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.     

Substructuring technique for dynamics analysis of flexible beams with large deformation

In this paper, the substructuring technique is extended for the dynamics simulation of flexible beams with large deformation. The dynamics equation of a spatial straight beam undergoing large displacement and small deformation is deduced by using the Jourdain variation principle and the model synthesis method. The longitudinal shortening effect due to the transversal deformation is taken into consideration in the dynamics equation. In this way, the geometric stiffening effect, which is also called stress stiffening effect, is accounted for in the dynamics equation. The transfer equation of the flexible beam is obtained by assembling the dynamics equation and the kinematic relationship between the two connection points of the flexible beam. Treating a flexible beam with small deformation as a substructure, one can solve the dynamics of a flexible beam with large deformation by using the substructuring technique and the transfer matrix method. The dynamics simulation of a flexible beam with large deformation is carried out by using the proposed approach and the results are verified by comparing with those obtained from Abaqus software.     

Dynamic investigation on composite flexible multi-body system considering thermal effect

The dynamic performance of composite flexible multi-body system under the simultaneous action of thermal fields and driving constraint is analyzed. Based on strain-displacement relation of the Mindlin plate theory which includes transverse shear deformation, and considering thermal effect, variation equations of laminated plate are derived by the principle of virtual work. The finite element method is used for discretization. According to kinematics constraint relation, dynamic equations for spatial slider-crank system are established. Simulation results show that spatial deformation (torsion deformation) appears in the multi-layered composite slider-crank mechanism which is simulated with planar motions. Furthermore, the influence of coupling between thermal expansion and flexible deformations of non-symmetrical composite plates on the large overall motion under the uniform temperature field is investigated. Finally, significant change in constraint force due to the spatial deformation is shown.     

平面冗余并联机器人的综合性能优化设计

对平面二自由度冗余并联机器人的综合性能优化设计进行了探讨.基于运动学模型,给出了该机器人的雅可比矩阵和最优拓扑构形,分析了结构参数对工作空间和奇异性的影响规律.提出了衡量机器人运动精度、力传递性能、结构刚度和工作空间利用率的综合评价指标,建立了以综合评价指标为目标函数,以任务空间和无奇异位形为约束条件的数学优化模型,并采用自适应遗传算法求解.研究为同类机器人的优化设计提供了参考.     

柔性路面路基土的永久变形

提出了一种柔性路面路基土在车辆重复轴载作用下的永久变形的计算方法,采用现行路基路面设计理论中将应力分析和应变分析分别处理的通行准则,结合本文作者提出的一个路基土永久变形特性的实用模型,给出了计算永久变形的步骤并演示了一个算例,还分析了路基土的永久变形对柔性路面结构中两种常见损伤模式的影响。     

Nonlinear Dynamic Analysis of Three Dimensional Flexible Multibody Systems

The nonlinear dynamic problems of three dimensional flexible multibody systems are investigated. The elastic deformation fields of flexible space beams are decomposed into axial deformation and bending deformation, and described by each exact vibration modes in the body coordinate systems. The constrainted nonlinear dynamic equations are derived by using Lagrange multiplier method. A numerical procedure for solving the resulting differential algebraic equations is presented based on Newmark direct integration method combined with the modified Newton-Raphson iterative method. Numerical results verify the effectiveness of the proposed method.     

结合双向光流约束的特征点匹配车辆跟踪方法

针对复杂交通场景中动态光照变化、目标尺度变化和部分遮挡等因素带来的影响,提出了一种基于特征点的稳定可靠的车辆跟踪方法.针对运动车辆高速行驶时具有较大帧间运动的特点,构造KLT算法的金字塔模型,根据前向和后向跟踪偏移量,对稳定性较差的特征点进行剔除.同时,采用SURF特征匹配算法对目标特征点集进行更新和校正.最后,利用特征点之间的位置信息,确定目标的尺度和旋转变化因子,从而实现当前帧中目标区域的定位.实验结果表明,提出的车辆跟踪方法可以有效地解决复杂场景中目标形变和部分遮挡等问题,对尺度和旋转变化也具有较强的鲁棒性.     

柔性双层隔振系统振动能量解耦方法及应用

为解决难以利用能量解耦法设计柔性双层隔振系统的问题,提出一种能够表示柔性设备和中间质量弹性模态特点的多自由度模型;基于该模型,提出采用广义弹性力对柔性隔振系统进行解耦的方法,并推广到柔性结构中;以某内燃动车动力总成双层隔振系统为例,基于所提方法探讨了构架弹性模态下刚体振动与弹性振动的耦合情况;最后通过振动实验台验证了该方法的有效性.研究结果表明：机组一级隔振系统垂向频率从12 Hz降低到8 Hz后,系统所有模态频率均得到不同幅度的下降,前两阶刚体振动模态频率下降最明显,分别下降50.00%和49.98%;构架弹性模态频率比机组弹性模态频率更低,影响更大,构架弹性模态频率下降8.32%,机组弹性模态频率下降0.80%;在构架弹性振动模态振动中,构架弹性振动能量所占比例提高14.88%,刚体振动能量所占比例降低90.64%,降低一级隔振系统垂向频率能够提高振动解耦效果,减少振动传递.     

