An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base

Nowadays, light-weight manipulators are widely adopted in many applications requiring manipulation/interaction with compliant/fragile objects. Reduced inertia and controlled compliance, indeed, make such manipulators particularly attractive when compliant mountings (or mobile platforms) are adopted and contact force overshoot may compromise the application. The here presented work proposes the design of a force-tracking controller for interaction tasks allowing to systematically avoid any force overshoot for lightweight robots mounted on compliant bases. The developed algorithm allows to compensate for the compliant robot base dynamics that affects the interaction. The control gains are calculated to track a target force reference through the estimation of the robot base state and the interacting environment stiffness. Closed-loop stability and control gains calculation are described. The control law has been validated in a probing task involving a compliant robot base and a compliant environment to show the obtained performance.     

收尘用高压电源的比较分析和优化设计

为使电场强度满足工况要求,粉尘荷电效果理想,特分析了不同高压电源的技术特性,在此基础上设计了由4个电场组成的静电收尘设备并加以优化,其第一个电场由高频高压脉冲电源供电,其余电场由适合高比电阻的恒流源供电.经投入运行证明相关分析符合实际情况,该项设计满足使用要求.     

Mechanical behavior of carbon fiber reinforced polymer composite sandwich panels with 2-D lattice truss cores

Composite sandwich structures with lattice truss cores are attracting more and more attention due to their superior specific strength/stiffness and multi-functional applications. In the present study, the carbon fiber reinforced polymer (CFRP) composite sandwich panels with 2-D lattice truss core are manufactured based on the hot-pressing method using unidirectional carbon/epoxy prepregs. The facesheets are interconnected with lattice truss members by means of that both ends of the lattice truss members are embedded into the facesheets, without the bonding procedure commonly adopted by sandwich panels. The mechanical properties of the 2-D lattice truss sandwich panels are investigated under out-of-plane compression, shear and three-point bending tests. Delamination of the facesheets is observed in shear and bending tests while node failure mode does not occur. The tests demonstrate that delamination of the facesheet is the primary failure mode of this sandwich structure other than the debonding between the facesheets and core for conventional sandwiches.     

Influence of bolt configuration and TiO2/ZnS fillers content on the strength of composites fasteners

In the present work, an attempt has been made to investigate the strength of bolted fasteners and hybrid fasteners under tensile loading for unfilled, TiO₂ and ZnS filled Glass Fabric Reinforced Polymer Matrix Composites (GFRP). Bolt configurations were chosen as 2, 3 and 4, in order to analyze the effect of number of bolts on the strength aspect. For filled GFRP composites, the volume fractions in the matrix were chosen as 1%, 2% and 3%. The result obtained shows that, the static tensile strength of the GFRP composites increases with increase in number of bolts. Specimens with 4 bolt configurations have shown significantly more absorption of load before failure of the joint. Hybrid fasteners are more sustainable to failure than bolted fasteners. Also it is noticed that, the strength of the composites increases with raise in TiO₂ and ZnS fillers content up to 2 vol.%. In comparison with TiO₂ and ZnS filled composites, it was found that ZnS filled composites bears more load.     

A data reduction method based on the J-integral to obtain the interlaminar fracture toughness in a mode II end-loaded split (ELS) test

Various difficulties arise in the data reduction of the end-loaded split (ELS) test. On one hand, a small Fracture Process Zone (FPZ) at the crack front is assumed in the existing mode II end-loaded split test methodologies based on Linear Elastic Fracture Mechanics (LEFM). However, mode II fracture has been reported to involve large FPZ and a fuzzy crack tip. Furthermore, the ELS test, is usually affected by geometrical non-linearities.This work proposes a closed-form solution based on the J-integral to determine the interlaminar fracture toughness in an ELS test. This solution avoids the need to measure the crack length, and is applicable when a large FPZ is present, as occurs in adhesive bonded joints between CFRP. In addition, because the ELS test involves large vertical deflections, a correction of the formulation for large displacements has been implemented.This new methodology has been compared to other methods available in the literature based on LEFM by means of an experimental campaign of delamination tests using unidirectional CFRP specimens in order to make a first validation of the method.     

Numerical studies on controlling of process parameters in friction stir welding

A thermo-mechanical model is developed to predict the material deformations and temperature histories in the friction stir welding (FSW) process. Based on this model, the effects of the welding parameters on temperatures and material behaviors are investigated. Numerical results indicate that the maximum temperature in the FSW process can be increased with the increase of the rotating speed. The increase of the welding speed can lead to the obvious increase of the efficient input power for FSW system. The material particles on the top surface do not enter into the wake and just pile up at the border of the wake at the retreating side and this is the reason for the formation of the weld fash in FSW. Both the increase of the rotating speed and the decrease of the welding speed can lead to the increase of the stirring effect of the welding tool, which can improve the friction stir weld quality. But when the rotating speed is increased, the weld fash becomes more obvious. When the welding speed becomes higher, the rotating speed must be increased simultaneously to avoid any possible welding defects such as void. The simultaneous increase of the rotating and the translating speeds of the welding tool can lead to the increase of the residual stress.     

水下垂直发射航行体尾空泡振荡演化特性

为研究水下垂直发射航行体尾空泡的瞬态振荡演化特性,及其对航行体流体动力、航行体上游流动的影响,基于势流边界元,提出了附着尾空泡航行体流场的瞬态计算方法。通过对垂直向水面运动的尾空泡瞬态振荡过程开展数值计算,分析尾空泡振荡对上游物面压力、沾湿区阻力以及空泡发展3方面的影响规律。结果表明：尾空泡振荡会引起上游物面压力在随环境静压下降的同时叠加一定幅值的压力波动,压力波动在空间上呈近似指数分布,越接近尾空泡的位置,压力波动越大;尾空泡振荡使得航行体沾湿区的阻力呈现在振荡中逐渐增大的变化趋势;尾空泡的振荡会导致肩空泡发展速度相比无振荡状态减缓,同时泡内压力和末端回射压力峰值偏大。     

推力和阻力作用下柔性自旋飞行器稳定性分析

针对柔性自旋飞行器动力学问题,开展了在推力和阻力作用下动力稳定性研究。柔性自旋飞行器简化为非均匀、自由-自由的Timoshenko回转梁模型,基于转子动力学理论和有限元方法,考虑陀螺效应,在瞬态坐标系下建立了推力和阻力作用柔性自旋飞行器的横向振动方程。在平均轴系和瞬态坐标系下分别从自旋转速、推力和阻力3个方面,分析了自旋飞行器动力稳定性和横向振动响应效应。研究结果表明：在瞬态坐标系下,阻力能够提高自旋飞行器稳定性,自旋转速不改变失稳区域;与之相反,在平均轴系下,阻力能够降低自旋飞行器稳定性,使临界推力和临界转速减小;自旋转速能够增大失稳区域,使静态失稳变为动态失稳;转动惯量和剪切效应能降低系统稳定性,相比于转动惯量,剪切效应影响更大,特别是对2阶频率影响。