Table of Content

10 May 2015, Volume 26 Issue 9

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An Image Matching Algorithm for Mobile Robot Localization Based on Hybrid Features

Chen Weidong, Zhang Xingjia, Zhu Qiguang, Chen Ying

2015, 26(9):  1137-1141. 

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For the problems of slow image processing speed, poor real-time performance and accuracy of feature points extraction and matching in robot localization process, an improved SIFT hierarchical image matching algorithm was proposed based on color moment. Extreme point's detective range was extended, and the gradient directions and magnitude of feature points were calculated by using Sobel operator to improve SIFT performance; besides, the vector angle was taken as a criterion to measure SIFT features' similarity, thus the accuracy and speed of feature points extraction and matching were improved. In image matching process, image sequence was sorted by color moment, then the improved SIFT features were matched with these sorted images precisely.Experimental results show that the proposed algorithm is a real-time and robust method to mobile localization problem: compared with SIFT, the false matching rate of the proposed algorithm is lowered by 9.2%, and the number of feature points are reduced by 20%; hierarchical match improves the speed and accuracy of image matching, for the computation amount of SIFT features is reduced by 60% and the total time consume is reduced by 40%. 

Development of  Transient  Surface Temperature Sensor on Internal  Combustion  Piston

Cui Yunxian, Zhao Jiahui, Liu You, Ding Wanyu, Sheng Xiaoxing, Gong Ke

2015, 26(9):  1142-1147. 

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According to the internal combustion engine piston surface temperature rapidly changing situations,this paper developed a transient temperature sensor for measuring the piston  surface temperature. By using a DC pulse magnetron sputtering method sputtering deposited NiCr film directly on end face of ceramic element which was sintered in the high-temperature and embedded with NiCr, NiSi wire, sputtering Si3N4 protective film on the sensor's outside of NiCr film.The sensors' outer wall used  threaded 304 stainless steel as armored sleeve. To calibrate the designed transient temperature sensor by using self-developed thin-film thermocouple static and dynamic calibration system, the results show: that the developed sensor has good linearity and thermal stability in the range of 50~400℃. Its Seebeck coefficient is between 39μV/K to 41μV/K, the nonlinear error is less than 0.34%, good repeatability. The thickness of hot junction thin film is as 355nm, the sensor's response time is as 41.7μs, and the response time increases with the film thickness increases. The transient temperature sensor can meet the crankshaft speed to 1800r/min of an internal combustion engine piston surface transient temperature testing requirements.

Positioning Error Modeling and Compensation for CNC Gantry Guideway Grinder Based on MLS

Yang Changxiang, Wang Lijian, He Chuan, Fan Kaiguo, Yang Jianguo

2015, 26(9):  1147-1151. 

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In order to improve the accuracy of gantry guideway grinder, the positioning error model of the gantry guideway grinder was established using MLS method. The MLS method was a meshless method for curve fitting. The error curve fitted by the MLS has many advantages of high precision and good smoothness. The modeling accuracy of the MLS is much higher than that of least squares. In order to realize the real-time compensation for CNC gantry guideway grinder, the external coordinate offset method was used to compensate the geometric errors of the guideway grinder herein. Experimental results show that the accuracy of the gantry guideway grinder is improved by 89.3% compared to without compensation. The accuracy of the gantry guideway grinder is improved greatly.

Influences of Anodic Oxidation Coating on Thermal Loads of Piston

Wang Yi, Yang Jing, Zhang Yunfei, Liu Kaimin, Deng Banglin, Feng Renhua

2015, 26(9):  1152-1157. 

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In order to investigate heat loads of an engine piston made of aluminum after anodic oxidation, both of temperature field and thermal stress of original piston and anodic oxidation piston were researched combined simulation with experiments. It shows that, under peak load conditions, compared with the original piston the highest temperature of anodic oxidation piston is reduced by 7.1%, the maximum thermal stress is reduced by 24.5%, the situations of other points of piston are of the same trends. As a result, heat loads of the piston are decreased after anodic oxidation and it is benefit for the reliability and working life of piston.

