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Mu kafukufukuyu, chubu cha coil chachitsulo chosapanga dzimbiri, kapangidwe ka ma torsion ndi ma compression springs a mapiko opindika omwe amagwiritsidwa ntchito mu roketi amaonedwa ngati vuto la kukonza bwino. Roketi ikachoka mu chubu choyambitsa, mapiko otsekedwa ayenera kutsegulidwa ndikutetezedwa kwa nthawi inayake. Cholinga cha kafukufukuyu chinali kukulitsa mphamvu yosungidwa m'masika kuti mapikowo athe kufalikira mwachangu kwambiri. Pankhaniyi, equation ya mphamvu m'mabuku onse awiri idafotokozedwa ngati ntchito yofunikira pakukonza bwino. M'mimba mwake wa waya, m'mimba mwake wa coil, chiwerengero cha ma coil, ndi magawo opotoka ofunikira pakupanga masika adafotokozedwa ngati ma variable okonzera bwino. Pali malire a geometric pa ma variables chifukwa cha kukula kwa makinawo, komanso malire pa chitetezo chifukwa cha katundu wonyamulidwa ndi masika. Algorithm ya njuchi ya uchi (BA) idagwiritsidwa ntchito kuthetsa vutoli la kukonza bwino ndikuchita kapangidwe ka masika. Mphamvu zomwe zimapezeka ndi BA ndizapamwamba kuposa zomwe zidapezeka kuchokera ku maphunziro am'mbuyomu a Design of Experiments (DOE). Ma Springs ndi njira zomwe zidapangidwa pogwiritsa ntchito ma parameter omwe adapezeka kuchokera ku kukonza zidawunikidwa koyamba mu pulogalamu ya ADAMS. Pambuyo pake, mayeso oyesera adachitika pophatikiza masipuling'i opangidwawo mu njira zenizeni. Chifukwa cha mayesowa, zidapezeka kuti mapikowo adatseguka patatha pafupifupi mamilisekondi 90. Mtengo uwu uli pansi kwambiri pa cholinga cha polojekiti cha mamilisekondi 200. Kuphatikiza apo, kusiyana pakati pa zotsatira zowunikira ndi zoyeserera ndi 16 ms yokha.
Mu ndege ndi magalimoto apamadzi, njira zopukutira chubu chachitsulo chosapanga dzimbiri ndizofunikira kwambiri. Njirazi zimagwiritsidwa ntchito posintha ndi kusintha ndege kuti ziwongolere magwiridwe antchito ndi kuwongolera. Kutengera ndi momwe ndege imayendera, mapiko amapindika ndikufutukuka mosiyana kuti achepetse kugwedezeka kwa ndege1. Izi zitha kuyerekezedwa ndi mayendedwe a mapiko a mbalame zina ndi tizilombo paulendo watsiku ndi tsiku komanso kusambira pansi. Mofananamo, ma gliders amapindika ndikufutukuka m'madzi kuti achepetse zotsatira za hydrodynamic ndikuwonjezera kugwiritsa ntchito3. Cholinga china cha njirazi ndikupereka zabwino zambiri ku machitidwe monga kupindika kwa propeller ya helikopita 4 kuti isungidwe ndi kunyamulidwa. Mapiko a roketi amapindikanso pansi kuti achepetse malo osungira. Chifukwa chake, ma missile ambiri amatha kuyikidwa pamalo ang'onoang'ono a choyambitsa 5. Zigawo zomwe zimagwiritsidwa ntchito bwino popindika ndikufutukuka nthawi zambiri zimakhala ma spring. Panthawi yopindika, mphamvu imasungidwa mkati mwake ndikutulutsidwa panthawi yopindika. Chifukwa cha kapangidwe kake kosinthasintha, mphamvu yosungidwa ndi kutulutsidwa imafanana. Spring imapangidwa makamaka kuti igwiritsidwe ntchito, ndipo kapangidwe kameneka kamabweretsa vuto lokonzanso6. Chifukwa ngakhale ili ndi zinthu zosiyanasiyana monga waya m'mimba mwake, waya m'mimba mwake, kuchuluka kwa ma turn, ngodya ya helix ndi mtundu wa zinthu, palinso zofunikira monga kulemera, voliyumu, kugawa kocheperako kwa kupsinjika kapena kupezeka kwa mphamvu yayikulu7.
