改善Fe-B-C合金韧性的研究

为了提高Fe-B-C合金的韧性,应用稀土-钛-氮复合变质剂改善Fe-B-C合金组织和性能。结果发现,Fe-B-C合金复合变质处理后的凝固组织明显细化,且组织分布均匀,并出现钛硼化合物,钛硼化合物不同于普通Fe-B-C合金中的Fe2B呈网状分布,而是呈断网状和块状分布,特别是经高温热处理后,硼化物变成球状和棒状,Fe-B-C合金韧性明显提高,由8～10 J/cm2提高至22～25 J/cm2。经变质处理的Fe-B-C合金可用于制造轧钢机导卫板,其耐磨性比高镍铬合金钢提高1.3倍。     

The in vivo and in vitro corrosion of high-purity magnesium and magnesium alloys WZ21 and AZ91

Corrosion was studied in vitro in Nor’s solution (CO₂ – bicarbonate buffered Hank’s solution) at 37 °C, and in vivo implanted in the lower back muscle of rats. Nor’s solution is a good model for HP Mg and WZ21, because (i) the pH is maintained by the same buffer as in blood and (ii) concentrations of corrosive chloride ions, and other inorganic constituents, are similar to those in blood. The higher in vitro corrosion rate of AZ91 was caused by micro-galvanic from second phases. The lower in vivo corrosion rate of AZ91 was tentatively attributed to suppression of micro-galvanic corrosion by tissue encapsulation.     

Corrosion and electrochemical evaluation of an Al–Si–Cu aluminum alloy in ethanol solutions

The corrosion of aluminum alloy AlSi8Cu3Fe(Zn) in ethanol and ethanol solutions containing 10 vol.% water and 10 vol.% acetic acid, respectively, was investigated by means of electrochemical impedance spectroscopy (EIS), polarization curve, immersion, optical microscopy, scanning electron microscopy and element mapping. The Al alloy in the ethanol and its solutions exhibited a capacitive loop in the measured Nyquist EIS spectra at high frequencies, which can be attributed to the ethanol’s dielectric response. Addition of 10 vol.% acetic acid increased the ethanol corrosivity more significantly than the same amount of water addition. The Al–Si–Cu–Mg precipitated zones in the alloy were susceptible to corrosion attack due to the micro-galvanic effect by the Cu-containing precipitates.     

Digital placement system of a lateral tensioning rod during the formation of flexible-oriented three-dimensional composite preforms

The placement of a lateral tensioning rod is the main event during the formation of a flexible-oriented three-dimensional composite preform. Inaccurate placement can result in defective fiber weaving, degrading the overall quality of the preform. Furthermore, the manual execution of this task is time-consuming and ineffective. In this study, an automatic and digital placement method and mechanism are proposed to address these problems for the first time. In particular, an image processing method is proposed to recognize the placement region, where the geometric features are irregular and the feature differences are neglectable compared to the background. The placement position is then detected using a single industrial endoscope and the similar decision theorem of triangles. Furthermore, the proposed method and mechanism are applied to a digital placement system. The lateral tensioning rod can be accurately placed, as the relative error between the actual and ideal placement positions is within 0.5 %. The proposed method, therefore, automatizes the manual task and is essential in the development of preform formation toward digital manufacturing.     

上肢康复训练轨迹定制优化及柔顺跟踪控制

卒中后早期的被动康复训练可以促进患者脑神经重塑甚至重获肢体运动能力。针对多数上肢康复机器人将参数化规则曲线作为被动训练的轨迹,没能融合康复医师的经验及患者的个体特征,或者缺乏三维个性轨迹的光滑优化以及训练过程中的安全柔顺交互的问题。本文基于新型末端牵引式3自由度上肢康复机器人开展轨迹个性化定制优化以及跟踪控制研究。首先,在笛卡尔空间应用导纳算法及力补偿策略实现理疗师对轨迹的定制。然后,用道格拉斯-普克法压缩原始轨迹数据得到型值点,保留初始轨迹的拓扑形状。用非均匀有理B样条曲线(NURBS)进行插值,并融合动态切换概率和t变异改进蝴蝶优化算法(BOA)优化拟合的轨迹。最后,设计基于RBF网络的滑模自适应以及速度前馈加PID的控制策略实现末端轨迹跟踪,并增加导纳-阻抗控制形成基于力阈值的多模式柔顺跟踪控制,保证较大人机交互力时的安全。结果表明定制机器人末端轨迹的拖动力在5N以内;改进的BOA算法具有更高的收敛速度和精度,优化的轨迹曲率和更小;轨迹跟踪控制策略可以将跟踪误差控制在6mm内;模式切换在0.3s内响应并顺应较大交互力而提高训练的安全性。     

