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学者姓名：贾超
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Abstract ：
In view of the problems of the complex design, difficult machining, and high manufacturing cost of a traditional nutation reducer, this paper intends to design a nutation reducer and study its meshing performance. First, the meshing pair is designed by the method of internal and external cutting of the shaper cutter, and the method of face gear tooth surface modification is proposed. Second, based on tooth contact analysis (TCA) and loaded tooth contact analysis (LTCA), the contact performance of the meshing pair is studied. Then, the nutation reducer is improved by using the pair instead of the internal bevel gear pair. Finally, examples are presented to test the feasibility of the improved design. The results show that the improved nutation reducer maintains the advantages of a large transmission ratio and high bearing capacity of the traditional nutation reducer and can make use of the advantages of face gears to further improve its transmission performance. This study can lay a foundation for the further application and popularization of nutation reducers.
Keyword ：
face gear face gear meshing performance analysis meshing performance analysis nutation drive nutation drive reducer design reducer design tooth modification tooth modification
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| GB/T 7714 | Chen, Haoyu , Li, Qinghai , Jia, Chao . Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers [J]. | MATHEMATICS , 2025 , 13 (3) . |
| MLA | Chen, Haoyu 等. "Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers" . | MATHEMATICS 13 . 3 (2025) . |
| APA | Chen, Haoyu , Li, Qinghai , Jia, Chao . Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers . | MATHEMATICS , 2025 , 13 (3) . |
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Abstract ：
Miniature robots are increasingly used in unstructured environments and require higher mobility, robustness, and multifunctionality. However, existing purely soft and rigid designs suffer from inherent defects, such as low load capacity and compliance, respectively, restricting their functionality and performance. Here, we report new soft-rigid hybrid miniature robots applying the tensegrity principle, inspired by biological organisms' remarkable multifunctionality through tensegrity micro-structures. The miniature robot's speed of 25.07 body lengths per second is advanced among published miniature robots and tensegrity robots. The design versatility is demonstrated by constructing three bio-inspired robots using miniature tensegrity joints. Due to its internal load-transfer mechanisms, the robot has self-adaptability, deformability, and high impact resistance (withstand dynamic load 143,868 times the robot weight), enabling the robot to navigate diverse barriers, pipelines, and channels. The robot can vary its stiffness to greatly improve load capacity and motion performance. We further demonstrate the potential biomedical applications, such as drug delivery, impurity removal, and remote heating achieved by integrating metal into the robot.
Keyword ：
high-speed and adaptive locomotion high-speed and adaptive locomotion tunable stiffness tunable stiffness untethered miniature tensegrity robot untethered miniature tensegrity robot
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| GB/T 7714 | Chen, Bingxing , He, Zhiyu , Ye, Fang et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion [J]. | SOFT ROBOTICS , 2025 . |
| MLA | Chen, Bingxing et al. "Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion" . | SOFT ROBOTICS (2025) . |
| APA | Chen, Bingxing , He, Zhiyu , Ye, Fang , Yang, Yi , Chen, Wenhu , Ding, Fuhui et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion . | SOFT ROBOTICS , 2025 . |
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In order to improve the contact strength and reduce the sliding friction of the gear pair, an internal cylindrical gear pair with a curved meshing line is studied in this paper. Firstly, a curved meshing line is designed. The tooth profiles of the internal gear pair with the designed meshing line are calculated by using differential geometry and the gear meshing principle. Secondly, a wear model is established by combining the finite element method and the Archard wear formula. Then, a numerical simulation is conducted; the relative curvature, sliding coefficient, sliding distance, maximum contact pressure, transmission error, and wear depth are calculated. Ultimately, the variation law of tooth surface wear of new gear with and without installation errors is observed under different stress cycles. On this basis, the influence of tooth modification on tooth surface wear is further researched. Through the results, the advantages of the introduced novel internal cylindrical gears in wear resistance are further demonstrated. The study in this paper provides new research ideas and methods for gear wear research and gear design. © 2024 by the authors.
