基于最优S型曲线轨迹的硅片传输机器人末端振动抑制方法

针对硅片传输机器人末端低频振动问题,提出了一种基于最优S曲线轨迹的硅片传输机器人低频振动的抑制方法.该方法通过推导在参数化S型曲线输入条件下非线性时变系统的动态响应近似方程得到系统低频振动的振幅方程,并通过优化振幅方程中的S型曲线参数使得低阶振动振幅达到最小值,从而实现低频振动的抑制.首先对硅片传输机器人进行运动学、末端位置误差以及刚柔耦合动力学建模并进行动态特性分析.随后推导了在参数化S曲线输入条件下系统末端的时域动态响应方程近似解析解与振幅方程近似解析解,并根据硅片传输机器人自身的动态特性给出了最优S曲线参数计算方法.最后分别通过数值仿真分析与实验对该方法进行验证.实验结果表明,应用该方法后硅片传输机器人末端x方向的低频振动的振幅降低了53.9%,y方向的低频振动的振幅降低了45%.     

水下垂直发射出筒载荷响应分析

在运载火箭水下发射载荷预报问题的研究中,运载火箭水下垂直发射过程中,存在明显的横向流、弹性适配器与箭体的动态耦合,造成箭体出现复杂载荷波系,严重影响运载火箭垂直发射安全.为了解决上述问题,在分析了发射火箭的流体动力特性、弹性适配器的变形应力特征及其与箭体强耦合主动激励特性的基础上,针对出筒过程中箭体的法向载荷振荡响应特性进行了动力学仿真,并对波形特征进行了相应的对比分析.仿真结果表明:箭体法向载荷可归结为由主动激励低频波与适配器弹性阻尼高频波的综合叠加,并提出以载荷主体波系预报箭体表面法向载荷分布危险截面域的方法.     

含支撑阶梯梁自由振动的解析型梁段叠加法

针对多跨阶梯梁尚无简洁解析形式固有频率方程的现状,本文得到含支撑多跨阶梯梁频率方程的解析形式.首先基于Euler-Bernoulli梁理论,获得两端弹性约束单跨梁的频率方程,其表达式由梁坐标的三角函数和双曲三角函数的乘积组成,同时含有两端边界对应的横向刚度、旋转刚度等4个参数.给出至少含一个弹簧刚度约束的6种常见边界条件下梁的频率方程,其形式相对较简洁.然后把阶梯截面多跨梁的自由振动等效为各拆分梁段自由振动叠加的分析模型,结合所提出梁段连接节点处微段满足的动平衡方程,推导出多跨阶梯梁频率方程组的闭合解表达式.对于具有不同边界条件和内部支撑多跨梁的几种情况,算例计算出对应多跨梁的前几阶自振频率和振型图.阶梯形截面多跨梁与等截面多跨梁的频率方程可用统一的形式表示.所得解析结果与已有文献结果比较后发现：所得解析解同有限元结果的相对偏差小于1%,说明本文方法合理有效.阶梯多跨梁的自振频率随支撑刚度值、支撑杆位置和突变截面前后的惯性半径、惯性矩变化而变化.所得解析形式的频率方程在理论上未作近似,因此是精确的,形式上相对简单,具有良好的应用价值,故可用于评价其他数值方法的计算精度.     

变截面铁木辛柯梁振动特性快速计算方法

提出了一种快速计算变截面铁木辛柯梁横向振动特性的方法.基于铁木辛柯梁理论建立的变截面梁的横向振动方程,其梁的截面参数如有效剪切面积、密度、弯曲刚度、转动惯量等沿梁轴线连续或非连续变化；首先将变截面梁等效为多段均匀阶梯梁；然后基于相邻两段连接处的位移(位移、转角)和力(弯矩、剪力)连续条件,建立相邻两段模态函数间相互关系,并递推出首段段与末段模态函数相互关系,利用边界条件得到相应特征方程,使用Newton-Raphson方法计算其固有频率；最后针对梁常见边界条件,得到计算变截面铁木辛柯梁横向振动固有频率特征     