Kafukufukuyu akuwunikira kapangidwe ndi kukonza bwino kwa masipu a njira zopindika mapiko zomwe zimagwiritsidwa ntchito mu makina a roketi. Popeza ali mkati mwa chubu choyambitsira ndege isanakwere, mapikowo amakhalabe opindika pamwamba pa roketi, ndipo akatuluka mu chubu choyambitsira ndege, amatseguka kwa nthawi inayake ndipo amakhalabe okanikizidwa pamwamba. Njirayi ndi yofunika kwambiri kuti roketi igwire bwino ntchito. Mu njira yopindika yomwe yapangidwa, kutseguka kwa mapiko kumachitika ndi masipu ozungulira, ndipo kutseka kumachitika ndi masipu opindika. Kuti apange kasupe woyenera, njira yowongolera iyenera kuchitika. Mu kasupe wowongolera ndege, pali ntchito zosiyanasiyana m'mabuku.
Paredes ndi anzake.8 adatanthauzira chinthu chachikulu cholemetsa ngati ntchito yofunikira popanga ma helical springs ndipo adagwiritsa ntchito njira ya quasi-Newtonian ngati njira yowonjezeretsa. Zosintha pakukonzanso zidazindikirika ngati waya m'mimba mwake, m'mimba mwake wa coil, kuchuluka kwa ma turns, ndi kutalika kwa kasupe. Chinthu china chomwe chimagwiritsidwa ntchito popanga ma study ndi kapangidwe ka masika ndi zinthu zomwe zimapangidwa. Chifukwa chake, izi zidaganiziridwa mu maphunziro a kapangidwe ndi kukonza. Zebdi ndi anzake. 9 adakhazikitsa zolinga za kuuma kwakukulu ndi kulemera kochepa mu ntchito yofunikira mu kafukufuku wawo, komwe kulemera kwake kunali kofunikira. Pankhaniyi, adatanthauzira zinthu za kasupe ndi mawonekedwe ake ngati zosinthika. Amagwiritsa ntchito algorithm ya majini ngati njira yowonjezeretsa. Mumakampani opanga magalimoto, kulemera kwa zinthu kumathandiza m'njira zambiri, kuyambira pakugwira ntchito kwa galimoto mpaka kugwiritsa ntchito mafuta. Kuchepetsa kulemera kwa zinthuzo pamene akukonza ma coil springs kuti akhazikitsidwe ndi kafukufuku wodziwika bwino10. Bahshesh ndi Bahshesh11 adazindikira zinthu monga E-glass, carbon ndi Kevlar ngati zosinthika pantchito yawo mu ANSYS ndi cholinga chopeza kulemera kochepa komanso mphamvu yayikulu yolimbikitsira m'mapangidwe osiyanasiyana a masika osakanikirana. Njira yopangira zinthu ndi yofunika kwambiri pakupanga ma spring ophatikizika. Chifukwa chake, zinthu zosiyanasiyana zimafunika pa vuto la kukonza bwino zinthu, monga njira yopangira, masitepe omwe amachitika mu ndondomekoyi, ndi ndondomeko ya masitepe amenewo12,13. Popanga ma spring a machitidwe osinthasintha, ma frequency achilengedwe a dongosololi ayenera kuganiziridwa. Ndikofunikira kuti ma frequency oyamba achilengedwe a kasupe akhale osachepera nthawi 5-10 kuposa ma frequency achilengedwe a dongosololi kuti apewe kusinthasintha14. Taktak et al. 7 adaganiza zochepetsa kulemera kwa kasupe ndikuwonjezera ma frequency oyamba achilengedwe ngati ntchito yeniyeni mu kapangidwe ka kasupe wa coil. Adagwiritsa ntchito njira zofufuzira, malo amkati, malo ogwirira ntchito, ndi njira za algorithm za majini mu chida chowongolera cha Matlab. Kafukufuku wofufuza ndi gawo la kafukufuku wa kapangidwe ka kasupe, ndipo Finite Element Method ndi yotchuka m'derali15. Patil et al.16 adapanga njira yokonza bwino zinthu yochepetsera kulemera kwa kasupe wa helical compression pogwiritsa ntchito njira yowunikira ndikuyesa ma equation owunikira pogwiritsa ntchito njira ya finite element. Chinthu china chowonjezera phindu la kasupe ndi kuwonjezeka kwa mphamvu yomwe ingasunge. Nkhaniyi ikutsimikiziranso kuti kasupeyu akupitirizabe kukhala wothandiza kwa nthawi yayitali. Rahul ndi Rameshkumar17 Amayesetsa kuchepetsa kuchuluka kwa kasupeyu ndikuwonjezera mphamvu yogwira ntchito m'mapangidwe a kasupeyu wa magalimoto. Agwiritsanso ntchito ma algorithms a majini pakufufuza bwino.