Implementation of Force Feedback in  Master-slave  Robot  Systems

Sheng Guodong, Cao Qixin, Pan Tiewen, Leng Chuntao, Gu Kai

2015, 26(9):  1157-1160,1166. 

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A set of master-slave robot systems were designed for medical use or equipment maintenance, and its implementation of force  feedback was studied. In order to obtain good force telepresence, a six-dimensional force sensor was used to get the forces from the slave site. And the force informations obtained were filtered to improve the noise immunity. Off-line coordinate system  calibration and gravity compensation were done to improve the accuracy of the signals. In addition, to further reduce the negative impacts brought by the position errors of the master and slave sites, a force which is opposite with the position error was appended. Experimental results show that this method can meet the force telepresence requirements for the master-slave robot systems.

Effects of Joint Part on HSK Spindle System Dynamic Performance

Chen Jian, Tian Liang, Shang Hongmo, Shen Chungen, Wang Guicheng,

2015, 26(9):  1161-1166. 

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According to the working principles of HSK spindle system, a FEM (finite element method) dynamic model of HSK spindle system was built in ANSYS software, the joint parts were simplified as spring element and the parts were simplified as multi-parts beam. The dynamic performance of HSK spindle system was analyzed with Timoshenko beam theory and FEM, and the modal experiments were made in HSK tooling system. The Timoshenko theory for analyzing dynamic performance of HSK spindle system was proved to be feasible, compared with modal results. At last, the joint parts affecting HSK spindle system tool point frequency response were studied, some anti-vibration solutions were proposed.

Study on HSWEDM Possessing Function of Guiding Wire and Following-up Spray during Large Taper Cutting

Li Lingling, Liu Zhidong, Yue Weidong

2015, 26(9):  1167-1172. 

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Because many factors especially the structure error influences caused by wire electrode using wheel positioning, and dielectric fluid cannot grip the wire electrode very well so that could not flow into the machining area with wire electrode along the direction of dip when big taper parts in cutting, the machining accuracy and surface roughness of the taper parts were worse than parts with stretched cutting. Multi cutting of taper parts especially big taper parts was much more difficult. The basic reason was that it had no follow-up guide and spray mechanism which could keep the wire electrode space position and stability. In view of the above mentioned problems, the paper presented the design of a six connecting rod big taper follow-up guide and spray mechanism that could guide wire along with wire electrode's inclination and realize tracking spray at the same time. On the basis of new mechanism, experimental results show that taper machining errors decrease from 80μm to 40μm. Surface roughness Ra decreases from 4.059μm to 3.495μm. After multi cutting, taper machining (taper ±20°, thickness 40mm) errors are  decreased to 25μm. Surface roughness Ra is decreased to 1.670μm.

Surface Error Analysis of Large Reflecting Mirror under Assembly Fastening Forces

Li Guihua, Wang Hui, Xiong Zhao, Gao Liang, Cao Tingfen,

2015, 26(9):  1173-1178. 

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In China's high power solid laser facility, precision mounting of 400mm class large reflecting mirror is very important for the final targeting accuracy of laser beams. Considering that the reflecting mirror was mounted with screws array, the mathematical relationship among nominal fastening forces and the reflector surface deformation was studied with FEM method and wavefront polynomial methodologies. Furthermore, taking some real world factors such as, manfuactring errors, material properties and manual operations-into account, there was a random distribution within a wide range for real fastening forces even under same tightening torque. So a Monte-Carlo simulation method was proposed to predicate the impact of the uncertain fastening forces on the reflector's surface deformation. Additionally, the force limitation was also obtained to control the surface deformation, which can be used to guide practical reflector precsion assembly.

Internal ELID Grinding Based on Active Control of Wheel Radial Chatter

Li Qinfeng, Ren Chengzu, Zhang Bin, Li Decheng, Chen Xiaofeng

2015, 26(9):  1179-1183. 