电磁轨道发射过程中导轨的振动特性研究

针对电磁轨道发射过程中存在的导轨的振动响应问题,将电磁轨道装置简化为固定在弹性支撑上的伯努利-欧拉梁,并将导轨受到的移动载荷简化为均布载荷与集中力的组合形式,建立导轨的通用动力学方程,运用模态叠加法求解得到了振动响应解析解.借助参数化分析语言APDL,仿真不同速度的移动载荷作用下导轨的振动响应,与理论求解进行对比分析,验证了理论计算方法的可行性,并分析了系统的物理特性、结构参数等对临界速度及导轨挠度的影响.研究结果表明,临界速度时导轨的挠度变形最大.研究工作可为电磁轨道装置的结构设计提供参考.     

非经典阻尼系统的精确解

提出了一种求解非经典阻尼系统的通用的解析方法,分别给出了多自由度非比例阻尼系统的自由振动和强迫振动的实数解的表达式.自由振动归结为求解一个线性代数方程组,把系统分为亚临界阻尼情况、退化阻尼情况和部分退化阻尼情况分别进行了讨论.对于强迫振动,研究了系统的稳态解和瞬态解,求解过程也归结为求解代数方程组.在几个算例中,把得到的精确解和数值计算结果进行了比较,两者吻合得很好.该方法为非比例阻尼系统的求解提供了一条有效的途径.     

复合材料细长柱受冲击荷载动力屈曲研究

对复合材料细长柱在轴向冲击荷载下的动力屈曲问题进行了研究.基于单层材料本构方程及D'Alembert原理,建立了结构轴向及横向耦合振动方程.用Laplace变换得到轴向运动解析解,并用Galerkin法对结构横向振动进行求解.用数值方法讨论了冲击质量、冲击速度,复合材料铺层角等对结构临界动力屈曲时间及冲击物与结构接触时间的影响.结果表明随着冲击质量、冲击速度,复合材料铺层角增大,结构动力屈曲时间减小;冲击速度,铺层角对冲击块与结构的接触时间无影响.     

载流梁在磁场中的横向固有振动分析

在考虑结构变形对电磁场的影响基础上，假设载流梁的变形为小变形，把变形后载流梁中的电流方向改变看成是电流矢量的刚性旋转．建立了载流梁在磁场中的横向固有振动控制方程．方程表明载流梁在磁场中的横向固有振动是一个典型的非线性问题．采用摄动法求得了其近似解，得到了载流梁在磁场中的横向固有振动频率及位移解析表达式．并通过实例计算讨论分析了导线与载流梁间距、载流梁的电流与导线电流的方向及大小、载流梁梁长及其半径等因素对载流梁横向固有振动的影响，得到了一些有价值的结论．     

轴向运动梁横向非线性振动模型研究进展

综述了描述轴向运动梁横向非线性振动的两组数学模型的研究进展.在轴向运动梁径向和横向平面非线性振动耦合模型的基础上,总结了两组横向非线性振动模型的推导,以及在自由振动、受迫振动、参激振动工况下两组横向模型的近似解析比较的研究进展.在直接数值离散方法的基础上,总结了两组横向模型在各种工况下对平面耦合模型近似程度的研究进展.最后提出若干尚待深入研究的问题.     

横向流中细长圆柱的热弹性颤振

研究了细长圆柱体在热环境下的横向流致振动.应用迦辽金法将非线性运动控制偏微分方程离散为常微分方程组,首先分析了热载荷对系统临界流速的影响,然后采用数值方法得到了系统分岔区,以及它在参数空间的分布情况.应用分岔图、相图对系统的运动性质进行了判定.系统随着参数的变化呈现周期运动,温度增加,系统发生颤振的临界速度减小.当温度载荷不变时,流速增加,系统周期振动的振幅越来越大,系统发生极限环振动,周期3运动、拟周期运动和混沌运动.     