Monga momwe tikuonera, magawo omwe ali mu kafukufuku wokonza zinthu amasiyana malinga ndi dongosolo. Kawirikawiri, magawo olimba ndi ochepetsa kupsinjika kwa thupi ndi ofunikira mu dongosolo lomwe katundu womwe umanyamula ndiye chinthu chomwe chimatsimikizira. Kusankha zinthu kumaphatikizidwa mu dongosolo loletsa kulemera ndi magawo awiriwa. Kumbali ina, ma frequency achilengedwe amawunikidwa kuti apewe kusinthasintha m'makina amphamvu kwambiri. Mu machitidwe omwe ntchito ndizofunikira, mphamvu imakulitsidwa. Mu maphunziro okonza zinthu, ngakhale kuti FEM imagwiritsidwa ntchito pamaphunziro osanthula, zitha kuwoneka kuti ma algorithms a metaheuristic monga algorithm ya majini14,18 ndi algorithm ya gray wolf19 amagwiritsidwa ntchito limodzi ndi njira yakale ya Newton mkati mwa magawo enaake. Ma algorithms a metaheuristic apangidwa kutengera njira zachilengedwe zosinthira zomwe zimayandikira mkhalidwe wabwino kwambiri munthawi yochepa, makamaka motsogozedwa ndi anthu20,21. Ndi kugawa mwachisawawa kwa anthu m'dera lofufuzira, amapewa optima yakomweko ndikupita ku optima yapadziko lonse22. Chifukwa chake, m'zaka zaposachedwa nthawi zambiri amagwiritsidwa ntchito pankhani ya mavuto enieni amakampani23,24.
Nkhani yofunika kwambiri ya njira yopindika yomwe idapangidwa mu kafukufukuyu ndi yakuti mapiko, omwe anali pamalo otsekedwa asananyamuke, amatseguka nthawi inayake atatuluka mu chubu. Pambuyo pake, chinthu chotseka chimatseka phiko. Chifukwa chake, masika sakhudza mwachindunji kayendedwe ka ndege. Pankhaniyi, cholinga cha kukonza chinali kukulitsa mphamvu yosungidwa kuti ifulumizitse kuyenda kwa kasupe. M'mimba mwake wa mpukutu, m'mimba mwake wa waya, kuchuluka kwa mipukutu ndi kupotoka zidatanthauzidwa ngati magawo owongolera. Chifukwa cha kukula kochepa kwa kasupe, kulemera sikunaganizidwe ngati cholinga. Chifukwa chake, mtundu wa zinthu umatanthauzidwa ngati wokhazikika. Mphepete mwa chitetezo cha kusintha kwa makina umatsimikiziridwa ngati malire ofunikira. Kuphatikiza apo, zoletsa za kukula kosiyanasiyana zimakhudzidwa ndi kuchuluka kwa makinawo. Njira ya BA metaheuristic idasankhidwa ngati njira yowongolera. BA idakondedwa chifukwa cha kapangidwe kake kosinthasintha komanso kosavuta, komanso chifukwa cha kupita patsogolo kwake mu kafukufuku wowongolera makina25. Mu gawo lachiwiri la kafukufukuyu, mawu atsatanetsatane a masamu akuphatikizidwa mu chimango cha kapangidwe koyambira ndi kapangidwe ka kasupe ka makina opindika. Gawo lachitatu lili ndi algorithm yowongolera ndi zotsatira zowongolera. Mutu 4 umachita kusanthula mu pulogalamu ya ADAMS. Kuyenerera kwa masika kumafufuzidwa musanapange. Gawo lomaliza lili ndi zotsatira zoyesera ndi zithunzi zoyesera. Zotsatira zomwe zapezeka mu kafukufukuyu zinayerekezeredwanso ndi ntchito yakale ya olemba pogwiritsa ntchito njira ya DOE.