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The stiffness of oxide layer formed on wheel surface was much lower than that of workpiece and wheel bond in ELID grinding, so that the oxide layer can absorb and damp the wheel radial chatter. In order to avoid negative effects of the chatter on grinding efficiency and quality, the ELID was applied in centerless internal grinding. The wheel radial chatter was controlled by adjusting electrical parameters, and the law of this control was studied by experiments. Based on the above analyses, a series of fuzzy controllers were designed to stabilize the chatter within a certain range in ELID internal ceterless grinding. The grinding performance was studied under the active control experiments used different chatter set-points. The results show that, comparison with the ELID grinding without control, good surface quality and low material removal rate can be obtained with smaller chatter set-point; poor surface quality and high material removal rate can be obtained with larger chatter set-point.

Experiment and Numerical Simulation on Leakage Characteristics of Aircraft Duct

Wang Hexu, Jiang Yanlong , Shi Hong, Han Jianjun

2015, 26(9):  1183-1188. 

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Based on the study of the duct overheat detector of commercial and domestic aircraft in existing combined with the three-dimension flow field simulation of the leakage by FLUENT, the overheat detection experimental platform was built, the influences of the deflector size, thickness of the insulation and the leakage position on the detection performance were investigated by experiments. By analyzing the test results and FLUENT results, it is found that, the increasing of the deflector size and the insulation thickness will both increase the ability to capture leaking signals; the leakage position will affect the detection  performance too, at the same time, the computing method of flow rate of eyelet leak is deriveed. The conclusion can provide technical reference for the related work upon ducts of domestic aircraft.

Compensation Control of Constant Speed Output in Hydraulic Wind Turbine

Ai Chao, Yan Guishan, Kong Xiangdong, Chen Lijuan

2015, 26(9):  1189-1193. 

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Taking a hydraulic wind turbine as the research object, the mathematical models for fixed displacement pump-variable displacement motor of hydraulic system were established for the constant speed output problem in hydraulic wind turbine. The compensation control mathematical models caused by system leakage, transient adjusting of system pressure and errors of model parameters were derived for the constant speed output. A compensation control method for constant speed output in hydraulic wind turbine was given based on mathematical models. Using 30kV·A hydraulic wind turbine simulation platform as the simulation and experimental platform, the proposed control method was researched. Simulation analysis and experimental results show that the compensation control method for constant speed output in hydraulic wind turbine has good control effect, achieving the high-precision control for constant speed output.

Design Methods of Comprehesive Optimization of Wind Turbine Airfoils

Chen Yaqiong, Fang Yuefa, Guo Sheng, Wen Rufeng

2015, 26(9):  1194-1200. 

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The wind turbine airfoil aerodynamic and noise performace were considered as optimization design target at the same time, then a design method was established for multi operating points and targets. Parametric model of airfoil contour was constructed by using Bezier curves, and the general equtions for control points coordinate were deduced according to airfoil discrete data points. Based on semi empirical airfoil noise prediction model the dynamic performance of airfoil was calculated by using XFOIL, then the optimized airfoil was obtained by combining the genetic algorithm. Taking USA NREL wind turbine airfoil S834 as intital airfoil, weight assignment scheme was designed comprehensively. The results show that comparing to initial airfoil the noise of optimized one is reduced and the lift drag ratios are increased under the main angle range, therefore better aerodynamics and acustic performance are abtained for new airfoil.

A New Method of Evaluating  Measurement System Capability for Two-dimensional Data with Circular Design Tolerances

Wu Xiaofang, He Zhen, Shi Liangxing

2015, 26(9):  1200-1204. 

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In  some measurement processes the measured data by a gauge are two-dimensional  and the design tolerance is a circular. When there is some correlation between two measured quality characteristics, the common evaluation indices for univariate measurement system capability cannot be applied directly to analyze and evaluate the two-dimensional measurement system capability with circular tolerance. A method of constructing evaluation indices based on ratios of areas was proposed herein. The measurement system capability evaluation indices were built through the area ratio of ellipse of gauge errors and circular of design tolerance, the ellipse area ratio of gauge error and measured values. Then the common evaluation indices for univariate measurement system capability could be extended to the two-dimensional measurement system. MANOVA was used to estimate the indices to assess the two-dimensional measurement system capability. At last the proposed method was proved by an example.

