轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

DP980+Z烘烤硬化值与退火温度的关系

摘要：为了研究退火温度对镀锌DP980+Z烘烤硬化值的影响，退火温度控制在760～820℃之间，系统分析退火温度对烘烤硬化值的影响。通过准静态拉伸试验机测量烘烤硬化值及抗拉强度，采用lepara试剂对组织中的马氏体进行着色，利用金相显微镜及图像处理软件测量马氏体的体积分数；采用扫描电镜观察DP980+Z的双相组织特点，并且将组织图片通过CAD转化成有限元图进行网格划分，建立代表性体积单元（RVE），通过有限元分析铁素体、马氏体强度对烘烤硬化值的影响。在同样的变形量情况下，DP980+Z的原始屈服强度越高，烘烤硬化值越高。     

On the origin of strain hardening in glassy polymers

The influence of network density on the strain hardening behaviour of amorphous polymers is studied. The network density of polystyrene is altered by blending with poly(2,6-dimethyl-1,4-phenylene-oxide) and by cross-linking during polymerisation. The network density is derived from the rubber-plateau modulus determined by dynamic mechanical thermal analysis. Subsequently uniaxial compression tests are performed to obtain the intrinsic deformation behaviour and, in particular, the strain hardening modulus. At room temperature, the strain hardening modulus proves to be proportional to the network density, irrespective of the nature of the network, i.e. physical entanglements or chemical cross-links. With increasing temperature, the strain hardening modulus is observed to decrease. This decrease appears to be related to the influence of thermal mobility of the chains, determined by the distance to the glass-transition temperature (T−T_g).     

Deformation-Strength Relationships in Short-Term Tension of Heat-Resistant Materials

The analysis of 124 curves obtained in short-term tensile tests demonstrate that they can be described by varying strain hardening and softening characteristics. Different stress–strain curves can be produced at invariable yield strength and ultimate strength and interrelated proportional variations of the above characteristics. To determine some specific stress–strain curve, it is necessary to take account of yield strength and ultimate strength as well as strain corresponding to the latter. The relations between yield strength, ultimate strength and hardening and their practically complete absence between these parameters and softening were statistically established.     

滚动式冷床在高钢级油管生产线中的应用

根据石油开采业对石油机械产品的需求 ,利用机械理论基础知识 ,通过实践设计 ,提出了对几何尺寸长的金属管类进行调质处理后的均匀冷却方法 ,以满足其性能要求。     

可移动机器人的运动学模型与控制原理

本文首先对可移动机器人的运动学进行了分析，建立了运动学模型与控制结构图，然后采用时域分析法对此系统进行了校正，最后通过对此系统的仿真与时测实验，对各校正环节的参数进行了整定。     

NK-EH500调质钢爆炸硬化的冲击动力学研究

通过试验并运用爆炸冲击动力学理论NK－EH500调质钢爆炸硬化进行了深入的研究，结果表明，金属材料存在硬化极限，调整炸药组成改变爆炸硬化可以满足不同金属材料的硬化要求，隔离式爆炸硬化有利于保护硬化工件外观的完整性，本研究对拓展爆炸硬化在实践中的应用领域具有重要的理论指导意义。     

3Cr-3Mo二次硬化钢的回火组织和力学性能

研究了3cr—3Mo二次硬化钢淬火回火后的组织和力学性能。结果表明：随回火温度的升高，试验钢中先后析出M3c、M2c和M7C3等碳化物，在575℃回火时硬度达到峰值；400一575℃回火后试验钢的抗拉强度约为l600MPa，冲击韧性为30J／cm^2；回火温度高于600℃时，强度和硬度迅速下降，冲击韧性增加；640℃回火时，以M2C型碳化物为主，抗拉强度为1100MPa，冲击韧性增加至55J／cm^2。     

Dynamics of Vibroprotective Systems with Roller Dampers of Low-Frequency Vibrations

We study low-frequency vibrations of a vibroprotective system of solid bodies formed by a roller damper and a moving load-carrying body under the action of external harmonic excitations. The dynamic equations of combined motion of the working body of the damper over the hinged roller without sliding and the load-carrying body are deduced and numerically analyzed. A new procedure is proposed for the evaluation of the optimal parameters of adjustment of roller dampers in nonlinear systems.     

25Cr3Mo3NiNb二次硬化钢中的碳化物

利用TEM和萃取相分析方法，研究了25Cr3Mo3NiNb二次硬化钢淬火回火组织中的碳化物。结果表明，随淬火奥氏体化温度的升高，M6C型碳化物逐渐溶解。于1050℃奥氏体化时M6C型碳化物全部溶解，淬火态试样中只有少量的Nb(C，N)颗粒和自回火M3C型碳化物。随回火温度的升高，先后析出ε、M3C、M2C和M7C3等类型的碳化物。Nb(C，N)颗粒可以阻止淬火奥氏体晶粒的异常长大，而高温回火析出的M2C碳化物有二次硬化作用，从而提高回火稳定性和高温强韧性。