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Shot peening technology is used to improve the fatigue strength of materials and parts, and is one of the most effective surface engineering techniques to prolong fatigue life. In this paper, according to the finite element simulation analysis of shot peening, a randomly distributed multiple-shot finite element model was established. The superimposed effects of multiple projectile impact craters in shot peening are fully considered. The effects of shot velocity, shot peening angle and shot coverage on the residual stress field and surface roughness were studied. The alloy steel 20MnTiB, widely used in the automotive industry, was used as the raw material to process the specimens. The shot peening tests of different process parameters were carried out. The test results verified the correctness and accuracy of the random distribution model of multiple-shot. The shot-peening simulation model proposed in this paper allows a more accurate analysis of the effect of shot-peening parameters on the surface residual stress field and helps to quickly set the correct shot-peening process parameters. This paper further investigates the effect of shot peening parameters on fatigue life, providing a basis for the rational development of shot peening solutions.

The clearance of a kinematic pair will lead to the contact collision between the joints of the mechanism, which will have a great influence on the dynamic characteristics of a mechanical system with clearance. In order to study the influence of a rotating motion pair with clearance on the dynamic characteristics of a tool changing robot, a contact wear dynamics model of a modular tool changing robot was established based on the three-state model of “free-contact-collision”. Different from analysis of a light linkage structure, this paper takes a solid structure with large mass as the analysis object. Based on the impact contact force model and the improved Coulomb friction model, the effects of clearance size, rotational speed and friction coefficient on the dynamic characteristics of the tool changing robot were analyzed. The Archard wear model was used to predict the wear between the motion pairs with clearance. The analysis results show that, with the increase of clearance size and actuating speed, the fluctuation range of velocity and acceleration increases, and the fluctuation frequency decreases. Under the action of friction, the contact force between components will be reduced due to energy loss so that the kinematic reliability of the mechanism is improved. The wear of the moving pair with clearance is non-uniform. Through the research of this paper, the motion characteristics of the tool-changing robot at low speed and heavy load are clarified. The results show that the established method can realize the dynamic characteristics analysis of low-speed heavy-duty mechanisms with joint gaps, which can be used to guide the design of tool-changing robots, and also has important reference significance for the design of mechanisms containing joint gaps in general.