空间对接机构差动式机电缓冲阻尼系统机构传动原理分析

对空间对接机构中差动式机电缓冲阻尼系统的基本构成、系统主要部件及其在各种工作模式下的机构传动原理进行了较为深入的探讨，基本上搞清楚了差动式机构的结构原理，这是研究对接机构系统必须突破的一项关键技术。     

基于抱爪式对接机构捕获缓冲系统动力学仿真研究

现有在轨服务的对接机构由于其尺寸大、结构复杂、对接目标单一等局限性因素,无法很好地为后续我国探月工程任务提供有力支撑,且受限于运载能力,对接机构的轻量化也是必不可少的一项环节.为研究可服务于未来月球空间站以及载人登月等高轨道任务的对接机构,设计了一种新型抱爪式对接机构,其采用异体同构周边式构型,可以实现主/被动飞行器之间的互换.利用V型槽与爪钩等结构部件实现飞行器对接过程中的捕获以及能量消耗功能,从而实现两飞行器之间的稳固联接.该对接机构具备尺寸小、重量轻、结构简单、功能易实现等优势.对其捕获缓冲系统进行了动力学分析,计算了缓冲元器件的参数对其捕获性能的影响,在ADAMS完成了数字虚拟样机的建立,结合实际两种典型的对接初始条件工况进行了仿真研究.研究结果表明,两种工况下的对接过程能量消耗满足设计要求,能够以较小的V型槽的碰撞力完成捕获,结果证明了捕获缓冲系统的可行性以及该构型对接机构具备较好实现任务的能力.     

DYNAMIC SIMULATION ANALYSIS OF CAPTURE AND BUFFER SYSTEM BASED ON CLAW-TYPE DOCKING MECHANISM

现有在轨服务的对接机构由于其尺寸大、结构复杂、对接目标单一等局限性因素,无法很好地为后续我国探月工程任务提供有力支撑,且受限于运载能力,对接机构的轻量化也是必不可少的一项环节.为研究可服务于未来月球空间站以及载人登月等高轨道任务的对接机构,设计了一种新型抱爪式对接机构,其采用异体同构周边式构型,可以实现主/被动飞行器之间的互换.利用 V 型槽与爪钩等结构部件实现飞行器对接过程中的捕获以 及能量消耗功能,从而实现两飞行器之间的稳固联接.该对接机构具备尺寸小、重量轻、结构简单、功能易实现等优势. 对其捕获缓冲系统进行了动力学分析,计算了缓冲元器件的参数对其捕获性能的影响,在 ADAMS 完成了数字虚拟样机的建立,结合实际两种典型的对接初始条件工况进行了仿真研究.研究结果表明,两种工况下的对接过程能量消耗满足设计要求,能够以较小的 V 型槽的碰撞力完成捕获,结果证明了捕获缓冲系统的可行性以及该构型对接机构具备较好实现任务的能力.     

基于有限时间收敛的双臂空间机器人捕获卫星主动对接力/位姿阻抗控制

针对双臂空间机器人捕获卫星主动对接力/位姿阻抗控制进行了研究.为防止捕获过程中机械臂末端执行器与卫星接触、碰撞时产生的冲击载荷对机器人关节造成冲击破坏,在各关节电机与机械臂之间加入了一种弹簧阻尼缓冲机构.该机构可通过弹簧实现冲击力矩的卸载,阻尼器则用于因弹簧引起的柔性振动的抑制.为解决捕获过程中的非完整动力学约束及捕获后混合体系统的协调控制问题,结合牛顿第三定律、捕获点的速度约束及闭链几何约束,获得捕获后混合体系统的动力学方程,且通过动量守恒关系计算碰撞冲击效应与碰撞冲击力.通过分析对接装置在载体坐标系下的运动学关系,建立对接装置相对载体的运动雅可比矩阵,并基于此建立基于力的二阶线性阻抗模型,实现对接装置输出力的精确控制.考虑到主动对接操作过程要求控制器具有收敛速度快,控制精度高的特点,通过结合终端滑模与超扭滑模的特点,提出一种非奇异快速终端滑模阻抗控制策略.该策略即能实现主动对接操作中位姿与输出力的快速响应,又能有效地抑制滑模的抖振以保证控制精度.通过Lyapunov定理证明系统的稳定性;利用数值模拟验证缓冲装置的抗冲击性能及所提阻抗控制策略的有效性.     

