微机三维实体造型系统—MicroSMS

本文介绍了微机三维实体造型系统ＭｉｃｒｏＳＭＳ的结构和功能以及开发过程中一些问题的处理方法。     

基于AUTOCAD的机器人参数化三维实体造型

提出以广泛使用的非参数化造型系统ＡＵＴＯＣＡＤ进行机器人参数化三维实体造型方法和修改方法,能方便灵活地生成符合需要的机器人及其工作环境的三维实体模型,将其用于机器人离线编程,该方法也适用于以ＡＵＴＯＣＡＤ进行其它开链结构系统的参数化三维实体造型。     

基于三维实体造型的舰船立体布置CAD系统

舰船立体布置系统是基于计算机三维实体造型技术的新一代辅助设计系统，为论证设计人员提供了形象、直观的仿真设计环境，大大提高了舰船论证研究与设计的效率和质量。本文主要介绍该系统的三维模型、结构、功能、实现方法和特点。     

21“电视机塑料后盖的三维实体造型

本文介绍利用ＵＧⅡＶ１１．１．１作２１″ＴＶ塑料后的三维实体造型的详细步骤，强调了三维褓造型在塑料模具设计、加工中的重要作用。     

利用OpenGL三维图形库进行三维实体造型

本文介绍了利用Windows95下的OpenGL三维图形库进行真实三维图形设计的实现方法与步骤，提出了建立复杂物体模型的方法，最后给出了笔者用OpenGL开发生成的蜗杆三维线框图与明暗图     

21″电视机塑料后盖的三维实体造型

本文介绍利用UGⅡV11．1．1作21”TV塑料后盖的三维实体造型的详细步骤，强调了三维实体造型在塑料模具设计、加工中的重要作用。     

SCS系列多台面模块化汽车衡秤台的有限元分析

传统的汽车衡台面结构和刚度分析方法是把汽车衡秤台简化成一简支梁，因其模型过于简化，存在计算结果可靠性差、无法进行局部应力及应变分析等缺点。本文利用ANSYS有限元分析软件，对SCS系列汽车衡秤台进行分析。在实体建模的基础上对刚度进行校核，重点对汽车衡超载时进行极限承载校核．得出超载时强度指标也应成为主要校核指标的结论．并给出合理的改进建议，为汽车衡的设计与生产提供有价值的参考。     

Software toolkit for modeling,simulation, and control of soft robots

The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lack of precise modeling and control methods for soft robots, the promising concepts of using such design for complex applications (medicine, assistance, domestic robotics, etc.) cannot be practically implemented. This paper presents a first unified software framework dedicated to modeling, simulation, and control of soft robots. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators and contacts using a unified representation based on Lagrange multipliers. It enables the digital robot to be simulated in its environment using a direct model. The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space. To demonstrate the effectiveness of the approach, we present various soft robots scenarios including ones where the robot is interacting with its environment. The software has been built on top of SOFA, an open-source framework for deformable online simulation and is available at https://project.inria.fr/softrobot/.     

基于Solid Works的螺旋面零件三维实体造型

根据螺旋面形成原理和结构特点,借助于Solid Works三维设计软件这个操作平台,通过典型实例,利用Solid Works软件中扫描等相关功能,提出了一种螺旋面零件三维造型通用的设计方法,并对螺旋面的一些渐变情形提出了具体的解决办法。此方法具有造型速度快、精度高的优点,为机械产品的快速设计奠定了基础。     

格利森圆弧螺旋锥齿轮副的实体造型方法

介绍了一种基于UG自由曲面造型的格利森(Gleason)圆弧螺旋锥齿轮副的实体造型方法，详细论述了圆弧螺旋锥齿轮齿面特征在UG for Free Form Feature中的实现方法和齿轮副的形成方式，在计算机中得到了完整的格利森圆弧螺旋锥齿轮副的三维实体造型，作为虚拟制造、仿真分析的平台。     

流-固交互及可变形体破裂的真实感模拟

为了模拟流体与动态环境的相互作用,提出一种流-固交互及可变形体破裂的真实感建模与绘制的算法.该算法使用光滑粒子流体动力学(SPH)与有限单元法(FEM)分别对流体与变形固体进行建模;再根据流-固交互作用的特点,给出一种快速分离液体表面粒子与固体表面网格的交互方法,并采用虚节点的流-固耦合模型模拟了液-固相互作用力.文中算法可用于多个流-固交互破裂的现象,如水管崩裂、水冲堤坝等.     

Nonlinear Modeling and Control of a Unicycle

A unicycle system is composed of a unicycle and a rider. This system is inherently unstable, but together with a skilled rider can be autonomously controlled and stabilized. A dynamical investigation, a control design and a numerical solution of a nonlinear unicycle autonomous model are presented. The use of a nonlinear model for the control design is shown in this paper to be of great importance. A three-rigid-body physical model was selected for the dynamical study of the system. In a linearized model important physical characteristics of the unicycle system disappear (e.g. interactions between the longitudinal and lateral systems are being neglected), and therefore it is not recommended to be used for the control design. A nonlinear control law, which replaces the rider in stabilizing the model, was derived in the present work, using a nonlinear unicycle model. A simulation study shows good performance of this controller. Time spectral element methods are developed and used for integrating the nonlinear equations of motion. The approach employs the time discontinuous Galerkin method which leads to A-stable high order accurate time integration schemes.     

一种基于谐振音叉的新型差动式硅微加速度计设计与分析

为提高谐振式加速度计灵敏度、稳定性以及减小加速度计体积,本文提出一种结构新颖的谐振式硅微加速度计.采用一级微杠杆机构对质量块惯性力进行放大,通过一对差动布置的双端固支音叉谐振器的固有频率变化检测惯性力,从而实现对加速度的测量.该加速度计可采用体硅加工工艺,给出了总体工艺流程.采用解析和有限元分析方法对加速度计敏感元件进行了分析,有限元分析结果与解析分析结果相吻合,有限元分析可得加速度计灵敏度为57.4 Hz/g.分析结果表明该加速度计结构具有高灵敏度、高温度稳定性和小体积等优点.     

三维虚拟机器人运动仿真系统设计

通过对三维虚拟机器人运动仿真系统的发展进行介绍和分析, 描述了基于零件拼装的三维虚拟机器人运动仿真的有效方法。针对三维虚拟机器人零件结构特点和拼装功能, 对虚拟机器人零件的图形建模方法、虚拟机器人运动及传感器功能仿真进行了分析设计, 重点分析了运动仿真过程的设计方法。实验结果表明, 系统能够很好地遵循物理特性实现虚拟机器人的运动仿真, 且性能较优。     

Modeling and Simulation of Radial-Axial Large Ring Rolling

Finite element model is constructed according to the principle and characteristics of radial-axial large ring rolling technology. Dynamic explicit finite element method is used to simulate the rolling process. An effective modeling method of guide roller is proposed. Simulation indicates that high quality ring product could be obtained when rational rotational speed of rollers and feed rate in the radial and axial rolling are assigned.