Cavitation Phenomena on Crushing Effect of Tire under Ultra-high Pressure Water Jet

Song Shouxu, Zha Hui, Tian Guangtao, Yu Deqiao

2015, 26(9):  1205-1209,1214. 

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In order to study the failure mechanism of shock waves and micro jets in the fragmentation process of tire under ultra-high  pressure water jet impact, volume of fluid(VOF) model were used to solve the Navier-Stokes equation to simulate the bubble collapse process using FLUENT software. The results show that pressure pulses generated by bubble collapse is greater than the surge pressure caused by micro jets when the jet hits the tread rubber surface. Combined with the crushing tests of tire under ultra-high pressure water jet,grooving sections of tread rubber were observed using scanning electron microscope(SEM) to study the damage mechanism of the micro jets and shock waves.It is observed that rubber materials show obvious impact embrittlement phenomenon under the cavitation damage. Neat pinhole morphologies on the material surfaces are formed by the micro jets and tensile damage of the rubber material is caused by the shock waves.

Effects of Wall Roughness on Pressure-driven Liquid Flow in Microchannels

Tan Dekun, Liu Ying

2015, 26(9):  1210-1214. 

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Surface roughness may have significant impacts on microchannel flow performances. The rough surfaces were modeled herein  by rectangular, dome-shamed and triangular roughness elements, respectively. The influences of Reynolds number, roughness height and roughness element spacing on velocity distributions, pressure drop and flow resistance were discussed in detail. Results show that the liquid flow near the channel wall is obviously changed by surface roughness, thereby causes flow velociy, pressure drop and Poiseuille number are larger than the classical value. The Poiseuille number increases with the increase of  roughness height and Reynolds number, while decreases gradually when roughness element spacing increases. The  roughness geometry also places significant effects on the flow characteristics, in three types of  roughness elements, the impact of rectangular roughness elements on microchannel flow is the greatest, then the dome-shaped roughness elements, however,the influence of the triangular roughness elements is the weakest. This means that it is very important to choose an appropriate shape of roughness element for modeling the roughness microchannel in practical applications.

Inverse Determination of Material Parameters Based on Decoupled GMDH Algorithm

Yin Weiyang, Wang Hu, Feng Hui, Tang Long

2015, 26(9):  1215-1221. 

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Since materials with strain rate effect showed different performances in crash simulation compared with they were under static conditions, accurate constitutive model parameters were the premise of reliable simulation results. The determination for the coupling relationship among  the input variables  was ignored during the construction program in traditional metamodel method, there would be coupled terms which were not necessary, on the contrary the proportion of the error term could be increased  and efficiency and generalization ability of the metamodel were reduced. To  eal  with this problem, a decoupled GMDH  algorithm was proposed: there would be a judgment process for the coupling relationship of all the input variables before the construction process, and the results are taken to determine whether choose the coupled term. In the test program of high dimension functions,the algorithm could provide accurate metamodel. Based on the trolley test, the method was implemented into match of the material parameters for two kinds advanced high-strength steel,and the results show that this algorithm owns  good modeling performance.

Simulation and Optimization of Hydraulic System Performance Based on Virtual Fault Injection

Guo Jiaojiao, Liu Wei, Yu Zhipu, Zhai Weihao

2015, 26(9):  1221-1226. 

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Aiming at diverse representation of hydraulic system fault, that resulted in the appearance of difficult issues underlying fault traceable. Taking internal and external leakage of hydraulic cylinder as a typical fault example, the construction method of the underlying virtual fault information was studied and the virtual fault information was injected into the piston rod linear positioning system integrated simulation model, the effects and differences of the system response characteristics were obtained based on the virtual fault. Sensitivity analyses on a number of operating parameters of the system by means of orthogonal experimental design method (DOE), the key parameters that affected system performance were obtained. Furthermore, the key parameters of the system were optimized by constructing an optimal algorithm based on integrated time absolute error criterion (ITAE) and the results show that the optimized system response leads to decrease in the sensitivity faults. The method provides a reference to fault sources identification and anti-failure design of complex hydraulic systems.