Corrosion behaviour in salt spray and in 3.5% NaCl solution saturated with Mg(OH)2 of as-cast and solution heat-treated binary Mg–RE alloys: RE = Ce,La, Nd,Y, Gd

Corrosion behaviour was characterised in salt spray and in 3.5% NaCl solution saturated with Mg(OH)₂ of as-cast and solution heat-treated binary Mg–RE alloys. The corrosion rate in the immersion test for the solution heat-treated Mg–RE alloys was substantial, and was greater than that of high-purity Mg. These corrosion rates were probably caused by the particles in the microstructure and/or by Fe rich particles precipitated during the solution heat-treatment. The corrosion rate in the immersion tests for each as-cast Mg–RE alloy was greater than that of high-purity Mg, attributed to micro-galvanic acceleration caused by the second phase. Corrosion rates in salt spray had a general correlation with corrosion rates in the immersion tests, but there were differences. The values of apparent valence were always less than 2 consistent with Mg corrosion being only partly under electrochemical control.     

基于非线性动态特性的轴承–转子系统振动分析

随着空气静压主轴在超精密加工过程中的广泛应用,对主轴的运动精度的要求不断提高,如何准确预测和提高主轴运动精度是十分必要的。基于空气静压轴承的非线性动态特性,研究空气静压主轴的振动特性和预测模型,探索非线性动态特性分析对主轴回转精度的影响。首先,对空气静压径向轴承的动态特性进行分析,建立气膜动态流动模型,采用扰动法求解模型得到轴承的非线性动刚度与动阻尼系数。将空气静压轴承内的气膜作为弹簧阻尼系统建立轴承–转子系统,并通过动力学分析建立了轴承–转子的动态振动模型。将轴承的非线性动态特性参数引入振动模型,结合MATLAB对模型进行求解,得出了空气静压主轴径向跳动误差曲线、偏转误差曲线和径向总振动误差曲线,并通过FFT数据处理对振动进行频域分析。通过对比分析得到非线性分析对空气静压主轴径向振动误差的影响。最后,搭建了空气静压主轴径向回转误差测量试验台,得到主轴实时回转误差信号,实现轴承–转子系统的振动动力学模型分析的实验验证。从空气静压径向轴承的动态分析可以看出,轴承的动刚度和动阻尼均呈非线性变化,随着偏心率的增加动刚度不断增加,而动阻尼不断减小。从轴承–转子系统的振动分析可以看出：1）非线性分析对主轴偏角振动误差有明显影响,而对径向跳动误差的影响不明显,说明非线性分析主要通过影响主轴的偏角误差从而影响径向总误差。2）定值分析时偏角误差的最大振幅基本稳定,而非线性分析时偏角误差的最大振幅存在一个增加过程并最终趋于稳定,并且非线性分析时最大振幅明显大于定值分析时的振幅。3）在供气开始一段时间内,非线性分析与定值分析下的径向总误差基本一致,但随着时间的增加,非线性分析下的最大振幅大于定值分析下的最大振幅,说明开始供气时非线性分析对径向跳动误差和偏角误差没有造成明显影响,当供气稳定时非线性的动刚度与动阻尼会对主轴转子振动幅度产生明显影响。4）从频域上看,非线性分析最大振幅处的共振频率为964 Hz,定值分析最大振幅处共振频率为986 Hz,非线性分析使最大振幅处的共振频率有所下降。5） 非线性分析和定值分析在频率高于1 500 Hz时,转子的振幅变化都很小,说明频率大于1 500 Hz之后,转子振动比较稳定,此时气膜的振动频率与固有频率不容易发生共振。空气静压主轴回转误差实验的结果表明,基于非线性分析所得的主轴径向回转误差的误差率比定值分析所得主轴径向回转误差的误差率降低了1.43%～6.54%。因此,将空气静压径向轴承内气膜作为弹簧阻尼系统施加于转子之上可以实现轴承–转子系统的耦合振动分析,轴承非线性动态特征参数的引入实现了轴承动态性能对主轴动态振动的影响,通过基于非线性动态特性的轴承–转子系统的振动分析可以更加准确地研究和预测空气静压主轴的径向振动误差。     

