Φ177mm PQF无缝管连轧机前横移系统改进

对鞍钢股份无缝钢管厂连轧机前毛管坯横移装置存在的设计缺陷进行了分析,并提出改进方案,将原横移装置由高架轨道横移机构及上下升降链传动装置,改进为地面轨道横移系统及同步旋转臂实现取管、放管过程。实施后消除了生产故障,缩短了轧制周期,降低生产成本。     

45号钢二次枝晶臂间距与冷却速度的关系

本文利用可控平均冷却速度的单向凝固实验炉测定了４５号钢在不同平均冷却速度下的冷却曲线，由此得到其在凝固期间的平均冷却速度Ｒ，相应地测量了不同平均冷却速度下试样的二次枝晶臂间距Ｓ２，通过回归，得到了如下关系式：Ｓ２＝７２７Ｒ－０．４１，并将引式成功地应用于实际生产中。     

基于旋量和臂形标志的机器人运动学逆解计算

讨论了用旋量和指数积公式计算PUMA类型6自由度机器人运动学逆解的方法。在子问题的计算过程中，通过引入臂形标志来选取关节变量的合理解，以得到运动学逆解的唯一解。这种方法避免了对无效解的计算，可以减少计算量，提高计算效率。通过一个实验机器人的运动学逆解计算验证了算法的有效性。     

宣钢棒材加热炉悬臂辊道的改进

对宣钢棒材加热炉出入炉悬臂辊道漏水、烧损等现象进行了分析，提出了改进措施。     

悬臂式掘进机截割臂互换性设计

针对现有掘进机多采用单一的横轴式或者纵轴式整机,对不同岩层掘进工作的适应能力差等问题,提出一种面向不同岩层的掘进机截割臂互换性设计方案。对纵、横轴式2种掘进机的结构特点与性能进行了对比分析;针对2种截割臂工作模式的特点,分别设计了相应的截割减速器。Solidworks仿真结果表明,与单一横轴式或者纵轴式掘进机相比,采用互换式截割臂结构可有效提高掘进机对不同岩层截割工作的适应能力,提高掘进效率,节省设备运输及使用成本。     

凝固速率对定向凝固合金DZ22枝晶臂间距和枝晶偏析的影响

采用新研制的超高梯度定向凝固装置，研究了不同凝固速率下定向凝固高温合金ＤＺ２２枝晶臂间距和枝晶偏析。结果表明，冷运速率增大，枝晶臂间距显著细化，枝晶偏析被强烈抑制。当冷运速率为５２．４Ｋ．ｓ＾－１时，一次、二次枝晶臂间距λ１和λ２分别为２８．８和８．４μｍ，Ｎｂ，Ｔｉ，Ａｌ，Ｃｒ，Ｃｏ，Ｗ等元素的偏析比均趋近于１。     

An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators.     

基于MATLAB的模块化机器人手臂运动学算法验证及运动仿真

针对由模块化关节构成的六自由度串联机器人手臂, 采用DH法对手臂的操作空间进行了描述, 得到了正运动学模型; 采用欧拉角表示手臂姿态, 得到了包含六个参数的用于表示手臂位姿的完备广义坐标, 并对欧拉角的几何关系进行了分析。针对SolidWorks虽然实体建模简洁方便但计算并非其强项的缺点, 编写相应接口程序, 将建立的手臂三维实体模型保留几何约束关系简化后导入MATLAB软件。基于MATLAB编写正逆运动学算法验证程序以及连杆驱动程序, 实现了手臂的仿真运动。通过仿真, 不仅更进一步验证了手臂正逆运动学解算的正确性, 而且非常直观地看出手臂末端在空间中运行的路径以及各关节的动作情况。机器人手臂正逆运动学算法正确性的验证及运动仿真为手臂的精确定位及其路径规划提供了必要的保证。     

ANALYTICAL SOLUTIONS FOR PEELING USING BEAM-ON-FOUNDATION MODEL AND COHESIVE ZONE

When fibrillation occurs during peeling, the normal stress in the adhesive may gradually reduce to zero at the peel front. The shear stress also reduces to zero. Classical beam-spring (or beam-on-elastic-foundation) models do not yield solutions that have these properties. With the use of a beam-on-foundation model combined with a cohesive zone in the neighborhood of the peel front, these properties can be satisfied. In order to obtain analytical solutions, peel tests are considered in which the backing has a small slope and is linearly elastic in the adhered region, and the traction law is assumed to be piecewise linear. Cases are considered with only normal stresses in the adhesive (mode I), only shear stresses (mode II), and both stresses coupled (mixed-mode behavior). Analytical solutions are obtained for displacements of the backing, forces in the backing, and stresses between the adhesive and the backing.     

Bi对Al-30% Mg_2Si复合材料组织和性能的影响

为了研究铋(Bi)对Al-30%Mg2Si复合材料显微组织和力学性能的影响,利用原位内生工艺制备了Al-30%Mg2Si复合材料,并加入不同量的Bi对其细化变质.利用扫描电镜进行显微组织观察,并利用布氏硬度计和液压式万能试验机进行力学性能测试.试验结果显示,稀土Bi的质量分数由0%增加至5%时,初生相Mg2Si的平均晶粒尺寸先减小后变大,而抗拉强度、硬度和伸长率则先提高后减小;当Bi加入量约为3%时,初生相Mg2Si显微组织细化效果最为明显,综合力学性能最好.