一般半刚性节点连接框架结构分析方法

研究对象为任意节点连接和任意支撑的平面框架。一般梁单元由等截面直杆及其杆端的轴向弹簧、切向弹簧和转动弹簧组成,推导得到此类单元的刚度矩阵、单元在8种基本荷载作用下的等效节点荷载。采用Matlab语言编写了适用于一般节点非线性连接框架的静力分析程序,非线性形式为指数函数或多项式函数,可以得到结构不同连接刚度下的节点位移、杆端位移和杆端力。算例显示出节点柔度对结构受力和变形的影响。     

软岩高边坡多级框架锚杆设计计算方法

针对加固软岩高边坡多级锚杆框架现有设计计算方法的不足,基于多级框架锚杆加固边坡机理,确定不同的边坡破坏模式.在此基础上,在给定的设计安全系数下,通过分析边坡稳定性确定锚杆设计拉力;进而考虑锚杆与框架梁以及框架梁与坡体之间的相互作用,根据静力平衡和变形协调关系并采用Winkler地基模型计算梁的设计内力;由此建立了多级框架锚杆的一种新的设计计算方法,并通过室内模型试验验证了所提方法的合理性.研究结果表明,作用于各级坡框架梁的坡体压力,整体上具有“中间大,两端小”的抛物线型分布特点.      

基于刚度等效模型的减重孔板结构快速分析方法

为了能够更有效率地对减重孔板结构进行计算分析, 提出一种快速分析方法; 研究了减重孔板结构模型与平面板结构模型间的一般刚度等效关系, 建立了减重孔板孔径、孔距与相应平面板等效杨氏模量、等效板厚间的关系表达式, 以等效平面板结构模型代替原孔板结构模型进行变形分析; 将局部节点位移施加到相应目标孔位模型上, 计算了目标孔位区域的应力分布; 结合试验与仿真验证了方法的准确性; 通过对某实际减重孔板结构施加不同载荷, 对刚度等效关系的稳定性进行了验证; 通过某车体底架带孔板结构实例, 对方法应用于实际工程中的有效性进行了验证。分析结果表明: 与试验结果相比, 快速分析方法仿真变形最大误差约为3%, 应变的最大误差约为5%;不同载荷下的等效杨氏模量偏差约为2.5%, 等效板厚的偏差约为1.3%;快速分析方法对变形与局部应力的平均计算误差小于6.7%, 计算时间缩短了约50%。可见, 快速分析方法可以替代传统方法对减重孔板结构进行性能分析。      

小车架为弹性结构时门式起重机的动态特性研究

根据集装箱门式起重机小车轨距大的特点,建立了小车架为弹性结构时门式起重机的3个质量3个自由度串联弹性动力学系统振动模型,用模态分析法获得系统动态特性的数值精确解,并以实例计算结果与传统的双质量系统进行了比较,得到了小车架、桥梁结构和绳滑轮系统3者不同的动载系数值。     

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．     

沥青路面土基永久变形预测

首先简要综述了车辆循环荷载下柔性路面路基变形的研究现状；然后，基于南非重车加载试验数据建立了一个简单的计算模型来预测柔性路面路基的永久变形量．该模型可以全面考虑路基材料特性、路基土在车辆荷载作用下的应力应变状况和荷载作用次数；最后，以一个柔性路面为例，应用该模型对循环荷载下的路基变形发展进行了预估。     

Stability Study of Cable-Suspended Stewart Platform

The control stability of the end manipulator of a cable-suspended Stewart platform in disturbance was studied by combination of the multi-body system dynamics and control theory and the eigensystem realization algorithm (ERA). The corresponding closed-loop vibration control strategies were suggested based on position prediction with PD (proportional plus derivative) control.Numerical simulation was made on a scale model to study the vibration control effects of the stewart platform with flexible suspension, including system response to step load, system response to cyclic load, and instability. Then, experiments for Stewart platform with cable suspension were designed to study the actual control effects and validate the validity of numerical simulation. The results show that the experimental results agree with the simulation results well, and the the system has a fairly good control effect to the end manipulator. Therefore, a preliminary conclusion can be made that it is feasible using the Stewart platform as the vibration control platform of the flexible support system, by position prediction of the base platform and PD feedback control law.     

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。     

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.     

某越野车车架耐撞性仿真分析

依据C-NCAP中100%重叠正面冲击固定刚性壁障试验规定,应用HyperWorks软件建立某越野车车架正面碰撞仿真计算模型,并应用ANSYS/LS-DYNA软件进行求解计算。在此基础上,对某越野车车架进行耐撞性仿真研究,并从车架碰撞变形、碰撞加速度和碰撞速度等方面对仿真结果进行分析。结果表明,车架前部纵梁发生理想的纵向有序的褶皱变形,车架类S型梁的拐角部分发生弯曲变形,且碰撞加速度曲线和碰撞速度曲线并非理想,说明车架结构有改进空间。     

大跨度连续刚构桥施工中的变形控制研究

本文结合工程实例,对采用分节段悬臂浇筑施工的大跨度连续刚构桥梁结构施工过程中的变形控制进行了研究．介绍了变形控制过程并提出了控制实现的方法。实桥变形监控的结果,证明了本文所提方法的正确性和有效性。