Keyword ：
curved meshing line curved meshing line internal cylindrical gears internal cylindrical gears numerical analysis numerical analysis tooth contact tooth contact wear characteristics wear characteristics
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| GB/T 7714 | Jia, C. , Zhang, G. , Li, G. . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line [J]. | Applied Sciences (Switzerland) , 2024 , 14 (13) . |
| MLA | Jia, C. et al. "Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line" . | Applied Sciences (Switzerland) 14 . 13 (2024) . |
| APA | Jia, C. , Zhang, G. , Li, G. . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line . | Applied Sciences (Switzerland) , 2024 , 14 (13) . |
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Abstract ：
In order to improve the contact strength and reduce the sliding friction of the gear pair, an internal cylindrical gear pair with a curved meshing line is studied in this paper. Firstly, a curved meshing line is designed. The tooth profiles of the internal gear pair with the designed meshing line are calculated by using differential geometry and the gear meshing principle. Secondly, a wear model is established by combining the finite element method and the Archard wear formula. Then, a numerical simulation is conducted; the relative curvature, sliding coefficient, sliding distance, maximum contact pressure, transmission error, and wear depth are calculated. Ultimately, the variation law of tooth surface wear of new gear with and without installation errors is observed under different stress cycles. On this basis, the influence of tooth modification on tooth surface wear is further researched. Through the results, the advantages of the introduced novel internal cylindrical gears in wear resistance are further demonstrated. The study in this paper provides new research ideas and methods for gear wear research and gear design.
Keyword ：
curved meshing line curved meshing line internal cylindrical gears internal cylindrical gears numerical analysis numerical analysis tooth contact tooth contact wear characteristics wear characteristics
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| GB/T 7714 | Jia, Chao , Zhang, Ge , Li, Guoju . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line [J]. | APPLIED SCIENCES-BASEL , 2024 , 14 (13) . |
| MLA | Jia, Chao et al. "Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line" . | APPLIED SCIENCES-BASEL 14 . 13 (2024) . |
| APA | Jia, Chao , Zhang, Ge , Li, Guoju . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line . | APPLIED SCIENCES-BASEL , 2024 , 14 (13) . |
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Abstract ：
基于弧齿锥齿轮的复杂齿面设计和实际啮合情况,提出一种利用齿廓成型刀具的齿廓建模方法,能有效实现弧齿锥齿轮齿廓的精确建模.以弧齿锥齿轮为主要建模对象,提出自动化建模及装配方法,开发一种参数化设计系统软件.该软件能够实现弧齿锥齿轮的自动化快速建模和装配,缩短建模时间,提高设计质量与效率,有助于推动产业数字化转型,发展高端装备制造业.
Keyword ：
参数化设计 参数化设计 工业软件 工业软件 弧齿锥齿轮 弧齿锥齿轮 自动化建模及装配 自动化建模及装配
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| GB/T 7714 | 姚立纲 , 黄思捷 , 贾超 et al. 弧齿锥齿轮齿面建模和参数化设计系统软件开发 [J]. | 福州大学学报（自然科学版） , 2024 , 52 (5) : 560-568 . |
| MLA | 姚立纲 et al. "弧齿锥齿轮齿面建模和参数化设计系统软件开发" . | 福州大学学报（自然科学版） 52 . 5 (2024) : 560-568 . |
| APA | 姚立纲 , 黄思捷 , 贾超 , 丁嘉鑫 , 蔡英杰 . 弧齿锥齿轮齿面建模和参数化设计系统软件开发 . | 福州大学学报（自然科学版） , 2024 , 52 (5) , 560-568 . |
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Abstract ：
Gear is a key basic component of mechanical equipment, widely used in aviation, wind power, mining, ships and other fields. With the rapid development of industrial technology, the demand for gear bearing capacity is increasing day by day, However, a small amount of tooth wear can cause the designed conjugate tooth profile to fail to mesh properly, causing vibration and noise in the transmission mechanism and seriously reducing the life of the transmission mechanism. As we all know, the geometry of the gear teeth can determine the performance of the gear transmission system to a certain extent, and the use of new tooth shape is an effective way to improve the performance of the gear transmission system. Therefore, in view of the problem of low contact strength and high sliding friction of involute gear teeth, the research related to novel curved meshing line gears had gradually appeared in the public's field of vision. In order to investigate the novel curve type meshing line gear contact characteristics and wear characteristics of the law, the use of differential geometry and coordinate transformation method to establish a novel gear tooth surface, the gear meshing process discretization and the construction of a finite element three-dimensional model, through the ABAQUS finite element software for its bearing contact analysis, to explore the novel gear bearing contact stress and bending stress change rule. On this basis, based on Hertz contact theory and Archard wear formula, a novel curve type meshing line gear wear model was established, and numerical simulation of novel gear tooth wear characteristics was carried out to calculate the relative sliding distance of the tooth surface and the Hertz contact half-width, and to find out the amount of tooth surface wear and wear curve under the quasi-static load. Finally, a comparative study was made between the novel gears and involute gears in terms of load contact characteristics and wear patterns. The results showed that compared with involute gears, the novel curved meshing line gears were better in terms of load carrying capacity and transmission smoothness, especially the tooth face contact stress could be reduced up to 17.0% or more. The depth of wear of the tooth surface of the curved meshing line gear was unevenly distributed along the tooth profile direction, and the depth of wear of the tooth surface of the curved meshing line gear decreased gradually from the tooth root to the node position, and then increased gradually from the node to the tooth top position, and the depth of wear of the tooth surface at the root position was greater than that of the tooth surface at the tooth top position. The maximum wear depth of the new gear pair was reduced by 28.44%, which could effectively improve the non-uniform wear phenomenon existing in the involute gear pair, so as to prolong the service life of the gear transmission device, and the research results provided ideas and methods for the study of reducing gear wear and the design of novel gear tooth profile. © 2024 Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences. All rights reserved.
