列车一维碰撞能量管理的综合评价模型

为了更科学全面地对列车碰撞能量方案进行配置和评价,以列车最大平均加速度、最大瞬时加速度和能量利用率为评价指标,利用序关系分析法和熵值法得到的主、客观指标权重推导出更加合理的综合权重系数;采用非线性加权综合法融合权重信息和评价指标信息,获得了列车一维碰撞能量管理综合评价模型;采用此模型对某型列车的15种能量配置方案进行综合评价. 研究结果表明:此模型综合评价结果与各指标性能变化幅度分析结果一致,具有较好的适用性和可靠性;方案4为最优方案,其最大瞬时加速度指标性能比方案8下降14.03%,但最大平均加速度指标性能和能量利用率指标性能分别比方案8提升了4.92%和19.44%;该结果既体现了对安全性影响最大的最大平均加速度指标的重要性,又综合考虑了与经济性相关的能量利用率指标.      

基于液压驱动的拟人机器人上肢机构设计

为提高拟人机器人的集成性与负载能力,对拟人机器人上肢机械结构及其控制系统进行研究.运用CREO软件对拟人机器人上肢各主要关节进行三维模型,并完成虚拟装配.对液压驱动拟人机器人液压驱动系统实现了集成式模块化控制,液压管路布线均匀整齐.基于MATLAB软件对机器人手臂工作空间进行仿真分析,得到了机器人手臂末端执行结构的工作空间云图,并采用FluidSIM液压仿真软件对液压系统原理进行建模,验证液压系统设计的合理性.利用LabVIEW软件设计拟人机机器人上位管理界面,实现了其控制功能,为拟人机器人的设计、改进提供一定的理论基础.     

波形顶板-UHPC组合桥面板优化设计

为解决正交异性钢桥面板的疲劳问题,从其根本原因和提高其抗疲劳性能的基本途径出发,提出一种新型波形顶板-UHPC（超高性能混凝土）组合桥面板结构体系.确定影响新型桥面板受力特性的主要参数及其合理取值范围,使用基于BP（back propagation）神经网络的优化设计模型对结构进行优化设计,就所优化的结构尺寸进行疲劳性能测试.研究结果表明:该结构能大幅减少桥面板结构中的几何构型不连续部位数量和焊缝数量,显著提高顶板局部刚度;波形钢板高度、顶部和底部水平段宽度是结构受力性能的重要影响参数;基于BP神经网络的优化设计模型适用于该类桥面板结构的优化设计,最大误差为4.4%;新的结构体系具有良好的疲劳性能,疲劳寿命超过200 a,为正交异性钢桥面板的疲劳问题提供了较好的综合解决方案.      

热压电桁架结构灵敏度分析及其优化

在综合考虑温度场、机械场和电场作用的前提下,建立了热压电桁架结构的有限元模型,对结构进行了稳定性分析,推导了关于热压电桁架结构的灵敏度公式,构建了基于灵敏度分析的优化模型,对不同约束条件限制的情况,分别进行了优化设计.算例显示,合理利用热压电效应,可以提高结构的工作性能,并使结构趋于更经济、合理.     

热压电桁架结构灵敏度分析及其优化

在综合考虑温度场、机械场和电场作用的前提下,建立了热压电桁架结构的有限元模型,对结构进行了稳定性分析,推导了关于热压电桁架结构的灵敏度公式,构建了基于灵敏度分析的优化模型,对不同约束条件限制的情况,分别进行了优化设计.算例显示,合理利用热压电效应,可以提高结构的工作性能,并使结构趋于更经济、合理.     

高速公路典型路段景观评价综合模型研究

基于对高速公路景观指标体系的分析,提出了建立集数学计算功能和空间分析功能为一体的高速公路典型路段景观评价综合模型.利用可视化技术建立路段仿真模型来进行直观的空间分析及视觉、心理体验,运用模糊综合评价方法将不同性质的指标统一成量化指标,通过数学计算得出各指标的评分值,两者结合形成了一种有别于传统道路景观方案评价的方法.在湖北省孝襄高速公路上的运用,证明是切实可行的.     

基于集对论的路面使用性能变权综合评价方法

针对路面使用性能综合评价的复杂性,以集对论为基础,进行了同、异、反分析,在确定路面性能评价指标和评价类别的联系度后,建立了集对分析评价模型.从路面使用性能的特点出发,给出了一种局部惩罚-激励型变权确定方法,并与所建的集对分析模型相结合,采用联系数最大原则,提出了变权综合评价方法,使得评价结果更加客观科学.以天津市两条公路的沥青路面性能评价为例,验证了该评价方法的合理性.     

基于模糊神经网络的高速公路路面质量评价

为提高高速公路沥青路面使用质量的评价精度,将T-S模糊理论与BP神经网络相结合,以高速公路沥青路面的路面状况指数、路面结构强度指数、道路行驶质量指数和路面抗滑性能指数4个检测指标作为输入变量,根据模糊推理规则构建路面质量评价的非线性映射关系,路面检测指标经过模糊神经网络的学习和训练,直至网络输出与期望输出的误差达到最小,去模糊化后得到各路段的精确评价结果,建立了路面使用质量的综合评价模型.用实际检测数据对该模型进行了验证,结果表明:该模型具有模糊系统的逻辑推理能力和神经网络的定量数据处理能力,通过本文方法仿真得到的路面质量的综合评价结果,与期望值的相对误差小于2.1%.      

