In-plane anisotropy of 1545 aluminum alloy sheet

1　INTRODUCTIONThe in plane anisotropy of mechanical proper ties brings the limitation to the use of alloy sheet.At the same time, during the material processing,the difficulties of contour machining will also be in creased. For this reason, when designing high performance aluminum alloy sheets, the in planeanisotropy is an important performance parameterthat must be considered. Studies have shown thatminor Sc and Zr in the Al Mg Mn alloy can refinegrains of cast ingot, inhib…     

Casting/mold thermal contact heat transfer during solidification of Al-Cu-Si alloy (LM 21) plates in thick and thin molds

Heat flow at the casting/mold interface was assessed and studied during solidification of Al-Cu-Si (LM 21) alloy in preheated cast iron molds of two different thicknesses, coated with graphite and alumina based dressings. The casting and the mold were instrumented with thermocouples connected to a computer controlled temperature data acquisition system. The thermal history at nodal locations in the mold and casting obtained during experimentation was used to estimate the heat flux by solving the one-dimensional inverse heat conduction problem. The cooling rate and solidification time were measured using the computer-aided cooling curve analysis data. The estimated heat flux transients showed a peak due to the formation of a stable solid shell, which has a higher thermal conductivity compared with the liquid metal in contact with the mold wall prior to the occurrence of the peak. The high values of heat flux transients obtained with thin molds were attributed to mold distortion due to thermal stresses. For thin molds, assumption of Newtonian heating yielded reliable interfacial heat transfer coefficients as compared with one-dimensional inverse modeling. The time of occurrence of peak heat flux increased with a decrease in the mold wall thickness and increase in the casting thickness.     

Equivalent heat transfer coefficient at casting/Cu mould interface and temperature field simulation

1　INTRODUCTIONThesolidifiedmicrostructuresofalloysdependontheirsolidifyingprocesswhoseprimarycharacteristicsarethetemperaturedropofthesuperheatedmeltandthere leaseofthelatentheat.Sothestudyontheheattransferduringthesolidificationprocessistheessentialprobleminthesolidificationtheorystudy .Theresearchersworkingonthenumericalsimulationofthesolidificationprocessallknowthattheinterfacialheattransfercoefficientatthecasting/mouldisavariablechangingwithtime .Thusthedeterminationoftheinterfacialh…     

考虑并联机构结构参数误差的控制模型研究

文章以一三平动自由度并联机构为研究对象，有效解决了因理论模型控制实际机构引起的空间层面不对称的问题，进而提高了系统的控制精度。首先建立了坐标系和分析误差源，在此基础上借助空间矢量链分析方法，推导了含误差参数机构控制的正、逆解模型，有效地解决了因立柱导轨垂直度误差引起的机构误差问题。仿真结果验证了模型的正确性，研究成果已应用此类机构的开发中。     

弯曲回弹逆解公式及其在焊管预弯机组设计中的应用

根据小曲率弯曲成形的特点，考虑了板料弯曲的纯弹性变形部分对回弹的影响，推导出根据板料强度、厚度和最终成形半径直接计算弯曲半径的回弹逆解公式，并应用于大口径UOE焊管预弯成形的设计上。根据计算公式给出了B-X100钢级板料UOE焊管预弯成形的预弯辊半径优化设计诺谟图。     

SCARA型机器人仿真避障算法的研究

根据机器人的运动学分析模型对机器人进行动态仿真是机器人设计过程的一个重要环节.文章对SCARA型机器人进行了运动学分析,建立了该类型机器人的运动学模型,提出了SCARA型机器人避障仿真算法,并对其进行了计算机仿真与分析,这对机器人运动学、动力学、微机控制和路径规划等方面的研究有重要的参考价值.     

一种7DOF冗余手臂构形的运动学与动力学特性研究

冗余度机构具有高度的灵活性和避障能力,利用冗余自由度可以改善仿人机器人手臂的运动性能.以实现人体手臂的运动特性和操作灵活性为目标,研制了一种7DOF冗余仿人机器人手臂,根据冗余手臂的机构学特点,研究了手臂的运动学和动力学性能,并在工作空间、肘部关节的自运动能力以及手臂自重引起的关节重力矩等方面与其它两种典型的冗余手臂构形进行了比较分析.     

网络链路性能参数估计的层析成像方法综述

网络层析成像能够在网络内部节点不提供测量协作的情况下,根据端到端的测量结果,间接地估计网络内部链路性能参数,是一种重要的网络测量手段,能直接指导网络管理和网络优化,目前受到国内外学术界和工业界广泛的关注.在广泛收集国内外资料的基础上,首先总结了目前网络层析成像使用的主要端到端测量方法和技术;再根据不同参数对链路性能刻画程度的不同,将链路性能参数的网络层析成像方法分为两类:定量参数推断方法和定性参数推断方法;然后,针对不同类型参数的估计问题,概括分析了现有算法的特点;最后指出该类方法未来的研究方向与潜在的应用前景.     

基于BP神经网络的排爆机械臂逆运动学分析

机械臂逆运动学是已知末端执行器的位姿求解机械臂各关节变量,主要用于机械臂末端执行器的精确定位和轨迹规划,如何高效的求解机械臂运动学逆解是机械臂轨迹控制的难点;针对传统的机械臂逆运动学求解方法复杂且存在多解等问题,提出一种基于BP神经网络的机械臂逆运动学求解方法;以四自由度机械臂为研究对象,对其运动学原理进行分析,建立BP神经网络模型并对神经网络算法进行改进,最后使用MATLAB进行仿真验证;仿真结果表明:使用BP神经网络模型求解机械臂逆运动学问题设计过程简单,求解精度较高,一定程度上避免了传统方法的不足,是一种可行的机械臂逆运动学求解方法。