Structural synthesis of a class of 2R2T hybrid mechanisms

Conventional overconstrained parallel manipulators have been widely studied both in industry and academia, however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied, especially for the four degrees of freedom(DOF) hybrid mechanisms. In order to develop a manipulator with additional constraints, a class of important spatial mechanisms with coupling chains(CCs) whose motion type is two rotations and two translations(2R2T) is presented. Based on screw theory, the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed. The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method. Moreover, the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains(SKCs) of the corresponding parallel mechanisms are presented. According to the constraint analysis of the mechanisms, the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains. At last, fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented. The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms.     

Kinetostatic modeling and analysis of an exechon parallel kinematic machine(PKM) module

As a newly invented parallel kinematic machine(PKM), Exechon has found its potential application in machining and assembling industries due to high rigidity and high dynamics. To guarantee the overall performance, the loading conditions and deflections of the key components must be revealed to provide basic mechanic data for component design. For this purpose, a kinetostatic model is proposed with substructure synthesis technique. The Exechon is divided into a platform subsystem, a fixed base subsystem and three limb subsystems according to its structure. By modeling the limb assemblage as a spatial beam constrained by two sets of lumped virtual springs representing the compliances of revolute joint, universal joint and spherical joint, the equilibrium equations of limb subsystems are derived with finite element method(FEM). The equilibrium equations of the platform are derived with Newton’s 2nd law. By introducing deformation compatibility conditions between the platform and limb, the governing equilibrium equations of the system are derived to formulate an analytical expression for system’s deflections. The platform’s elastic displacements and joint reactions caused by the gravity are investigated to show a strong position-dependency and axis-symmetry due to its kinematic and structure features. The proposed kinetostatic model is a trade-off between the accuracy of FEM and concision of analytical method, thus can predict the kinetostatics throughout the workspace in a quick and succinct manner. The proposed modeling methodology and kinetostatic analysis can be further expanded to other PKMs with necessary modifications, providing useful information for kinematic calibration as well as component strength calculations.     

玻璃浆料键合中的孔洞抑制和微复合调控

提出了包含三步式排泡过程的预烧结工艺以及双凹凼-凸台的微复合键合结构方案,以便有效控制玻璃浆料层中的孔洞生成并精确控制键合间隙。预烧结工艺涉及的三步式排泡包含玻璃液形成、真空排泡与孔洞流平3个过程,该过程有效地排除了气泡,从而抑制了键合中间层中的孔洞形成,其工艺的重复性和鲁棒性很强。微复合键合结构中的内外凹凼用于有效控制多余的熔融的玻璃浆料的流动路径,避免其对封装结构的污染;微阻挡凸台则可以精确地将玻璃浆料层的厚度即键合间隙控制到凸台高度。对键合性能的测试表明,该方案简单有效,键合强度和气密性良好,键合间隙为10.1μm,键合强度为19.07 MPa,键合漏率小于5×10-9 Pa·m3/s。     

基于SOPC技术的微细电火花加工电源的研究

针对目前微细电火花加工放电状态复杂、难确定和集成性不足等问题,设计了基于可编程片上系统(SOPC)技术的微细电火花脉冲电源。电源可发送加工脉冲信号,采用并行数字采集信号模块采集电压及电流信号,能判断每个脉冲的放电状态,控制伺服电机的工作,并及时切断无效有害脉冲,提高加工效率和加工精度。同时开发了电源人机交互界面,实现了电源和微细电火花加工机床的实时通讯功能。利用该电源在自主开发的多功能微细加工机床上进行微细孔加工实验,证明了所设计的电源能进行稳定高效的加工。     

一种六维加速度传感器的测量属性分析*

本文研究的六维加速度传感器为并联机构,旨在用于低频作业装备下的小量程加速度测量。为了能够准确地获取传感器的测量属性,采用并联机构的守恒转换的方法求解传感器的刚度矩阵,通过对传感器的简化建立系统的无阻尼自由振动模型,获得传感器固有频率求解的理论表达式,对双悬臂梁弹性元件进行分析,计算获得悬臂梁弯曲应力与上平台加速度加载的关系曲线,利用有限元分析仿真确定传感器的测量范围,经过实验验证,证明该传感器在16 Hz,x轴方向0~10 m/s2的加载状态下传感器测量电压与加速度加载量之间具有良好的线性关系,传感器的线加速度精度为1.3%。     