Mapiko omwe adapangidwa mu kafukufukuyu ayenera kupindika kupita pamwamba pa roketi. Mapiko amazungulira kuchokera pamalo opindika kupita pamalo opindika. Pachifukwa ichi, njira yapadera idapangidwa. Pa chithunzi 1 chikuwonetsa mawonekedwe opindika ndi opindika5 mu dongosolo la roketi.
Pa chithunzi 2 chikuwonetsa mawonekedwe a gawo la makinawo. Makinawo ali ndi zigawo zingapo za makina: (1) thupi lalikulu, (2) shaft ya phiko, (3) bearing, (4) lock body, (5) lock bush, (6) stop pin, (7) torsion spring ndi (8) compression springs. Wing shaft (2) imalumikizidwa ndi torsion spring (7) kudzera mu locking sleeve (4). Zigawo zonse zitatu zimazungulira nthawi imodzi rocket ikayamba. Ndi kayendedwe kozungulira kameneka, mapiko amatembenukira kumalo awo omaliza. Pambuyo pake, pin (6) imayendetsedwa ndi compression spring (8), motero imatseka njira yonse ya locking body (4)5.
Modulus yotanuka (E) ndi modulus yodula (G) ndi magawo ofunikira kwambiri a kasupe. Mu kafukufukuyu, waya wachitsulo wa kasupe wokwera kwambiri (waya wa Music ASTM A228) unasankhidwa ngati chinthu chopangira kasupe. Magawo ena ndi waya wa m'mimba mwake (d), m'mimba mwake wa coil wapakati (Dm), chiwerengero cha ma coil (N) ndi kupotoka kwa kasupe (xd ya masika odula ndi θ ya masika odula)26. Mphamvu yosungidwa ya masika odula \({(SE}_{x})\) ndi masika odula (\({SE}_{\theta}\)) ikhoza kuwerengedwa kuchokera ku equation. (1) ndi (2)26. (Mtengo wa shear modulus (G) wa kasupe wodula ndi 83.7E9 Pa, ndipo mtengo wa elastic modulus (E) wa kasupe wodula ndi 203.4E9 Pa.)
Miyeso ya makina a dongosololi imatsimikiza mwachindunji zoletsa za geometri ya kasupe. Kuphatikiza apo, mikhalidwe yomwe roketi idzakhale iyeneranso kuganiziridwa. Zinthu izi zimatsimikiza malire a magawo a kasupe. Choletsa china chofunikira ndi chitetezo. Tanthauzo la chitetezo chafotokozedwa mwatsatanetsatane ndi Shigley et al.26. Choletsa chitetezo cha kasupe (SFC) chimatanthauzidwa ngati kupsinjika kwakukulu komwe kungagawidwe ndi kupsinjika pa kutalika kosalekeza. SFC ikhoza kuwerengedwa pogwiritsa ntchito ma equation. (3), (4), (5) ndi (6)26. (Pazinthu za kasupe zomwe zagwiritsidwa ntchito mu kafukufukuyu, \({S}_{sy}=980 MPa\)). F imayimira mphamvu mu equation ndipo KB imayimira Bergstrasser factor ya 26.
Chitsimikizo cha chitetezo cha torsion cha kasupe (SFT) chimatanthauzidwa kuti M yogawidwa ndi k. SFT ikhoza kuwerengedwa kuchokera ku equation. (7), (8), (9) ndi (10)26. (Pazinthu zomwe zagwiritsidwa ntchito mu kafukufukuyu, \({S}_{y}=1600 \mathrm{MPa}\)). Mu equation, M imagwiritsidwa ntchito pa torque, \({k}^{^{\prime}}\) imagwiritsidwa ntchito pa spring constant (torque/rotation), ndipo Ki imagwiritsidwa ntchito pa stress correction factor.
Cholinga chachikulu cha kukhathamiritsa mu kafukufukuyu ndikukulitsa mphamvu ya kasupe. Ntchito yofunikira yapangidwa kuti ipeze \(\overrightarrow{\{X\}}\) yomwe imakulitsa \(f(X)\). \({f}_{1}(X)\) ndi \({f}_{2}(X)\) ndi ntchito zamphamvu za kasupe wokakamiza ndi wopotoza, motsatana. Zosintha ndi ntchito zowerengedwa zomwe zimagwiritsidwa ntchito pokhathamiritsa zikuwonetsedwa mu ma equation otsatirawa.
