海龟柔性前肢仿生推进研究

为探讨水翼法推进方式,进行了海龟柔性前肢仿生技术研究.基于水翼法运动解析,研究了海龟柔性水翼的弦向形变特征、反卡门涡街脱泻及斯特劳哈尔数等,推算出水翼尾涡脱泻的斯特劳哈尔数位于0.2～0.45之间,雷诺数位于3×102～3×104之间;根据海龟水翼粘弹本构特性,研制了半骼式仿生柔性水翼,并对其进行柔性形变和组织模态分析...     

Residual stress and plastic strain analysis in the brazed joint of bonded compliant seal design in planar solid oxide fuel cell

This paper uses finite element method (FEM) to predict the residual stress and plastic strain in the brazed joint of sealing foil-to-window frame in bonded compliant seal (BCS) design in a planar solid oxide fuel cell (PSOFC). The effects of window frame material type, sealing foil thickness, filler metal thickness and window frame thickness on residual stress and plastic strain are discussed. Large residual stress is generated in the joint, and the stress and strain are concentrated around the fillet. It is proved that the BCS design can mitigate and trap some residual stress by plastic deformation within the sealing foil. The residual stress and the ability of trapping stress of sealing foil are affected by window frame material and structure thickness. Based on the comprehensive considerations of the impact of residual stress and plastic strain, Alloy 625 as a window frame material is found to be better than Haynes 214, Hastelloy X and SUS 316L. The optimum thickness of sealing foil and filler metal BNi2 are found to be 150 μm and 75 μm, respectively. The residual stress and plastic strain are increased with the increase of window frame thickness.     

Heat transfer analysis for particle–fluid suspension thermomagnetohydrodynamic peristaltic flow with Darcy–Forchheimer medium

This theoretical analysis explores the effect of heat and mass transfer on particle–fluid suspension for the Rabinowitsch fluid model with the stiffness and dynamic damping effects through Darcy–Brinkman–Forchheimer porous medium. In this study, we also incorporate slip and transverse magnetic field effects. Using low Reynolds number, to neglect inertial forces and to keep the pressure constant during the flow, channel height is used largely as compared with the ratio of length of the wave. A numerical technique is used to solve flow governing system of differential equations. Particular attention is paid to viscous damping force parameter, stiffness parameter, and rigidity parameter; also, the numerical data for thermal profile, momentum, and concentration distribution are presented graphically. Outcomes are deliberated in detail for different fluid models (thinning, thickening, and viscous models). It is found that velocity profile increases for greater values of viscous damping effect and stiffness and rigidity parameter for shear thinning, but conflicting comportment is showed for thickening nature model. Viscous dissipation effects increases the thermal profile for all cases of fluid models. The scope of the present article is valuable in explaining the blood transport dynamics in small vessels while considering the important wall features with chemical reaction characteristics. The current analysis has extensive applications in biomedical engineering field, that is, peristaltic pumps.     

基于等效耦合刚度的平面折展滑块机构分析

柔性铰链是实现平面折展柔顺机构运动的关键部分.如何设计得到柔度好、精度高的柔性铰链一直是柔顺机构研究的关键问题.综合考虑影响平面折展机构铰链刚度和精度特性的等效弯扭及拉压刚度,以LET铰链为例,分析在不同载荷下各个参数对弯扭与拉压等效耦合刚度的影响趋势,从而提出弯扭与拉压等效耦合刚度的概念.通过大量的实例计算和分析,推导出LET铰链弯扭与拉压等效耦合刚度的经验公式.基于等效耦合刚度经验公式,对平面折展柔顺滑块机构进行分析.应用等效耦合刚度公式与不应用等效耦合刚度公式两种情况的分析结果和有限元仿真结果表明,应用等效耦合刚度经验公式的滑块位移计算精度得到很大的提高,验证了等效耦合刚度经验公式的适用性.     

DIRECT RESONANCE OF TURBULENT BOUNDARY LAVER OVER COMPLIANT WALLS

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含有柔顺关节的并联机器人轨迹跟踪实验

使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明:柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.     

基于拓扑优化的人工晶状体襻柔性机构设计

为了解决目前人工晶状体不能实现大跨度调节问题,根据人体生物眼测量基础数据及调节机制,建立了人工晶状体襻结构生物力学模型.基于结构拓扑优化方法,对人工晶状体襻结构进行了拓扑优化分析,得到布局合理的基本骨架结构.经机构运动学分析,给出了机构目标点位移值的变化规律.采用柔性建模理论方法,考虑材料特性及关节柔性,深入研究了该放大机构的实际运动规律,给出了该柔性机构位移放大的一般规律.经本模型优化后得到柔性机构位移输出值可达输入值的3.34倍,光学部前置位移随之增加,理论上可实现视觉质量的提高.     

基于自抗干扰的装配机器人阻抗控制技术

为了提升机器人装配作业的精确性和柔顺性,提出改进型自抗扰阻抗控制策略.该策略通过自抗扰控制器生成新期望力来调整机器人末端工具坐标系的位置,实现精确的力跟踪.通过扰动观测器观测环境信息并补偿控制系统的期望力,提高控制系统对环境参数的适应性.引入阻抗模型改进扰动观测器,使观测器的响应速度增大,力跟踪的精度提高.基于六自由度机器人的精密轴孔装配实验结果表明,与传统阻抗控制相比,基于自抗扰控制（ADRC）的阻抗控制能够在较小的接触力误差下完成装配,且基于改进型自抗扰控制的阻抗控制的力平均误差比改进前自抗扰控制减小12.0%～28.2%.     

基于PCI-X和RocketIO的高速数据传输系统设计

串行传输技术具有更高的传输速率和更低的设计成本,已成为业界首选,被广泛应用于高速通信领域。针对需要高速大吞吐量数据传输的雷达系统,在双PowerPC 7447A处理器模块上实现了基于PCI-X和RocketIO的高速串行数据传输通道。文中描述了设计方案、实现原理和RocketIO收发控制电路的状态机,给出了测试信号时序波形图,并对测试结果进行了性能分析。该设计已成功应用在雷达系统中,性能稳定可靠,可以实现最高200 MB/s传输速率。     

压电陶瓷驱动的精密微操作平台特性与优化

设计一种结构紧凑、具有大运动空间和响应快的微操作平台,并对其静态和动态特性进行分析和优化.利用杠杆机构和连杆机构设计一种能实现两级放大的微操作平台,结构对称地设计在同一平面,并采用导向机构实现精确的导向运动.利用功能原理,采用伪刚体方法建立反映平台的静态和动态特性封闭形式的理论模型.由理论模型与有限元分析的结果比较分析可知,两者所得的结果误差范围为6.0%~7.2%,说明所推导模型的正确性.基于理论模型分析构型参数和柔性铰链尺寸参数对放大倍数、输出刚度、应力和固有频率的影响.结果表明,结构参数变化对输出刚度与固有频率的影响是矛盾的,对放大倍数和应力的影响也相互矛盾,需要通过优化结构参数以综合平衡其性能指标.提出一种以综合平衡平台的静态和动态特性为目标,并考虑应力、放大倍数和几何尺寸为约束的优化模型.结果表明优化后的固有频率和放大倍数比优化前均提高,而输出刚度降低,说明优化后的平台性能更好.