Keyword ：
curved meshing lines curved meshing lines tooth design tooth design tooth sliding rate tooth sliding rate tooth wear tooth wear wear prediction wear prediction
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| GB/T 7714 | Jia, C. , Lv, Y. , He, Q. . Novel Curved Meshing Line Gear Tooth Contact and Wear Analysis; [新型曲线型啮合线齿轮齿面接触与磨损分析] [J]. | Tribology , 2024 , 44 (10) : 1345-1354 . |
| MLA | Jia, C. et al. "Novel Curved Meshing Line Gear Tooth Contact and Wear Analysis; [新型曲线型啮合线齿轮齿面接触与磨损分析]" . | Tribology 44 . 10 (2024) : 1345-1354 . |
| APA | Jia, C. , Lv, Y. , He, Q. . Novel Curved Meshing Line Gear Tooth Contact and Wear Analysis; [新型曲线型啮合线齿轮齿面接触与磨损分析] . | Tribology , 2024 , 44 (10) , 1345-1354 . |
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Abstract ：
为了探究新型曲线型啮合线齿轮接触特性与磨损特征规律,构建了新型齿轮的有限元三维模型,利用ABAQUS对其进行承载接触分析,在此基础上,基于Hertz接触理论和Archard磨损公式,建立了新型曲线型啮合线齿轮磨损模型,并对新型齿轮齿面磨损特性进行了数值仿真,计算齿面相对滑动距离,求出在准静态载荷下齿面磨损量及磨损曲线.最终将新型齿轮与渐开线齿轮的承载接触特性和磨损规律做了对比研究,研究结果表明:与渐开线齿轮相比,新型曲线型啮合线齿轮在承载能力和传动平稳性方面都更优,尤其是齿面接触应力可减小高达17.0%以上.曲线啮合线齿轮齿面磨损深度沿齿廓方向分布不均匀,曲线啮合线齿轮齿面磨损深度从齿根到节点位置逐渐减小,而后从节点到齿顶位置又逐渐增大,且齿根位置的齿面磨损深度大于齿顶位置的齿面磨损深度.新型齿轮副的最大磨损深度降低了28.44%,可以有效改善渐开线齿轮副存在的非均匀磨损现象,从而延长齿轮传动装置的使用寿命,该研究成果为降低齿轮磨损研究和新型齿轮齿廓设计提供了思路和方法.
Keyword ：
接触特性 接触特性 曲线型啮合线 曲线型啮合线 磨损计算 磨损计算 齿形设计 齿形设计 齿面滑动率 齿面滑动率
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| GB/T 7714 | 贾超 , 吕云涛 , 贺庆拓 . 新型曲线型啮合线齿轮齿面接触与磨损分析 [J]. | 摩擦学学报（中英文） , 2024 , 44 (10) : 1345-1354 . |
| MLA | 贾超 et al. "新型曲线型啮合线齿轮齿面接触与磨损分析" . | 摩擦学学报（中英文） 44 . 10 (2024) : 1345-1354 . |
| APA | 贾超 , 吕云涛 , 贺庆拓 . 新型曲线型啮合线齿轮齿面接触与磨损分析 . | 摩擦学学报（中英文） , 2024 , 44 (10) , 1345-1354 . |
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A study on the dynamic characteristics of non-orthogonal helical face gears with higher-order tooth surface modification is presented in this article. The method of designing the non-orthogonal helical face gears with higher-order tooth surface modification is described. First, MATLAB programming that can be used for the parameterized 3D mesh calculations of non-orthogonal helical face gears with higher-order tooth surface modification are completed. Second, the calculated grid nodes from the MATLAB programming are imported into ABAQUS to generate a three-dimensional mode. The meshing stiffness of the gear pair is then estimated using finite element analysis. Ultimately, a dynamic model of a non-orthogonal helical face gear pair involving second-order and higher-order tooth surface modifications is established. One example is presented to study the dynamic characteristics of non-orthogonal helical face gear pairs with second-order and higher-order tooth surface modifications. The results show that the dynamic response from the second-order tooth surface modification has a higher peak-to-peak amplitude than that of the higher-order modification.