Online Modeling Method with Integrated Mechanism and Data for Whole Complex Forging Process

Lü Wenbing, Lu Xinjiang, Huang Minghui, Lei Jie, Zou Wei

2015, 26(9):  1227-1232. 

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Forming of large aviation forging with high dimensional accuracy and high quality was dependent on highly precise model. However, it was hard to obtain precise model with complex forging shape, complex microstructure of forging material, strongly nonlinear and time-varying forging force, and so on. The physical and analytical model was combined with online compensating data model to build a new model. This data model was based on online extreme learning machine (OSELM), with the purpose of reducing modeling errors of analytical model caused by leakage, uncertainty, disturbance, and so on. And new model became less dependent on full data as well. This new model firstly took advantages of the analytical model built with kinetic equation and physical modeling method, and then used the OSELM model to build the deviation model. The forging process model could evolve over time, to satisfy the demands of highly nonlinear and time varying forging process. The simulation results show that, new model can predict the dynamic behavior of forging process well, and has a better prediction precision compared to the solo model which exists as part of the new model.

Significance Analysis of Effect of Process Parameters on Wall Thinning for 21-6-9 High Strength Stainless Steel Tube NC Bending

Fang Jun, Lu Shiqiang, Wang Kelu, Yao Zhengjun

2015, 26(9):  1233-1238,1277. 

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To realize the precise NC bending and improve the forming quality and forming limit of 21-6-9 HSSST, which needed to control wall thinning effectively. A 3D elastic-plastic finite element model of NC bending process of the 21-6-9 HSSST was established based on the platform of ABAQUS/Explicit, and its reliability was validated. The influence significances and laws of process parameters on wall thinning of the 21-6-9 HSSST NC bending were studied by finite element simulation and orthogonal tests. The results show that the significant factors from high to low are the mandrel protrusion length, the clearance between tube and mandrel, the friction between tube and wiper die, the friction between tube and mandrel, the friction between tube and pressure die and the bending speed. Wall thinning becomes large with increasing of the mandrel protrusion length, the friction between tube and wiper die, the friction between tube and mandrel, the friction between tube and pressure die and the bending speed. While the wall thinning decreases with increasing of the clearance between tube and mandrel. Moreover, the prediction model between the maximum wall thinning degree and significant process parameters were established by multi-linear regression method. Compared with orthogonal test results, the relative error is less than 5%.

Optimization of Tandem Cold Rolling Schedule Based on Improved Multi-objective Particle Swarm Optimization Algorithm

Wei Lixin, Wang Liping, Ma Mingming, Che Haijun, Yang Jingming

2015, 26(9):  1239-1242,1259. 

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Reasonable rolling schedule could improve the quality of the mill's production and products thus bring significant economic benefits. The multi-objective particle swarm algorithm was adopted to optimize the objective functions of equal relative load and the slip rate. According to the problems that convergence and distribution were difficult to balance, based on parallel cell coordinate system a novel method was proposed to assess the evolutionary environment including density and potential of convergence. Meanwhile, to enhance the ability of escaping from local optima, a disturbance vector strategy was proposed for selecting global best. Simulation results show the improved strategy can be able to prevent falling into local extremum point, and improve the convergence and distribution of approximate Pareto front. The method was applied to a five-stand tandem cold mill rolling schedule optimization.

Road Wheel Angle Distribution Algorithm for Road Vehicles with AIFS Based on Control Allocation

Yuan Xiwen, Wen Guilin, Zhou Bing

2015, 26(9):  1243-1250. 