Zoletsa zosiyanasiyana zomwe zayikidwa pa kapangidwe ka kasupe zaperekedwa mu ma equation otsatirawa. Ma equation (15) ndi (16) akuyimira zinthu zotetezera ma compression ndi torsion springs, motsatana. Mu kafukufukuyu, SFC iyenera kukhala yayikulu kuposa kapena yofanana ndi 1.2 ndipo SFT iyenera kukhala yayikulu kuposa kapena yofanana ndi θ26.
BA idauziridwa ndi njira zopezera mungu za njuchi27. ​​Njuchi zimafunafuna mwa kutumiza njuchi zambiri ku minda yobiriwira ya mungu ndi njuchi zochepa ku minda yobiriwira ya mungu. Chifukwa chake, kugwira ntchito bwino kwambiri kuchokera ku njuchi kumachitika. Kumbali ina, njuchi zofufuza zimapitiliza kufunafuna madera atsopano a mungu, ndipo ngati pali madera opindulitsa kwambiri kuposa kale, njuchi zambiri zidzatsogozedwa kudera latsopanoli28. BA ili ndi magawo awiri: kusaka kwanuko ndi kusaka padziko lonse lapansi. Kusaka kwanuko kumafufuza madera ambiri pafupi ndi ochepa (malo apamwamba), monga njuchi, ndi kusaka kochepa kwa malo ena (malo abwino kapena osankhidwa). Kusaka kosasinthika kumachitika mu gawo lofufuzira padziko lonse lapansi, ndipo ngati zabwino zipezeka, malo amasamutsidwira ku gawo lofufuzira lapafupi mu gawo lotsatira. Njirayi ili ndi magawo ena: chiwerengero cha njuchi zofufuza (n), chiwerengero cha malo ofufuzira am'deralo (m), chiwerengero cha malo apamwamba (e), chiwerengero cha ofufuza m'malo apamwamba (nep), chiwerengero cha ofufuza m'malo abwino. Malo (nsp), kukula kwa dera (ngh), ndi chiwerengero cha ma iterations (I)29. B pseudocode ya BA ikuwonetsedwa mu Chithunzi 3.
Njirayi imayesa kugwira ntchito pakati pa \({g}_{1}(X)\) ndi \({g}_{2}(X)\). Chifukwa cha kubwereza kulikonse, miyezo yoyenera imatsimikiziridwa ndipo anthu amasonkhana mozungulira miyezo iyi kuti apeze miyezo yabwino kwambiri. Zoletsa zimafufuzidwa m'magawo ofufuzira am'deralo ndi apadziko lonse lapansi. Mu kusaka kwanuko, ngati zinthu izi ndizoyenera, mphamvu imawerengedwa. Ngati mphamvu yatsopano ndi yayikulu kuposa mtengo woyenera, perekani mtengo watsopano ku mtengo woyenera. Ngati mtengo wabwino kwambiri womwe umapezeka mu zotsatira zofufuzira ndi waukulu kuposa chinthu chomwe chilipo, chinthu chatsopanocho chidzaphatikizidwa mu zosonkhanitsira. Chithunzi cha block cha kusaka kwanuko chikuwonetsedwa mu Chithunzi 4.
Chiwerengero cha anthu ndi chimodzi mwa zinthu zofunika kwambiri mu BA. Kuchokera ku kafukufuku wakale, zikuwoneka kuti kukulitsa chiwerengero cha anthu kumachepetsa chiwerengero cha ma reterations ofunikira ndikuwonjezera mwayi wopambana. Komabe, chiwerengero cha kuwunika kwa ntchito chikuwonjezekanso. Kupezeka kwa malo ambiri apamwamba sikukhudza kwambiri magwiridwe antchito. Chiwerengero cha malo apamwamba chikhoza kukhala chochepa ngati sichiri zero30. Kukula kwa chiwerengero cha njuchi za scout (n) nthawi zambiri kumasankhidwa pakati pa 30 ndi 100. Mu kafukufukuyu, zochitika zonse 30 ndi 50 zidayendetsedwa kuti zidziwe nambala yoyenera (Table 2). Ma parameter ena amatsimikiziridwa kutengera kuchuluka kwa anthu. Chiwerengero cha malo osankhidwa (m) ndi (pafupifupi) 25% ya kukula kwa anthu, ndipo chiwerengero cha malo apamwamba (e) pakati pa malo osankhidwa ndi 25% ya m. Chiwerengero cha njuchi zodyetsa (chiwerengero cha kusaka) chinasankhidwa kukhala 100 pa malo apamwamba ndi 30 pa malo ena am'deralo. Kusaka kwa oyandikana nawo ndiye lingaliro loyambira la ma algorithms onse osinthika. Mu kafukufukuyu, njira yochepetsera anansi idagwiritsidwa ntchito. Njira imeneyi imachepetsa kukula kwa dera pamlingo winawake panthawi iliyonse yobwerezabwereza. M'mabwerezabwereza amtsogolo, mitengo yaying'ono ya dera30 ingagwiritsidwe ntchito pofufuza molondola.