Keyword ：
dynamic characteristics dynamic characteristics higher-order transmission error higher-order transmission error non-orthogonal helical face gears non-orthogonal helical face gears tooth surface modification tooth surface modification
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| GB/T 7714 | Jia, Chao , Zhang, Ge . Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification [J]. | MATHEMATICS , 2024 , 12 (3) . |
| MLA | Jia, Chao et al. "Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification" . | MATHEMATICS 12 . 3 (2024) . |
| APA | Jia, Chao , Zhang, Ge . Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification . | MATHEMATICS , 2024 , 12 (3) . |
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为了准确计算新型内啮合S型齿轮的啮合效率，引入了考虑轮齿表面滑差、润滑油状况及时变载荷等因素的弹流润滑时变摩擦模型；分析啮合齿面润滑机制，通过轮齿接触分析（Tooth Contact Analysis,TCA）及轮齿承载接触分析，计算了啮合齿面滑动摩擦因数及摩擦损失功率；在此基础上，获得内啮合S型齿轮啮合周期内的瞬时啮合效率和平均啮合效率，并给出了计算实例。研究结果表明，在相同设计参数下，新型内啮合S型齿轮较渐开线齿轮有更高的啮合效率；经螺旋线修形后，新型内啮合S型齿轮的啮合效率有所提高且随修形量的增大而增大。
Keyword ：
啮合效率 啮合效率 新型内啮合S型齿轮 新型内啮合S型齿轮 轮齿承载接触分析 轮齿承载接触分析 轮齿接触分析 轮齿接触分析
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| GB/T 7714 | 程洪业 , 贾超 , 方宗德 . 新型内啮合S型齿轮啮合效率计算与分析 [J]. | 机械传动 , 2024 , 48 (03) : 59-66 . |
| MLA | 程洪业 et al. "新型内啮合S型齿轮啮合效率计算与分析" . | 机械传动 48 . 03 (2024) : 59-66 . |
| APA | 程洪业 , 贾超 , 方宗德 . 新型内啮合S型齿轮啮合效率计算与分析 . | 机械传动 , 2024 , 48 (03) , 59-66 . |
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Abstract ：
基于曲线型啮合线设计了一种高承载能力低滑动率新型齿轮，借助微分几何和空间啮合理论，通过预设抛物线啮合线推导新型齿轮齿廓方程，计算新型齿轮重合度和齿面滑动率．利用Matlab编程仿真齿轮加工过程，实现新型齿轮参数化高精度三维有限元网格建模．在此基础上，通过轮齿承载接触分析，深入分析安装误差、齿面修形等对新型齿轮齿面接触应力和齿根弯曲应力的影响．结果表明：与渐开线齿轮相比，设计的新型齿轮重合度明显提高，传动更加平稳；齿面相对滑动率降低22.9%，啮合效率提高，有效寿命延长；相同载荷下，无误差无修形工况和有误差有修形工况的新型齿轮承载能力都明显优于渐开线齿轮，特别是齿面接触应力减小高达17.0%以上．
Keyword ：
低滑动率 低滑动率 新型齿轮 新型齿轮 轮齿承载接触分析 轮齿承载接触分析 高承载 高承载 齿廓设计 齿廓设计
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| GB/T 7714 | 贾超 , 贺庆拓 , 方宗德 . 新型高承载能力低滑动率齿轮设计与分析 [J]. | 华中科技大学学报(自然科学版) , 2024 , 52 (06) : 87-93 . |
| MLA | 贾超 et al. "新型高承载能力低滑动率齿轮设计与分析" . | 华中科技大学学报(自然科学版) 52 . 06 (2024) : 87-93 . |
| APA | 贾超 , 贺庆拓 , 方宗德 . 新型高承载能力低滑动率齿轮设计与分析 . | 华中科技大学学报(自然科学版) , 2024 , 52 (06) , 87-93 . |
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