汽车电涡流缓速器性能的模糊综合评价

在介绍汽车电涡流缓速器结构、工作原理的基础上,分析了其工作特性与使用要求,指出电涡流缓速器性能的5个评价指标,提出一种基于模糊集理论的电涡流缓速器性能综合评价方法,并用实例证明该方法的合理性和有效性.     

基于模糊评价的规则晶胞骨支架结构优选

针对骨组织工程支架性能评价和优选的问题,建立了基于规则晶胞的立方体、球形及圆柱形骨支架模型;选取孔隙率、弹性模量及黏附率为评价指标,通过理论计算和实验测量方法获取支架孔隙率和黏附率,通过有限元仿真分析结果计算支架弹性模量.采用模糊理论对不同结构的骨支架结构进行了性能的评价,优选出立方体结构为最佳骨支架模型,为骨组织工程...     

3-DOF平面微动并联机器人的动-静态建模

在叠加变形原理基础上，利用柔性关节两端的广义力传递关系和位移传递关系，分别对微动并联机器人进行运动学建模和静力学建模，两者相结合构成系统的动-静态模型．对于大多数工作在低速、低频和工作空间较小的微动机器人都是适应的．以3-DOF平面并联微动机器人为例，介绍了整个建模过程和求解方法．相比应用伪刚体法进行的解析建模，模型精度有了大幅度的提高．     

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical require-ments to support RFA.     

六自由度重载装配机械手运动学分析及求解

针对汽车装配生产线作业对重载高精度的自动设备的需求,设计了一种液压驱动的六自由度多功能重载装配机械手。运用Denavi-Hartenberg(D-H)方法构建了机械手的运动学模型,分析了重载装配机械手的工作原理和正、逆运动学求解方法。从机械手的正、逆运动学方程的求解结果可以看出,采用液压方式实现对机械手6个自由度的驱动,具有驱动力大、操作简单、安装准确的特点,可适应多种汽车重载装配的需要。     

A comprehensive evaluation method for kinematic accuracy of space manipulator based on analytic hierarchy process

The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space manipulator systems, flexible arms and joints can induce drastic dynamic instabilities. In applications such as the space station, kinematic error due to structural deformation can jointly affect the performance characteristics. And it is crucial for accuracy control of space manipulator to establish a precision index. Here we analyze the dynamics characteristic of flexible space manipulator considering the hysteresis of harmonic reducer based on method of nonconstraint boundary modal. For the sake of describing the output accuracy, we integrate the method of analytic hierarchy process(AHP) to establish a comprehensive evaluation index. A numerical simulation is performed to analyze the nonlinear dynamic characteristics of space manipulator with harmonic reducer. With the analysis of accuracy assessment, the relation among the hysteresis angle, rigidity and output accuracy is revealed. Considering the elastic modulus of flexible space manipulator and the hysteresis angle of harmonic reducer, we conduct an evaluation of output characteristics of flexible space manipulator with the proposed comprehensive evaluation index. The accuracy evaluation of output characteristics based on the proposed comprehensive evaluation index is implemented in the initial stage of space manipulator’s design, which can not only solve the problems existing in the design but also save cost savings for ground tests. The results can be used in designing and optimizing future space manipulators, which may provide valuable references for design and thermal control of the space manipulator.     

一种新型四自由度并联机构设计与分析

根据放大尺原理构建具有大缩放比的六自由度菱形运动支链和四自由度菱形运动支链,将其作为并联机构组成支链,提出一种具有结构紧凑、工作空间大的新型四自由度并联机器人机构．依据等效替换原理,将菱形机构虚拟轴用传统串联运动支链的实轴替代,得到新型四自由度并联机构的等效模型．利用螺旋理论分析了新型并联机构等效模型各支链的运动螺旋系和约束反螺旋系,确定并联机构动平台具有两个移动自由度和两个转动自由度．     

Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying

Aiming at the workspace calculation problem of multi-joint serial manipulators, a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator workspace. The SEO method is composed of two stages: the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method; the second stage is to overlay these boundary surfaces to identify the final workspace. The SEO method is basically a combination of the analytic method and the numerical method. By delineating the graphic representation of the workspace step by step, the SEO method is easy to analyze the existence and the shape of voids and holes. The basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator. By showing the workspace calculation results, the SEO method is proved working correctly.     

Optimal posture searching algorithm on mobile welding robot

An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model, both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipnlator posture. The calculation result shows that the Mgorithm has high precision.     

Development of a Robotic Cochlear Implantation System

Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system (ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.     

Inverse Kinematics Analysis of Weld Inspection Manipulator at Pipe Joint in Nuclear Industry

A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.