轴类件柔性辊轧的运动分析

根据几何学原理,推导出轴类件辊轧变形时各变形阶段轧轮的几何参数、运动参数与工件的运动和材料变形之间的关系,分析结果对工艺参数的选择和有限元模拟分析提供了理论基础。     

Comparison of joint angle,velocity and acceleration estimators for hydraulically actuated manipulators to a novel dynamical approach

Excavators are used for a wide range of applications like earthworks and material handling. Assistance systems are becoming more common to support the operator. For monitoring and control based assistance functions the angular position, velocity and acceleration of the joints from the working implement are required. Commercial systems often use inertial measurement units, consisting of triaxial accelerometers and gyroscopes, to accomplish an estimation of those states. A novel joint angle, velocity and acceleration estimation for hydraulic manipulators is proposed and compared to state of the art methods. A decentralized kinematic filter using no information about the underlying system and a centralized kinematic filter taking the system kinematics into account are implemented as state of the art approaches. Both filters only use inertial measurement units to obtain information about the current state of the system. The novel centralized dynamic filter uses the same information as the centralized kinematic filter and extends it by a dynamic model containing additional information about the angular acceleration due to pressure readings of the hydraulic cylinders. Kalman filtering is used to combine the derived system and measurement models with the sensor information. The methods are evaluated on a material handling excavator for single and coupled movements of the working implement. The novel centralized dynamic filter enables improvements for the angular acceleration estimation compared to the decentralized and centralized kinematic filter. Less noise of the acceleration estimation and a better tracking of the actual acceleration are shown.     

实现空间对称旋轮轨迹行星机构的分析和设计

为了实现面粉搅拌机的工作头所需要的运动轨迹，采用了结构简单的内外啮合圆锥齿轮行星机构引导以获得精确综合的空间对称旋轮曲线，并且对机构进行了运动分析和结构设计。根据产品负载检测的工程分析结果表明，完全满足产品性能指标要求。     

Topology and kinematic analysis of color-changing ball

The color-changing ball has two stable configurations. Its mechanism is a multiple loop and polygonal mechanism. This paper investigates the mechanism typology and analyzes its structure and configurations during motion. A three-legged mechanism is extracted from this mechanism. The kinematics model of the mechanism is presented and singularity is discussed. The paper further decomposes the mechanism and investigates the platform structure of the intersection between loops. This leads to investigation of the offset of joint intersection at the intersection and its relevant geometry and kinematics. The paper further focuses on the configuration change between two states of the mechanism and investigates kinematics and singularity between two configurations. Based on the analysis, simulation of the color-changing ball is carried out. The topology and kinematics analysis in this paper helps the analysis of this kind of polyhedral linkage mechanism with radial motion. The research could potentially lead to the development of kinematics for design of this kind of mechanism.     

压电微马达运动学模拟的研究

本文在压电微马达运动学基本原理的基础上,运用C语言编制了压电微马达运动学分析程序.进行了压电微马达运动学模拟仿真的研究,得出一些重要的结论,并进一步得到压电微马达样机实验的验证.     

管道清灰机器人系统设计

提出采用履带式管道清灰机器人解决冶炼厂烟道积灰的清除方案。详细阐述了清灰机器人结构和驱动方式。从机构学角度分析了操作臂运动特性,给出了操作臂作业的几个特殊位置,分析了操作臂死点位置,提出避免死点的方法。     

一类微扑翼驱动机构的双重建模与仿真

微扑翼飞行器是一个多学科交叉的研究领域，驱动机构的设计与制作是其中的关键环节。针对单曲柄双摇杆类型的驱动机构，首先建立了其相关参数的数学模型，然后用Visual C＋＋等软件开发了驱动机构设计计算模块。最后在ADAMS环境下建立了此类型驱动机构的仿真模型，并进行了运动学仿真，所得参数曲线与相应的数学模型曲线完全一致，验证了参数数学建模的正确性。本文工作为同类型驱动机构的设计与优化提供了理论基础，对其他类型的驱动机构也有很好的借鉴意义。     

柴油机连杆动力学分析的新方法

认为连杆是刚体，作平面运动，手出运动方程；基于刚体平面运动理论，提出一种新的柴油机连杆动力学数值计算方法——转动惯量法；该方法进行连杆动力学分析速度快，计算精度也得到提高；通过证明可以发现“连杆多质量代替法”仅是该方法的一种简化形式。     

电动汽车麦弗逊前悬架设计及参数优化

根据整车设计参数及悬架设计理论,设计某款电动汽车的麦弗逊前悬架。基于UG/Motion利用UG的开放接口开发相应的软件系统,实现麦弗逊前悬架运动学仿真模型的参数化设计、前轮外倾角与前束角的匹配设计和前悬架系统的运动学仿真分析;通过与ADAMS的仿真结果相对比,验证系统的正确性;将遗传优化算法与多体运动学分析方法相结合,以前轮定位参数的变化量最小和车轮侧向滑移量最小为优化目标对麦弗逊前悬架的设计参数进行优化,通过对比初始设计与优化设计的仿真结果,验证优化方法的有效性。优化分析显示,麦弗逊前悬架摆臂前后点坐标的变化,对前轮定位参数及车轮接地点滑移量随车轮跳动量的变化曲线都有影响。     

Direct kinematics of a double parallel robot arm for real time velocity control

The determination of the direct kinematics of a parallel mechanism is a difficult problem but must be solved for practical application. This paper presents the efficient formulation of the direct kinematics and the Jacobian of a double parallel robot arm for velocity control. The robot arm consists of two parallel mechanisms, and a central axis that generates positional and orientational motions independently. Given a set of lengths for the linear actuators, the direct kinematics computes the position and orientation of the end-effector, and the Jacobian transforms the velocities of the end-effector to those of the linear actuators. The developed formulation is implemented in a real-time control setting and its efficiency is demonstrated. Department of Control and Instrumentation Engr.