SOI压阻传感器的阳极键合结合面检测

由于当前绝缘体上硅(SOI)压阻传感器芯片的封装质量仍依赖人工检测,本文提出了一种自动实现该项检测的视觉检测方法。分析了压阻传感器的工作原理,研究了芯片定位精度和结合面质量对传感器性能的影响。以传感器性能和质量为导向,提出了一种以中心定位偏差和键合面结合度为检测点的封装结合面检测方法。该方法通过对Hough圆检测效果和实际图像的分析完成定位精度的检测;基于对传感器质量影响因素的分析和气泡面积的统计实现结合面质量的检测。在传感器实际制造封装过程中对该视觉检测算法进行了实验验证。结果表明:该方法能识别的结合面上的最小气泡直径为6μm;玻璃内孔半径检测误差约为0.015mm.。本文提出的基于视觉检测的方法基本满足了压阻传感器封装对结合面检测的要求,有助于实现封装质量的自动化检测。     

TiAl/40Cr扩散焊接头强度评价与预测

为了解决界面回波幅度均值无法评价异种材料扩散焊接头强度的问题,文中提出一种接头强度评价与预测方法.该方法基于二叉树支持向量机构建界面缺陷的识别模型,根据识别结果计算界面的焊合率,建立焊合率与抗剪强度的关系.采用线性拟合的方法获得抗剪强度的经验公式,用于预测接头强度.结果表明,构建的缺陷识别模型可以有效地识别出扩散焊界面未焊合、弱接合和微孔缺陷,焊合率与接头抗剪强度具有相关性,抗剪强度随着焊合率的增加而增加.实现了接头强度的预测,预测强度与实测值吻合较好.     

Fe基非晶涂层厚度与其爆炸喷涂沉积特性及性能

目的 评估沉积厚度对Fe基非晶涂层在殷瓦钢基体上服役性能的影响。方法 利用爆炸喷涂在殷瓦钢表面沉积了4种不同厚度(d_AC1≈50μm,d_AC2≈150μm,d_AC3≈250μm,d_AC4≈500μm)的Fe基非晶涂层,采用扫描电子显微镜(SEM)、X射线衍射仪(XRD)、维氏显微硬度计、纳米压痕仪、液压式万能试验机、电化学工作站等,研究了涂层的微观结构、物相组成、显微硬度、弹性模量、残余应力、结合强度和电化学腐蚀特性。结果 不同厚度Fe基非晶涂层均未出现明显的晶化现象,AC1涂层的孔隙率明显较高(2.8%～1.4%),在厚度增至AC3时涂层与基体界面出现了明显的裂纹,且裂纹随着厚度的增加继续恶化,至AC4时在截面形貌上仅观察到少量界面结合连接区域;随着涂层厚度的增加,涂层孔隙率、冷却残余拉应力和结合强度显著降低,显微硬度和弹性模量略有上升。AC1涂层因形成了电偶腐蚀,从而加剧了基体腐蚀,不具备耐腐蚀防护能力。当涂层厚度达到AC3后,涂层的腐蚀电流密度小于基体的腐蚀电流密度,其腐蚀电位和极化电阻均高于...     

短切玄武岩纤维增强环氧树脂复合涂层的制备及性能研究

目的 研究玄武岩纤维/树脂基体界面对涂层性能的影响,通过界面结构的调控提升复合涂层的综合性能。方法 采用酸刻蚀、活化和化学接枝等改性方法处理短切玄武岩纤维,制备短切玄武岩纤维增强环氧复合涂层。通过扫描电子显微镜、硬度测试、摩擦磨损测试、热重分析、电化学测试等方法研究短切玄武岩纤维不同表面改性方法(酸刻蚀、酸刻蚀+化学接枝、活化处理、活化+化学接枝)和添加量对涂层硬度、摩擦磨损性能及腐蚀防护性能的影响。结果 4种表面改性方法均对短切玄武岩纤维的表面活性有提升效果,改善了短切玄武岩纤维与环氧树脂的相容性。其中,活化+化学接枝协同改性的效果最为显著,经过该方法改性后,复合涂层的硬度、耐磨性、耐热性显著提高。与环氧涂层相比,复合涂层的摩擦因数降低了0.113,硬度提高了32.59%,相同温度(320℃)下的重量损失降低了5%。同时,复合涂层的耐蚀性也显著增强,浸泡133 d后的涂层阻抗值仍保持1×10⁸?·cm²以上。结论 表面改性使短切玄武岩纤维与环氧树脂之间相容性增强,进而形成了强有力的相互作用与结合,使得环氧涂层的硬度、耐磨性能、耐热性能和腐蚀...