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A new road wheel angle distribution algorithm of the AIFS system proposed in recent years was presented based on control allocation, in terms of the fact that the rule-based allocation algorithm might cause lower adaptivity and an optimal result was obtained difficultly. The shortcomings of active front steering (AFS) system were indicated firstly, and the structure and principles of the AIFS system were introduced. Furthermore, a sliding mode controller of AIFS was developed to obtain the desired yaw moment and an optimization-based allocator was employed to determine the optimal split between the outer road wheel angle and inner road wheel angle. Finally, the control strategy was evaluated by simulating vehicle responses to the J-turn steering input. Simulation results obtained using a 4-DOF vehicle model performed in MATLAB/Simulink environment demonstrate that the AIFS can automatically adjust the size of wheel angles according to the tire load transfer, and achieve better performances than that of AFS in tracking the ideal yaw rate and the ideal trajectory so that the tires with heavier load make more contributions, thus the vehicle has an excellent lateral stability.

Analysis of Vehicle Handling and Stability of Four Wheel Steering

Liu Gang, Chen Sizhong, Zheng Kaifeng, Wang Wenzhu

2015, 26(9):  1250-1254. 

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Based on the 2DOF linear bicycle model, the handling and stability of 4WS vehicle was studied herein.The rear wheel control algorithm was discussed in time domain and frequency domain in order to improve the maneuverability at low speed and stability at high speed. By using the lateral acceleration as 0.4g to define the effective working area for 4WS, the range for rear steering angle was derived. The steady-state and transient-state of two typical control algorithms were compared and analyzed. The control algorithm does not affect the steady-state characteristics of the vehicle, but can improve the transient response. This provides the theoretical basis for the development of the 4WS system.

Research  on  Vertical  Step  Passability of Wheeled Vehicle

Huang Chaosheng

2015, 26(9):  1255-1259. 

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To predict  vertical  step  passability  of  wheeled vehicle and  get driveline torque,this  paper presented  a unified obstacle crossing model.The  model could simulate  climbing  process of any given axle of a vehicle with any axles.Factors such as adhesion coefficient difference between climbing wheel and rolling wheel,suspension bound and rebound limits,wheel liftoff were  considered.Passability criteria of simulation results was discussed.The model was  validated through tests.Influence of suspension bound limits on driveline torque was analyzed.

Review of Ultrasonic Assisted Selective Electrodeposition

Lan Long, Tan Jun, Du Jun, Wang Meng

2015, 26(9):  1260-1270. 

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Selective electrodeposition could be used to prepare functional coating on the local surface of mechanical parts and to recover the size of their local damages. This technique possessed the characteristics of high deposition current density and deposition speed, and the problems of high residual stress, easy to crack and uniform quality in the deposition coating. If ultrasound was introduced in the elective electrodeposition, the coating residual stress will be reduced, the coating hardness and corrosion resistance will be improved, so that ultrasonic assisted selective electrodeposition could be used for preparation of high-performance coatings on local areas of mechanical parts and rapid prototyping of small precision parts.The application mode of ultrasonic in selective electrodeposition technology such as immersion ultrasonic assisted selective electrodeposition, ultrasonic assisted jet electrodeposition, and jet electrodeposition with substrate ultrasonic frequency vibrated were listed herein. The effects of ultrasound on the coating surface morphology, phase structure, hardness, wear resistance, corrosion resistance, etc. were introduced.The mechanism of ultrasound affected selective electrodeposition such as ultrasonic cavitation, thermal effects and mechanical effects was discussed.And the problems and development direction of the ultrasonic assisted selective electrodeposition were pointed out.

Advances in Additive Shaping of Ceramic Parts

Zhang Haiou, Ying Weisheng, Fu Youheng, Wang Guilan

2015, 26(9):  1271-1277. 

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Ceramic material has all the time attracted widespread attention because of its high performance. But ceramic parts manufacturing was very complicated，hard and needed a lot of time and money by using the traditional forming process. Ceramic parts' scope of application was limited by these shortcomings. Additive shaping technology provided a new way to overcome the shortcomings of the traditional forming process. An introduction to the advantages and disadvantages of typical additive shaping technologies was given herein at the achieved levels of density, strength, shrinkage and the introduction to several new efficient additive shaping technologies which integrated shaping with sintering was the emphasis of this paper. In the future, this integrated shaping technology will be a key research direction of additive manufacturing ceramic parts.