Modeling of Material Deformation Kinetics in the Prefracture Zone

Based on the concept of complete stress–strain diagrams, we propose a new model describing the law of stress distribution in the prefracture zone in plastic materials in view of the type of the stressed state.     

关于后张预应力混凝土结构优化设计的几个问题

结合UP软件编程实践，本文对后张预应力混凝土结构计算程序中引入优化功能的意义进行了论述，提出了预应力筋与普通钢筋之间的最优搭配关系，优化原点概念及相关影响因素，列出了优化计算程序所应涉及的基本计算内容，并对当前后张预应力混凝土结构设计中的一些观点提出了不同意见。     

Connecting the second exhaust-heat boiler to the operating first one under the conditions of flow circuits of combined-cycle plants with two gas-turbine units and one steam turbine

Problems arising with connecting the second exhaust-heat boiler to the first exhaust-heat boiler under load in the case of flow circuits of combined-cycle plants of type PGU-450 are considered. Similar problems exist for two-boiler single-turbine units of type PGU-325 and for two-boiler single-turbine units of traditional steampower plants with an output of 200–300 MW upon connection of the second furnace of a two-furnace boiler to the operating first furnace. Analysis of the temperature-induced stressed state and of the cyclic strength of thick-walled elements of the steam-water conduit of PGU-450 and of two-furnace boilers of two-boiler single-turbine units with an output of 200–300 MW (the check valve, the inlet header of the water economizer) is used for determining the steam temperature differences in the high-pressure conduits to the steam turbine and the order of connection of the second exhaust-heat boiler to the operating fist one. Modes of enabling a two-boiler single-turbine unit of a combined-cycle plant, which are most “rigid” from the standpoint of thermal strength, are determined. __________ Translated from élektricheskie Stantsii, No. 2, February 2006, pp. 11–17.     

氯酸钾－木炭系与铅丹－硅系引火药头对铁脚线桥脚锈蚀的影响

文中分析和探讨了氯酸钾－木炭系引火药头的锈蚀问题，进而提出了铅丹－硅系引火药头，并经贮存实验表明后者对于克服前者的锈蚀问题有明显的作用。     

Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism

节能减振步行机构的仿生设计及仿真分析

张锐¹,庞浩¹,何远^1,2,韩佃雷¹,文立阁³,江磊⁴,李建桥¹

（1. 吉林大学 工程仿生教育部重点实验室,长春 130022;

2. 长春长光睿视光电技术有限责任公司,长春 130102;

3. 吉林大学 机械与航天工程学院,长春 130022;

4. 中国北方车辆研究所,北京 100072）

摘要：非洲鸵鸟能以60 km/h的速度持续奔跑30分钟,其后肢结构具有优良的节能、减振性能。为实现腿式机器人高效节能、缓冲减振的腿部机构的设计,根据鸵鸟跗骨间关节的被动回弹特性以及腿部的输出刚度可变特性,结合鸵鸟后肢结构的比例和尺寸,设计出了仿生刚-柔复合腿式机器人单腿结构。并且利用ADAMS软件模拟了仿生机械腿的运动。通过运动仿真分析,研究了内弹簧刚度系数在一定范围内的变化对机身质心垂直加速度以及电机功耗的影响,获得最佳的内弹簧刚度系数为200 N/mm,并进一步验证了内外弹簧机制能够有效地降低机械腿的能耗。仿真结果表明,采用内外弹簧机制能够有效降低电机约72.49%能耗。

关键词：工程仿生;仿生机械腿;被动回弹特性;刚-柔复合结构;节能减振

     

Vibrational spectroscopic characterization of rigid rod polymers: 3. Microstructural changes in stressed polymers

Highly oriented poly(p-phenylene benzobisthiazole) films were stressed in a miniature hydraulic tensile tester interfaced to a fast scanning Fourier transform infra-red spectrometer. The changes in relative intensity, polarization, frequency and shape of infrared bands have been useful in the elucidation of microstructures. With the short time resolution achievable, vibrational bandshape and frequency have been shown to change at different rates when an external stress was applied.     

基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

Application of parallel mechanism in varistructured quadruped/biped human-carrying walking chair robot

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.     

变长度柔性双足机器人行走控制及稳定性分析

针对传统双足机器人模型缺少脚质量和躯干的问题,提出考虑摆动腿动态及躯干影响的柔性双足机器人模型,并对其行走控制及稳定性进行研究。首先,建立系统的动力学模型并采用欧拉-拉格朗日法推导了系统的动力学方程;同时,在弹簧负载倒立摆（SLIP）模型的基础上添加刚性躯干、脚质量及采用变长度伸缩腿,充分考虑躯干及摆动腿动力学对机器人行走步态的影响;其次,设计基于变长度腿的反馈线性化控制器来跟踪目标轨迹,以及调节摆动腿和躯干的姿态;最后,利用Newton-Raphson迭代法和庞加莱映射分析机器人的不动点及轨道稳定性条件,并在理论分析的基础上进行仿真。仿真结果表明,所提控制器可以实现机器人的周期行走,对外界干扰具有良好的鲁棒性,且雅可比矩阵所有特征值的模均小于1,能形成稳定的极限环,证明系统是轨道稳定的。     

国内外人工腿(假肢)研究的进展及发展趋势

人工腿(假肢)一直是机器人学和生物医学工程领域 的一个前沿性研究课题．在这方面的研究中,英、日两国于90年代中期研制成功的智能型 人工腿反映了该研究的最新进展．本文共分五个部分,第一部分是引言;第二部分重点介绍 国外在90年代初以前人工腿的研究概况;第三部分重点介绍国外从90年代初至今人工腿 的研究概况,特别是智能人工腿的研究情况;第四部分重点介绍国内人工腿的研究现状;最 后一部分介绍人工腿研究的发展趋势．