell‐company or front‐company. Nowadays, criminals also turn to real estate, lottery, international trade, offshore company to launder money. Sometimes lawyers, accountants are exploited by money launderers. With the wide use of electronic money and internet, criminals prefer to launder money through non‐face to face transactions. The fight against money laundering is the fight between justice and evil. It is of great importance to pierce the secret veil of money laundering so that we can combat money laundering more effectively and efficiently.

This paper prevents a comprehensive description of, and comments on, various money‐laundering techniques and future efforts to be made in the fight against money laundering, which would be beneficial to policy makers, enforcement authorities, and judicial professionals.

To review one of the earliest Chinese debates on socialism, highlighting the consequent changes in outlook by Sun Yat‐sen and Liang Qichao; and to demonstrate the influence of Western economic writers especially Richard T. Ely, Henry George, and German Bismarckian socialists.

Textual analysis of original Chinese‐language materials with extensive direct quotations (in translation).

Sun initially gave primary attention to land policy, using a (somewhat inconsistent) combination of George's “single tax” and a very different idea of land nationalization. As a result of the debate, however, Sun gave more attention to economic growth, capital formation, and import restriction. Liang initially favored Bismarckian socialism, but moved during the debate to increasing skepticism about a major economic role for government, recognizing the need for entrepreneurship and capital formation.

Existing literature fails to perceive the radical shifts in viewpoint which developed for both Sun and Liang. This is particularly important for Sun, whose later ideas had a major influence on Chinese economic policy after 1927.