Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

Residual stress measurements in bevel gear after different production phases

This article discusses residual stress measurements by means of electrochemical removal of material layers with residual stresses and simultaneous measurement of strain on the opposite specimen side with strain gages. Exact measurements are impossible particularly because of the small bevel gear module. With the method presented, the average residual stresses in the tooth root plane and underlying layers are measured. Residual stress distribution after each consecutive production phase is plotted and analyzed. Residual stress measurements enable the engineer to adequately assess each individual production phase and by that improve the quality of the complete production process.     

直齿圆柱变位齿轮的一种测绘方法

在工程实践中对损坏的无图纸齿轮进行重新制造时，测绘是必不可少的环节。在齿面已被严重磨损的情况下，如何准确地得到齿轮尤其是变位齿轮的各项参数是本文所着重讨论的问题。     

基于MATLAB优化工具箱的行星轮系参数优化设计

为了合理分配行星轮系的总传动比，并使系统体积小、质量轻，建立了具有3个设计变量、1个目标函数和8个约束方程的优化设计数学模型，并用MATLAB优化工具箱进行求解。经实例计算和分析，说明这种优化方法符合实际、准确可靠；设计的数学模型有一定的使用价值，为深入研究行星轮系建立了基础。     

Failure analysis and wear mechanism study of a heavily loaded gear

Failure analysis and a study of the wear mechanism were performed on a heavily loaded carburized gear with some unusual features. The analysis showed that the different failure forms on the tooth surface of the gear were dependent on the sub-surface shearing stress, the lubrication conditions and the surface roughness. Delaminations formed on the addendum surface were the main reason for the gear failure. A suggestion for improvement has been tried, and a desirable result has been obtained.     

FK6-600牵伸加弹机上“格里森”制齿轮的国产化与改进

对FK6-600牵伸加弹机主传动中"格里森"制圆弧螺旋齿轮的失效情况进行了考察和研究。通过对德国DIN867和我国JB110标准的分析,采用了等顶隙收缩齿并对其进行了合理改进,同时在现场安装工作中采取了必要措施,取得了较好的技术经济效果。     

嫦娥三号着陆控制研究与软件仿真

嫦娥工程分为3个阶段,目前已经进行到第二阶段,即发射可在月球表面软着陆的登陆器,这便是嫦娥三号的主要任务。为了保证登月探测器在月球表面平稳地降落并且能够有效应对外太空环境下各种因素造成的干扰,需要对控制方案进行深入的研究和认真的设计。选择非线性变结构控制与状态反馈相结合的办法设计控制方案,设定关于系统高度、速度以及加速度等状态变量的性能指标,通过对相应的哈密尔顿函数采用极小值原理来得到变结构控制的相关输入,从而完成控制方案的数学模型。使用Simulink软件对所得到的数学模型分别在理想的情况以及存在干扰的情况下进行仿真,并且得到了满意的仿真结果。所设计的控制方案有一定的可行性,但因为大多数工作只是理论层次的分析,因此还需要进一步的研究。     

飞机起落架液压电磁阀智能检测装置设计

根据某型飞机起落架收放液压电磁阀的工作原理、技术标准和实验大纲,设计一种智能检测装置。该智能检测装置以计算机控制为核心,集机、电、液技术于一体,实现了对起落架液压电磁阀的外部密封性能、内漏性能以及工作性能的一体化检测。实际应用结果表明:装置运行稳定可靠,操作简单,检测效率和检测精度高,具有良好的使用效果和经济价值。     

圆锥齿轮闭塞冷锻后的性能变化规律研究

应用闭塞冷锻工艺成形轿车差速器圆锥齿轮，具有金属流线连续。弯曲强度和耐磨性高等优点。本文以捷达轿车差速器圆锥齿轮为典型件，研究了圆锥齿轮闭塞冷锻后的性能变化和残余应力分布规律，以及加工硬化机理和提高制品质量的工艺措施，结果表明，采用闭塞冷锻工艺生产的圆锥齿轮表面晶粒获得明显细化，弯曲强度和耐磨性获得了显著提高，强化作用显著，克服了产品设计带来的不足。此项研究，为闭塞冷锻的实用化工艺研究奠定了微观理论基础。     

斜齿轮高阶传动误差设计与分析

为了改善斜齿轮副啮合传动性能,提出了应用四阶传动误差函数曲线,采用数控加工展成斜齿轮.利用抛物线齿廓的产形齿条与圆柱齿轮啮合推导小轮齿面方程.采用假想小轮的方法推导了四阶齿线修形大轮齿面数学模型.根据两齿面在啮合中连续相切条件,建立了含有误差的轮齿接触分析模型(TCA).仿真结果表明:该设计降低了接触印痕对安装误差的敏感性,相邻两个啮合周期的啮合转换点处,传动误差曲线的切线夹角接近180°,降低振动及冲击.