Pa chochitika chilichonse, mayeso khumi otsatizana adachitidwa kuti awone ngati njira yowonjezereranso ya optimization algorithm ingathe kubwerezedwanso. Pa chithunzi 5 chikuwonetsa zotsatira za optimization torsion spring ya scheme 1, ndipo pa chithunzi 6 - ya scheme 2. Deta yoyesera yaperekedwanso m'matebulo 3 ndi 4 (tebulo lomwe lili ndi zotsatira za compression spring lili mu Zowonjezera S1). Kuchuluka kwa njuchi kumakulitsa kusaka kwa zabwino mu reteration yoyamba. Pa chithunzi 1, zotsatira za mayeso ena zinali pansi pa apamwamba. Mu Chithunzi 2, zitha kuwoneka kuti zotsatira zonse za optimization zikuyandikira kwambiri chifukwa cha kuchuluka kwa anthu ndi magawo ena oyenera. Zitha kuwoneka kuti mitengo yomwe ili mu Chithunzi 2 ndi yokwanira pa algorithm.
Mukapeza mphamvu yayikulu kwambiri mu ma iterations, chinthu chotetezera chimaperekedwanso ngati choletsa pa kafukufukuyu. Onani tebulo la chitetezo. Mphamvu zomwe zimapezeka pogwiritsa ntchito BA zimayerekezeredwa ndi zomwe zapezeka pogwiritsa ntchito njira ya 5 DOE mu Table 5. (Kuti zikhale zosavuta kupanga, chiwerengero cha ma turns (N) a torsion spring ndi 4.9 m'malo mwa 4.88, ndipo deflection (xd) ndi 8 mm m'malo mwa 7.99 mm mu compression spring.) Zitha kuwoneka kuti BA ndi yabwino Zotsatira. BA imayesa mitundu yonse kudzera mu kufufuza kwapafupi ndi padziko lonse lapansi. Mwanjira imeneyi amatha kuyesa njira zina mwachangu.
Mu kafukufukuyu, Adams adagwiritsidwa ntchito pofufuza kayendetsedwe ka makina a mapiko. Adams poyamba adapatsidwa chitsanzo cha 3D cha makinawo. Kenako fotokozani kasupe ndi magawo omwe asankhidwa mu gawo lapitalo. Kuphatikiza apo, magawo ena ayenera kufotokozedwa kuti awonetsedwe. Izi ndi magawo enieni monga kulumikizana, katundu wazinthu, kukhudzana, kukangana, ndi mphamvu yokoka. Pali cholumikizira chozungulira pakati pa shaft ya tsamba ndi chogwirira. Pali maulumikizidwe a cylindrical 5-6. Pali maulumikizidwe okhazikika 5-1. Thupi lalikulu limapangidwa ndi zinthu za aluminiyamu ndipo limakhazikika. Zinthu za ziwalo zina zonse ndi chitsulo. Sankhani coefficient of friction, contact stiffness ndi kuya kwa kulowa kwa pamwamba pa kukangana kutengera mtundu wa zinthuzo. (chitsulo chosapanga dzimbiri AISI 304) Mu kafukufukuyu, gawo lofunikira ndi nthawi yotsegulira makina a phiko, yomwe iyenera kukhala yochepera 200 ms. Chifukwa chake, yang'anirani nthawi yotsegulira phiko panthawi yosanthula.