A general approach for the machining quality evaluation of S-shaped specimen based on POS-SQP algorithm and Monte Carlo method

In S-shaped specimens which are frequently used to reflect the machining ability of machine tools, the surface error refers to the distance between the points on the actual machining surface to their relevant points on the design surface. The proper measurement of this error is crucial for evaluating the machining quality of S-shaped specimens. During the process of error measurement, improper registration between the measurement coordinate system and the design coordinate system, as well as neglected uncertainty remain the main obstacles for the quality evaluation of S-shaped specimens. This study proposes a general method for the high-precision machining quality evaluation of S-shaped specimens that overcomes both problems. By applying the non-uniform rational B-spline (NURBS) surface molding technology, the surface of S-shaped specimen was reconstructed. Based on the minimum area principle and the particle swarm optimization-sequential quadratic programming (POS-SQP) algorithm, a surface error model of S-shaped specimen was developed. This model minimizes the maximum distance of the transacted measurement points to the design surface. It can be used to obtain the optimal registration matrix of the measurement coordinate system, with minimal surface error of S-shaped specimen. Additional common algorithms were also adopted to search the optimal registration matrix for comparison. Accounting for the random characteristics of basic parameters and the nonlinearity of surface error model, an uncertainty model of the surface error of S-shaped specimen was established based on the Monte Carlo method. This could obtain the actual tolerance zone of the surface error, according to which, the allowable tolerance zone of the surface error was optimized and a defined evaluation result of machining quality of S-shaped specimen was obtained. Then, a general approach for the evaluation of the machining quality of S-shaped specimen was developed based on POS-SQP algorithm and Monte Carlo method. This approach was implemented in a case study though a series of experiments. The experimental results identified the proposed approach as effective in improving the measurement quality and the evaluation of the machining quality of S-shaped specimens can thus be performed within an allowable tolerance zone.     

压电活齿传动输出转矩优化分析

随着科技的迅速发展,传统机械传动已无法满足工程实际需求,机电集成压电活齿传动是一种集压电驱动、活齿传动和谐波传动于一体的新型复合传动,该传动具有大传动比、低速、大转矩等优点,在航空航天、微型机器人、精密定位等高端技术领域具有及其重要的应用前景。在分析压电活齿传动系统工作原理的基础上,由压电材料的非线性输出特性和活齿传动静力学关系,推导出压电活齿传动系统各构件的受力方程。根据力和转矩的关系,得出传动系统输出转矩方程。运用机械优化设计理论和方法,分别确定输出转矩优化系统的设计变量、目标函数和设计约束,并建立压电活齿传动系统的输出转矩优化数学模型。通过数值算法给出传动系统输出转矩随激励电压和活齿架转角的变化规律,利用Matlab软件求解输出转矩优化结果,并对比优化前后参数的变化及转矩随参数的变化的规律。结果表明：传动系统输出转矩随激励电压成正比例变化,随活齿架转角以π/435为周期发生周期性变化;优化后传动系统的最大输出转矩为0.91 Nm,比初始设计转矩提高了111.63 %;设计变量中波发生器偏移量在优化前后的改变量最大。可见,输出转矩优化使得压电活齿传动系统的承载能力得以提升。研究结果为压电活齿传动系统结构的改进和性能提升奠定理论基础。     

速度滑移下液压主轴轴心轨迹动态研究

基于载荷增量法和扰动压力法,研究液体液压主轴系统的动态性能。通过有限差分法求解计入微尺度速度滑移效应的不定常油膜压力分布的雷诺方程,并得出非线性油膜力。应用载荷增量法和扰动压力法求解反映油膜动态特性的4个动态刚度和阻尼系数,并用于转子轴心轨迹的动力学描述,求解存在偏心质量下的转子轴心轨迹,实现液压主轴系统的流-固耦合分析。研究结果表明：速度滑移对液压主轴的动态刚度和阻尼性能造成了一定的影响。动刚度系数K_xx、K_xy、K_yx和K_yy受滑移影响降低的最大比率分别为4.85%、4.85%、7.20%、7.16%,速度滑移降低了油膜阻尼系数C_yx、C_xy和C_yy,阻尼系数C_xx受滑移影响比较复杂;随着转子偏心质量距的不断增加,主轴轴心运行轨迹在不断扩大,系统的稳定性不断降低。最后,通过液压主轴回转精度实验验证了轴心轨迹模型的正确性和有效性。