基于多点动态捕捉的机器人关节位移与几何参数标定

机器人关节位移及几何参数误差是导致位姿出现误差的主要原因,对二者进行高精度标定可提高机器人的绝对精度．传统标定方法的精度受机器人位姿的影响,且需多次实验．本文提出一种基于多点动态捕捉测量的标定方法,可通过单次实验,同时标定串联机器人的关节位移和几何参数．首先基于多点动捕测量获取机器人各连杆上靶标点的3D坐标,结合罗德里格斯变换实现关节位移的求解．其次结合机器人运动学模型和坐标转换关系,实现几何参数误差小量的标定．对方程线性化处理以提高计算效率,并用最小二乘法降低噪声对结果的影响．最后通过对6自由度串联机器人进行仿真,验证了该标定方法的可行性．     

Effect of welding speed on butt joint quality of Ti–6Al–4V alloy welded using a high-power Nd:YAG laser

Annealed Ti–6Al–4V alloy sheets with 1 and 2 mm thickness are welded using a 4 kW Nd:YAG laser system. The effects of welding speed on surface morphology and shape, welding defects, microstructure, hardness and tensile properties are investigated. Weld joints without or with minor cracks, porosity and shape defects were obtained indicating that high-power Nd:YAG laser welding is a suitable method for Ti–6Al–4V alloy. The fusion zone consists mainly of acicular α′ martensite leading to an increase of approximately 20% in hardness compared with that in the base metal. The heat-affected zone consists of a mixture of α′ martensite and primary α phases. Significant gradients of microstructures and hardness are obtained over the narrow heat-affected zone. The laser welded joints have similar or slightly higher joint strength but there is a significant decrease in ductility. The loss of ductility is related to the presence of micropores and aluminum oxide inclusions.     

基于项目式教学的含硫物质转化复习教学设计与实施

从硫酸工厂选址问题入手,将问题转化为项目任务,再由学生主动转化为化学问题,在问题解决中构建含硫物质的价-类二维图。此认识模型的建构让学生在复习元素化合物时有章可循、有图式可依。     

空中爆炸冲击作用下不同接头形式埋地管线动力响应的对比试验研究

为探明爆炸冲击条件下管线接头部位受力变形的特点和规律,在室内爆炸试验碉堡测试系统内分别对直管线、带直接头和弯头管线动力响应情况进行对比试验研究,测试了接头连接处迎爆面及其背面的轴向应变,并对测试结果进行了对比分析。结果表明,管径突变会产生应力集中,接头部位是管线系统的薄弱环节;接头的厚径比是影响接头部位防爆抗震性能的重要参数;接头的类型是影响管线系统防爆抗震性能的重要因素,在管线设计中要尽量减少弯头数量,设置橡胶软接头可增强管线系统防爆抗震性能。     

锻造CoCrMo合金关节材料的摩擦腐蚀行为

采用UMT-2多功能摩擦磨损试验机和电化学工作站(CHI614E)考察了锻造Co Cr Mo合金在25%小牛血清溶液条件下的摩擦腐蚀性能,利用扫描电镜观察了摩擦腐蚀的形貌特征,对腐蚀损失量、机械磨损损失量及腐蚀和磨损的协同损失量进行了对比分析.结果表明:锻造Co Cr Mo合金的腐蚀电位(Ecorr)约-820 m V,在0.5~0.75 V区间出现二次钝化.不同载荷条件下,摩擦腐蚀的摩擦系数均大于纯摩擦系数,且随载荷的增加而减小,摩擦腐蚀电流则随载荷的增加而增大.随载荷的增加,机械磨损损失量所占比例增大,腐蚀损失量所占比例降低.摩擦腐蚀的协同损失量占到总损失量的30%以上,且随载荷增加而增大.     

轴向交变载荷作用下螺栓联接结构的松动试验研究

在设计、试制螺栓加载装置的基础上,对螺栓联接结构进行了轴向振动的疲劳试验,获取了螺栓夹紧力的时变曲线,并对试验后的螺栓接触表面进行损伤分析,研究螺栓联接结构的松动机理.结果表明:在轴向振动条件下,螺栓联接结构的夹紧力下降较为明显,但拧出力矩相对于预紧力矩变化不大.螺栓的松动过程可分为以下两个阶段:试验初期由于螺栓接触面的塑性变形,夹紧力迅速下降;然后由于接触面之间的微动磨损,夹紧力缓慢下降.螺纹接触面之间的损伤机制主要为黏着磨损、磨粒磨损和剥层.     