Chifukwa cha kusanthula kwa Adams, nthawi yotsegulira njira yopangira mapiko ndi ma millisecond 74. Zotsatira za kuyerekezera kwamphamvu kuyambira 1 mpaka 4 zawonetsedwa mu Chithunzi 7. Chithunzi choyamba mu Chithunzi 5 ndi nthawi yoyambira yoyeserera ndipo mapiko ali pamalo odikira kuti apindidwe. (2) Ikuwonetsa malo a phiko pambuyo pa 40ms pamene phiko lazungulira madigiri 43. (3) ikuwonetsa malo a phiko pambuyo pa ma millisecond 71. Komanso mu chithunzi chomaliza (4) ikuwonetsa kumapeto kwa kutembenuka kwa phiko ndi malo otseguka. Chifukwa cha kusanthula kwamphamvu, zidawonedwa kuti njira yotsegulira phiko ndi yayifupi kwambiri kuposa mtengo womwe ukuyembekezeka wa 200 ms. Kuphatikiza apo, poyesa ma spring, malire achitetezo adasankhidwa kuchokera pamitengo yapamwamba kwambiri yomwe ikulimbikitsidwa m'mabuku.
Pambuyo pomaliza maphunziro onse a kapangidwe, kukonza bwino, ndi kuyerekezera, chitsanzo cha makinawo chinapangidwa ndikuphatikizidwa. Kenako chitsanzocho chinayesedwa kuti chitsimikizire zotsatira za kuyerekezera. Choyamba, sungani chipolopolo chachikulu ndikupinda mapiko. Kenako mapikowo anatulutsidwa pamalo opindidwa ndipo kanemayo adapangidwa wokhudza kuzungulira kwa mapikowo kuchokera pamalo opindidwa kupita kumalo ogwiritsidwa ntchito. Chowerengera nthawi chinagwiritsidwanso ntchito posanthula nthawi panthawi yojambulira kanema.
Pa chithunzi 8 pali mafelemu a kanema omwe ali ndi nambala 1-4. Furemu nambala 1 pachithunzichi ikuwonetsa nthawi yotulutsa mapiko opindidwa. Nthawi iyi imaonedwa ngati nthawi yoyamba t0. Mafelemu 2 ndi 3 akuwonetsa malo a mapiko 40 ms ndi 70 ms pambuyo pa nthawi yoyamba. Mukasanthula mafelemu 3 ndi 4, zitha kuwoneka kuti kuyenda kwa phiko kumakhazikika 90 ms pambuyo pa t0, ndipo kutseguka kwa phiko kumamalizidwa pakati pa 70 ndi 90 ms. Izi zikutanthauza kuti kuyesa koyeserera ndi kuyesa kwa prototype kumapereka nthawi yofanana yogwiritsira ntchito phiko, ndipo kapangidwe kake kamakwaniritsa zofunikira za magwiridwe antchito a makinawo.
Munkhaniyi, ma torsion ndi ma compression springs omwe amagwiritsidwa ntchito mu phiko lopindika amakonzedwa bwino pogwiritsa ntchito BA. Ma parameter amatha kufikiridwa mwachangu ndi ma reterations ochepa. Ma torsion spring ali ndi ma 1075 mJ ndipo ma compression spring ali ndi ma 37.24 mJ. Ma values ​​​​awa ndi 40-50% kuposa maphunziro am'mbuyomu a DOE. Ma spiring amaphatikizidwa mu makinawo ndipo amawunikidwa mu pulogalamu ya ADAMS. Atawunikidwa, adapeza kuti mapikowo adatsegulidwa mkati mwa ma millisecond 74. Mtengo uwu uli pansi kwambiri pa cholinga cha polojekiti cha ma millisecond 200. Mu kafukufuku wotsatira woyeserera, nthawi yotsegulira idayesedwa kukhala pafupifupi 90 ms. Kusiyana kwa ma millisecond 16 pakati pa kusanthula kungakhale chifukwa cha zinthu zachilengedwe zomwe sizinapangidwe mu pulogalamuyo. Akukhulupirira kuti njira yowongolera yomwe idapezeka chifukwa cha kafukufukuyu ingagwiritsidwe ntchito pamapangidwe osiyanasiyana a ma spirit.
Zipangizo za kasupe zinakonzedweratu ndipo sizinagwiritsidwe ntchito ngati chosinthira pakukonza. Popeza mitundu yosiyanasiyana ya kasupe imagwiritsidwa ntchito mu ndege ndi ma roketi, BA idzagwiritsidwa ntchito popanga mitundu ina ya kasupe pogwiritsa ntchito zipangizo zosiyanasiyana kuti apange kapangidwe kabwino ka kasupe mu kafukufuku wamtsogolo.
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