双机器人系统运动协调仿真与实验研究

针对具有重量大、形状不规则特征的物品,采用双机器人协同作业是该技术领域的研究热点问题之一。运用ADAMS软件对双机器人虚拟样机进行运动学仿真分析,模拟空间搬运轨迹,对DREE末端点的运动轨迹曲线进行同步误差分析。搭建了实验平台,对双机器人同步搬运箱体进行实验验证。实验结果表明:双机器人协作搬运箱体时,在水平方向和垂直方向的轨迹误差均小于±2.8mm,较好地满足同步搬运作业工艺要求。     

里底水电站混凝土强度与波速线性关系研究及应用

混凝土工程是电站枢纽工程最重要的组成部分之一,是工程安全的基础和保障,确保混凝土实体质量、杜绝混凝土质量缺陷是电站安全稳定运行的基本保证。随着声波检测技术水平的提高,并已在大坝混凝土工程中得到广泛应用。通过大量混凝土实测抗压强度和声波波速值对比试验的数理统计分析,建立工程专用测强曲线,能有效提高混凝土抗压强度推算值的准确性,较真实地反映混凝土实体质量水平。     

Predictions of frame compliance and apex morphology in sharp nanoindentations

If all components in a nanoindentation system are well calibrated and a reference material has unique hardness, H and reduced modulus, E_r independent of the indentation depths, the load, L and the penetration depth, h in the indentation loading curve of the reference material can be correlated by L=Kh². Here the constant K is expressed by H, E_r and indenter geometry constants. By using H and E_r of a fused silica and the Berkovich geometry, an analytical expression for the indentation loading curve could be derived. To compare with this analytical loading curve, experimental indentation data were measured with two commercial nanoindenters. The experimental loading curves shifted leftward or rightward from the analytical loading curve and this depth deviation was attributed to improper calibration of the nanoindenters. Quantitative calibrations of frame compliance and indenter bluntness were tried for the raw nanoindentation data and this resulted in consistent nanoindentation data regardless of the used nanoindenters.     

A new approach of fatigue life prediction for metallic materials under multiaxial loading

Based on experimental data found in literatures, four traditionally multiaxial fatigue life criteria are analyzed and verified. It is discovered that these conventional criteria cannot reflect well the combined effect both under tension and torsion loadings for some materials, such as 6082-T6 and AlCu4Mg1, due to lack of enough consideration about the influence of stress amplitude ratio and stress level on fatigue life even under proportional loading. In order to solve this problem, a new approach of fatigue life prediction, based on the equal-life curve, is proposed and it is composed of three parts: the multiaxial fatigue life surface, a new path-dependent factor for multiaxial high-cycle fatigue and a material parameter describing material sensitivity to non-proportional loading. Finally, the precision of the presented approach is systematically checked against the experimental data found in literatures for four different materials under proportional and non-proportional loadings.     

Simulation and validation of a hybrid-power gas engine heat pump

Hybrid-power gas engine heat pump (HPGHP) combines hybrid power technology with gas engine heat pump, which can keep the gas engine working in the economical zone. In this paper, a steady-state model of the HPGHP in heating condition has been established, the optimal torque curve control strategy is proposed to distribute power between the gas engine and battery pack. The main operating parameters of the HPGHP system are simulated on Matlab/Simulink and validated by experimental data, such as operating temperature, coefficient of performance (COP), fuel-consumed rate, etc. Heating capacity and COP of the heating pump system are validated under different ambient temperatures and water flow rates. The simulation and experiment results shows acceptable agreement, the maximum difference is respectively 8.9%, 5.9%, 9.5% and 8.2% for engine torque, motor torque, reclaimed heat and fuel-consumed rate. Based on the simulation results, HPGHP has the lowest fuel-consumed rate of 283 g (kWh)⁻¹ at engine speed of 3000 rpm; the PER of HPGHP system is about 15.9% and 11.4% higher than the GHP under the same load in Mode C and D.     

基于数理统计的高精度CO2传感器校正方法

对工程中求取可靠的插值节点提出一种基于数理统计的方法。对足够的稳态数据进行卡尔曼滤波处理,把经过滤波后的稳态数据进行概率分布分析后,通过拟合优度检验判定测量数据的分布类型并求出合理值(数学期望)作为插值节点。以此方法处理检测区间内的采样点,得出传感器特性曲线。对某种CO2数字传感器进行实验验证,通过与传统的求均值方法进行比较,结果表明:该方法能够更加精确地估计出真实值,比普通均值拟合精度提高13%。     

离心泵与滑片泵流量脉动特性及串联实验研究

对离心泵和滑片泵的流量脉动特性进行研究,探讨两泵串联运行的可行性。然后建立以离心泵为前级泵、滑片泵为后级泵的串联实验平台,通过改变串联中间管路阻力和滑片泵的出口管路阻力对滑片泵的运行特性进行实验研究,实验结果表明:泵与管路所构成的系统流量小于或接近滑片泵的理论流量时,系统才能正常工作,否则会造成整个系统的流量和压力脉动;不可改变串联中间管路阻力,以免滑片泵偏离正常工作状态;可通过改变滑片泵的出口管路阻力调整泵和系统运行参数。     

高延性水泥基复合材料的断裂性能分析

实验测试了不同纤维掺量下的高延性水泥基复合材料的载荷—挠度曲线,并对试件加载过程中的声发射信号进行收集,分析了试件断裂后的裂纹分布及纤维在基材中的破坏形式。结果发现:(1)当纤维体积掺量2.0%时,水泥基材的极限挠度、极限抗弯承载力分别可达20.16mm、19.47MPa;(2)高延性水泥基复合材料破坏主要来自于微裂纹的萌生、扩展以及损伤积累过程,试件从加载至完全破坏的时间为素水泥基复合材料破坏持续时间的2~5倍;(3)高延性水泥基复合材料中纤维的破坏以纤维被拔出和纤维被拉断两种模式,试件表现出明显的多缝开裂特征。     

泵并联运行流量增量的影响因素与并联运行设计的初探

通过对福建LNG接收站现有管路特性曲线和3台海水泵并联运行流量-扬程曲线的形状进行分析,分析了影响泵并联运行时流量增量的因素,以及泵并联运行时可能出现的过载问题,在此基础上提出了福建LNG接收站工艺海水泵并联运行设计时应该注意的问题,为并联运行工艺海水泵的设计和选型提供参考。     

水泥及其原材料中碱含量的检测技巧

碱含量的检测是水泥生产和质量控制的重要环节,火焰光度法的检测过程较为复杂繁琐,极易产生误差。简要叙述了火焰光度法检测碱含量的方法原理、检测步骤、结果处理、影响因素及检测技巧等,并重点分析了提高检测准确性的方法和技巧。