Due to their advantages of compact size, high reduction ratio, large stiffness and high load capacity, RV reducers have been widely used in industrial robots. The dynamic characteristics of RV reducers in terms of vibratory response and dynamic transmission error have a significant influence on positioning accuracy and service life. However, the current dynamic studies on RV reducers are not extensive and require deeper study. To bridge this gap, a more effective and realistic lumped parameter dynamic model for RV reducers is developed, considering the tooth profile modification of cycloid gears and system errors. Firstly, for an efficient solution, the equivalent pressure angle and equivalent mesh stiffness of the cycloid–pin gear pair are introduced in the dynamic model based on the loaded tooth contact analysis. Secondly, the differential equations of the system are derived by analyzing the relative displacement relationships between each component, which are solved using the Runge–Kutta method. With this, the effects of errors such as machining errors, assembly errors and bearing clearances on the dynamic behaviors and transmission precision are investigated by comparison to quantify or qualify their influence. This research is helpful in characterizing the multi-tooth mesh and dynamic behavior, and revealing the underlying physics of the RV reducer.

The current loaded tooth contact analysis of cycloid drives based on the assumption of theoretical positions of ring pins ignores the deviations caused by manufacturing errors and elastic deformations, which are not in agreement with reality. To fill this gap, an improved load distribution model of the mismatched cycloid-pin gear pair with ring pin position deviations is presented for a component-level analysis. Firstly, with the cycloid gear tooth profile geometry defined, the unloaded tooth contact analysis is applied as a pre-processor to determine the potential contact points, the gear backlash, and the rotation angle of the cycloid gear. Secondly, due to the statically indeterminate structure of the multi-tooth contact, a varying nonlinear contact stiffness is introduced to establish the relation between force and deformation. Then, the force and moment equilibrium equations with compatibility conditions are solved by using an iterative approach. With this, detailed parametric case studies are presented to verify the correctness of the proposed model by comparing it with those predicted by the current model and to demonstrate the influences of ring pin position deviations on the distributed load, contact stress, loaded transmission error, and instantaneous gear ratio of the mismatched cycloid-pin gear pair. This study provides a deeper investigation into the load distribution characteristics of the cycloid drive and therefore can be employed to assist in gear design.

Determining the metallicity and semiconductivity of a multi-walled carbon nanotube (MWCNT) bundle plays a particularly vital role in its interconnection with the metal electrode of an integrated circuit. In this paper, an effective method is proposed to determine the electrical transport properties of an MWCNT bundle using a current–voltage characteristic curve during its electrical breakdown. We established the reliable electrical nanoscale contact between the MWCNT bundle and metal electrode using a robotic manipulation system under scanning electron microscope (SEM) vacuum conditions. The experimental results show that the current–voltage curve appears as saw-tooth-like current changes including up and down steps, which signify the conductance and breakdown of carbon shells in the MWCNT bundle, respectively. Additionally, the power law nonlinear behavior of the current–voltage curve indicates that the MWCNT bundle is semiconducting. The molecular dynamics simulation explains that the electron transport between the inner carbon shells, between the outermost carbon shells and gold metal electrode and between the outermost carbons shells of two adjacent individual three-walled carbon nanotubes (TWCNTs) is through their radial deformation. Density functional theory (DFT) calculations elucidate the electron transport mechanism between the gold surface and double-wall carbon nanotube (DWCNT) and between the inner and outermost carbon shells of DWCNT using the charge density difference, electrostatic potential and partial density of states.

Cycloid drives are widely used in various mechanical systems due to their high reduction ratio, compact size, and high efficiency. Tooth surface wear is a major problem that affects the reliability and durability of cycloid drives. However, compared to the research on the wear of involute gears, the prediction of tooth surface wear in cycloid drives is relatively limited and less extensive. To fill this gap, the theoretical wear model of the tooth surface of cycloid-pin gear pairs is proposed based on the Hertz contact theory and Archard’s formula, with consideration of tooth profile modifications. Firstly, the loaded tooth contact analysis model is established to determine the relative sliding velocity and tooth contact stress. Secondly, the calculation steps of single tooth surface wear are presented within one gear mesh cycle. With this, the effects of the tooth profile modifications, the operating conditions such as output torque, input speed, and the assembly eccentricity on the wear depth within one gear mesh cycle are investigated. This study gives a deeper understanding of the tooth surface wear mechanisms of cycloid drives and could be employed to assist gear design and to improve the wear resistance.

The current load distribution model for cycloid drives based on the Hertz contact stiffness typically assumes a two-dimensional planar problem without considering the tooth longitudinal modification effects, which fails to comply with the practical situation. In this paper, this issue is clarified by developing a semi-analytical load distribution model based on a three-dimensional and linear elastic solution. Unloaded tooth contact analysis is introduced to determine the instantaneous mesh information. The tooth compliance model considering tooth contact deformation is established by combining the Boussinesq force–displacement relationships in elastic half-space with an influence coefficient method. With this, the loads, contact patterns, and loaded transmission error are calculated by enforcing the compatibility and equilibrium conditions. Comparisons to predictions made with the assumption of Hertz contact stiffness are presented to demonstrate the effectiveness of the proposed model, which shows good agreement. At the end, the effect of tooth longitudinal modifications on load distributions is investigated along with various loading conditions. This study yields an in-depth understanding of the multi-tooth contact characteristics of cycloid drives and provides an effective tool for extensive parameter sensitivity analysis and design optimization studies.

Laser irradiation is a popular method to produce microtextures on metal surfaces. However, the common laser-produced microtextures were hierarchical (multiscale), which may limit their applicability. In this paper, a method of two-step laser irradiation, combining first-step strong ablation and sequentially second-step gentle ablation, was presented to produce micron-rough surface with single-scale microtextures. The effect of laser fluence on the Ti–6Al–4V surface morphology and wettability were investigated in detail. The morphology results revealed that the microtextures produced using this method gradually evolved from multiscale to single-scale meanwhile from microprotrusions to microholes with increasing the second-step laser fluence from 0.0 to 2.4 J/cm². The wettability and EDS/XPS results indicated that attributing to the rich TiO₂ content and micron roughness produced by laser irradiation, all the two-step laser-irradiated surfaces exhibited superhydrophilicity. In addition, after silanization, all these superhydrophilic surfaces immediately turned to be superhydrophobic with close water contact angles of 155–162°. However, due to the absence of nanotextures, the water-rolling angle on the superhydrophobic surfaces with single-scale microtextures distinctly larger than those with multiscale ones. Finally, using the two-step laser-irradiation method and assisted with silanization, multifunctional superhydrophobic Ti–6Al–4V surfaces were achieved, including self-cleaning, guiding of the water-rolling direction and anisotropic water-rolling angles (like the rice-leaf), etc.