Deterministic joint remote preparation of an arbitrary two-qubit state in the presence of noise

Using two tripartite Greenberger-Horne-Zeilinger （GHZ） states as the shared channels, we investigate the noise effects on the deterministic joint remote preparation of an arbitrary two-qubit state. By unitary matrix decomposition procedure, we first construct the quantum logic circuit of the deterministic joint remote state preparation protocol. Then, we analytically derive the fidelity and the average fidelity for the deterministic joint remote preparation of an arbitrary two- qubit state and of four types of special two-qubit states under the influence of the Pauli noises. It is found that the fidelity depends on the noise types, the qubit-environment coupling strength, and the state to be remotely prepared. Moreover, even if the two GHZ channels are subject to the same environmental noises, the average fidelities for remotely preparing different two-qubit states display different time evolution behaviors. The remote preparation of the identical two-qubit states also shows that the average fidelities affected by different noisy environments exhibit different evolution actions.     

Several three-dimensional solutions for transversely isotropic functionally graded material plate welded with circular inclusion

The problem of a transversely isotropic functionally graded material (FGM) plate welded with a circular inclusion is considered. The analysis starts with the generalized England-Spencer plate theory for transversely isotropic FGM plates, which expresses a three-dimensional (3D) general solution in terms of four analytic functions. Several analytical solutions are then obtained for an infinite FGM plate welded with a circular inclusion and subjected to the loads at infinity. Three different cases are considered, i.e., a rigid circular inclusion fixed in the space, a rigid circular inclusion rotating about the x-, y-, and z-axes, and an elastic circular inclusion with different material constants from the plate itself. The static responses of the plate and/or the inclusion are investigated through numerical examples.     

HL-2M环向场线圈的结构设计

设计了HL-2M 环向场线圈基本形状、特殊的指形接头和斜面接头以及馈线、绝缘结构和水冷回路。每个环向场线圈由L 形中心段、上弧段和外弧段分别通过指形接头和斜面接头组装成完整的D 形线圈。分段可拆卸的D 形线圈结构可以使得真空室和单个极向场线圈分别整体吊装到环向场线圈内侧。单根引线和双回线的馈线结构既能节省装置空间,又能降低杂散磁场。TF 线圈匝间绝缘500V,对地绝缘30kV。采用软焊在线圈旁侧槽内的铜管对线圈进行水冷以带走线圈放电产生的焦耳热。     

5-1/2 FH钻杆接头极限承载能力研究

随着超深井、定向井、水平井、大位移井及大斜度井在石油钻井工程中的广泛应用,由井下复杂工况引起的钻杆接头过早失效问题日益突出,导致钻井周期增长,成本增加,成为制约钻井工程效益的主要因素之一.近年来,不少学者对钻杆接头进行了大量研究,多数采用二维轴对称模型,少数采用三维力学模型,但并未同时考虑螺纹升角和井眼弯曲作用等因素的影响,而钻杆接头的极限承载能力研究更是鲜见报道.针对上述问题,基于虚功原理、von Mises屈服原则及接触非线性理论,同时考虑螺纹升角和井眼弯曲作用,建立了钻杆接头的三维数值仿真模型与井眼曲率到加载弯矩的转换模型,研究了钻杆接头的上扣特性、井眼曲率对连接强度和密封性能的影响,考虑预紧力、弯曲载荷及动载安全系数,计算了钻杆接头的极限工作拉力和极限工作扭矩.研究结果表明:上扣扭矩使钻杆接头产生一定的初始接触压力,保证钻杆接头井下作业过程中的连接强度与密封性能;井眼曲率对钻杆接头井下作业过程中的连接强度与密封性能影响极大,常见的某些工况会导致钻杆接头的连接强度和密封性能丧失,考虑服役时的随机振动与冲击,常规的超深井、水平井、定向井、大位移井及大斜度井弯曲段钻杆接头的设计和选型应着重考虑井眼曲率的影响;针对设计的每种钻杆接头,都应考虑常见的井眼曲率和轴向拉伸载荷进行极限工作拉力和极限工作扭矩的精细化数值计算,以确保其安全工作.