基于单片机的发动机振动速度、位移和加速度测量方法

本文介绍了一种基于单片机的发动机振动速度、位移和加速度测量方法。该方法首先对发动机的振动传感器信号进行高、低通滤波,然后通过模拟开关将其转化为电压信号,再经过RMS幅值测量元件和压频转换器转变成频率信号,由单片机对频率信号进行计数、计算和显示测量结果。对振动速度进行积分和微分,可得到振动位移和加速度,实测结果表明,该方法可以有效地减少环境因素对电子元件的影响,提高测量精度。     

支承舱减振性能分析

支承舱是运载火箭与航天器之间的重要连接结构,支承舱的振动特性是力学环境设计需要考虑的因素之一.本文从振动环境控制的角度进行支承舱结构动力学分析,阐述了一种基于支承舱振动特性研究的改善航天器力学环境的方法.在有限元建模过程中,引入了材料级性能试验.计算并比较了不同材料支承舱结构对航天器振动环境的作用,比较了连接面形式对振动环境的影响.基于分析结果给出了进一步研究的建议.     

中立型时滞反馈扭转控制系统的稳定性分析

研究了中立型时滞动力吸振器抑制扭转系统的振动问题.针对一类强迫扭转振动系统,采用动力系统的稳定性理论分析了动力吸振器与扭转振动系统的稳定性问题,以时滞为参数,分别得到了动力吸振器与扭转振动系统的稳定区域,并研究时滞变化时动力吸振器对于主振动系统振动的吸收效果,通过与时滞动力吸振器对比,得到了更大的吸振器和减振系统时滞稳定工作区域,通过数值模拟验证了结论的正确性.     

Identification of effective engineering methods for controlling handheld workpiece vibration in grinding processes

The objective of this study is to identify effective engineering methods for controlling handheld workpiece vibration during grinding processes. Prolonged and intensive exposures to such vibration can cause hand-arm vibration syndrome among workers performing workpiece grinding, but how to effectively control these exposures remains an important issue. This study developed a methodology for performing their analyses and evaluations based on a model of the entire grinding machine-workpiece-hand-arm system. The model can simulate the vibration responses of a workpiece held in the worker's hands and pressed against a grinding wheel in order to shape the workpiece in the major frequency range of concern (6.3–1600 Hz). The methodology was evaluated using available experimental data. The results suggest that the methodology is acceptable for these analyses and evaluations. The results also suggest that the workpiece vibration resulting from the machine vibration generally depends on two mechanisms or pathways: (1) the direct vibration transmission from the grinding machine; and (2) the indirect transmission that depends on both the machine vibration transmission to the workpiece and the interface excitation transformation to the workpiece vibration. The methodology was applied to explore and/or analyze various engineering methods for controlling workpiece vibrations. The modeling results suggest that while these intervention methods have different advantages and limitations, some of their combinations can effectively reduce the vibration exposures of grinding workers. These findings can be used as guidance for selecting and developing more effective technologies to control handheld workpiece vibration exposures.     

An examination of the vibration transmissibility of the hand-arm system in three orthogonal directions

The objective of this study is to enhance the understanding of the vibration transmission in the hand-arm system in three orthogonal directions (X, Y, and Z). For the first time, the transmitted vibrations distributed on the entire hand-arm system exposed in the three orthogonal directions via a 3-D vibration test system were measured using a 3-D laser vibrometer. Seven adult male subjects participated in the experiment. This study confirms that the vibration transmissibility generally decreased with the increase in distance from the hand and it varied with the vibration direction. Specifically, to the upper arm and shoulder, only moderate vibration transmission was measured in the test frequency range (16 to 500 Hz), and virtually no transmission was measured in the frequency range higher than 50 Hz. The resonance vibration on the forearm was primarily in the range of 16–30 Hz with the peak amplitude of approximately 1.5 times of the input vibration amplitude. The major resonance on the dorsal surfaces of the hand and wrist occurred at around 30–40 Hz and, in the Y direction, with peak amplitude of more than 2.5 times of the input amplitude. At higher than 50 Hz, vibration transmission was effectively limited to the hand and fingers. A major finger resonance was observed at around 100 Hz in the X and Y directions and around 200 Hz in the Z direction. In the fingers, the resonance magnitude in the Z direction was generally the lowest, and the resonance magnitude in the Y direction was generally the highest with the resonance amplitude of 3 times the input vibration, which was similar to the transmissibility at the wrist and hand dorsum. The implications of the results are discussed.Relevance to industryProlonged, intensive exposure to hand-transmitted vibration could result in hand-arm vibration syndrome. While the syndrome's precise mechanisms remain unclear, the characterization of the vibration transmissibility of the system in the three orthogonal dimensions performed in this study can help understand the syndrome and help develop improved frequency weightings for assessing the risk of the exposure for developing various components of the syndrome.     

流固耦合动力学与控制专题序

围绕管道流固耦合振动建模理论与方法、流致振动与控制、涡激振动抑制等研究主题,本专刊介绍了流固耦合动力学与控制领域的一些研究成果.     

某型飞机振动传感器试验器的研制

为测试某型飞机振动传感器性能,采用背靠背比较法振动测试方法,基于苏试振动台(VT-500)、功率放大器(LA-800)、单轴向电荷输出型加速度标准传感器(Ymc222A25)、电荷放大器(Ymc8102T)、普源信号发生器(DG1032Z)以及研华PCI工控机与A/D板卡(PCI-1716L),搭建振动传感器试验器振动测试平台,以DG1032Z输出作为振动激励信号源,基于VC ++6.0开发出信号发生器远程控制与板卡信号采集软件,对试验器的功能进行试验验证,结果表明其有效性.所研制的试验器可实现振动信号源的产生与标准/被测信号的校准,从而为某型飞机振动传感器的测试与修理提供技术支撑.     

The effects of vibration-reducing gloves on finger vibration

Vibration-reducing (VR) gloves have been used to reduce the hand-transmitted vibration exposures from machines and powered hand tools but their effectiveness remains unclear, especially for finger protection. The objectives of this study are to determine whether VR gloves can attenuate the vibration transmitted to the fingers and to enhance the understanding of the mechanisms of how these gloves work. Seven adult male subjects participated in the experiment. The fixed factors evaluated include hand force (four levels), glove condition (gel-filled, air bladder, no gloves), and location of the finger vibration measurement. A 3-D laser vibrometer was used to measure the vibrations on the fingers with and without wearing a glove on a 3-D hand-arm vibration test system. This study finds that the effect of VR gloves on the finger vibration depends on not only the gloves but also their influence on the distribution of the finger contact stiffness and the grip effort. As a result, the gloves increase the vibration in the fingertip area but marginally reduce the vibration in the proximal area at some frequencies below 100 Hz. On average, the gloves reduce the vibration of the entire fingers by less than 3% at frequencies below 80 Hz but increase at frequencies from 80 to 400 Hz. At higher frequencies, the gel-filled glove is more effective at reducing the finger vibration than the air bladder-filled glove. The implications of these findings are discussed.     

Hand-arm vibration syndrome (HAVS) and musculoskeletal symptoms in the neck and the upper limbs in professional drivers of terrain vehicles--a cross sectional study

This study compares the prevalence of symptoms of Hand-arm vibration syndrome (HAVS) and musculoskeletal symptoms in the neck and the upper limbs, between professional drivers of terrain vehicles and a referent group. 769 male professional drivers of forest machines, snowmobiles, snowgroomers and reindeer herders and 296 randomly selected male referents completed a questionnaire about symptoms of HAVS and musculoskeletal symptoms in the neck and the upper limbs. They also gave information about their lifetime exposure duration driving terrain vehicles and their nicotine use. Prevalence odds ratios (POR) were determined and adjusted for age and nicotine use. Results show that there is a relation between exposure to driving terrain vehicles and some of the symptoms of HAVS (POR: 1.2–6.1). Increased odds of musculoskeletal symptoms in neck, shoulders and wrists were also found (POR 1.2–6.4), and it seemed to be related to the cumulative exposure time.