新型指南车设计及样车功能实测

本文首先对定轴式指南车和差动式指南车进行了比较分析,发现定轴式指南车虽受限于平面直行和平面定点转弯,但在直行越障方面有一定优势;差动式指南车在平面内可以任意行驶或者转弯,只是在直行越障方面存在明显缺陷。接着综合两种指南车方案的优点,以差动式指南车为蓝本,辅之以定轴式指南车自动离合装置的理念,设计目标是解决差动式指南车固有的直行越障缺陷。然后本文设计了一款牙嵌式离合器,用于不同工况下指南机构的离合控制;并基于牙嵌式离合器完成了新型指南车的外形尺寸和内部机构零件的设计方案。进而通过新型指南车的三维实体建模实施指南车的运动机构仿真。最后完成了样车的制备和功能测试,试验结果表明样车的越障和转弯等工况下指南性能均达到预期。

     

抛投式机器人高过载弹射泡沫塑料的共振吸能特性

针对抛投式机器人弹射过程中存在的高过载问题,使用缓冲材料对机器人进行减过载处理。讨论了缓冲材料在高过载情况下的吸能特性,根据抛投式机器人缓冲保护壳的结构和缓冲材料的性质,建立了单自由度支座激励系统数学模型,并对其系统固有频率和放大系数进行了分析。利用弹射器内弹道加速度测量系统测量了弹射器的激励曲线和机器人在缓冲材料作用下的响应。实验结果表明,当缓冲系统的固有频率与弹射器的激励频率接近时,系统产生共振,机器人所受过载增加。通过调整缓冲系统的参数,改变其固有频率,使系统放大系数小于1,避免产生共振。

     

盘绕式杆状展开机构的设计与力学分析

盘绕式杆状展开机构具有质量轻、收拢比大,伸缩平稳,展开可靠性高等优点,可广泛用于太阳电池阵、大型天线的展开,作为主要的展开支撑受力构件,展开机构在整个结构系统中起顶梁柱的作用。本文通过对盘绕式展开机构原理样机的研制,从设计角度对盘绕式杆状展开机构的构造特点、设计方案和展开/收拢原理进行了阐述,对其关键几何设计参数进行了分析。根据展开和收拢几何特性关系,对其刚度特性进行了分析,并依据弹性稳定理论,对该展开机构进行了局部和整体稳定性分析。设计参数分析和刚度特性分析对盘绕式展开机构原理样机的研制和关键技术的解决有较大的借鉴意义。     

固体差动随行装药高初速火炮内弹道理论分析

提出了一种基于差动原理的固体差动随行装药的高初速火炮发射方案,该方案能有效克服传统随行装药技术提高初速必将伴随射弹底部最大压力增加的缺点。它的主要特点是运用差动原理,实现不同组合件之间的速度不同,自动压缩储能室使随行工质向弹后连续喷射,有效抑制和消除了弹丸运动引发的稀疏波影响,提高了火炮工作容积利用率。推导了差动随行组合弹丸不同组合件动力学模型,给出了弹载工质物理量分布关系式。计算结果表明,在最大膛压、飞行弹丸底部最大压力、弹重及弹丸行程等不变条件下,随行药量取10.2 kg,某大口径火炮的弹丸初速可提高26%,火炮工作容积利用率提高约44%。该方案可为火炮提高初速和实现超远程发射提供新的途径。     

微分对接条件对临界转速的影响

本文用模态综合法并借助二阶非完整约束系统的Ｒｏｕｔｈ型方程,建立了考虑全部（包括代数和微分）对接条件下转子系统的运动微分方程,使求临界转速问题由非线性特征值问题转变为线性特征值问题．在此基础上,研究了微分对接条件对临界转速的影响     

BUFFER AND COMPLIANT DYNAMIC SURFACE CONTROL OF SPACE ROBOT CAPTURING SATELLITE BASED ON COMPLIANT MECHANISM$^{\bf 1)}$

研究了空间机器人在轨捕获非合作卫星过程避免关节受碰撞冲击破坏的缓冲从顺控制问题, 为此在机械臂与关节电机之间配置了一种柔性机构, 其作用在于: (1)在接触、碰撞阶段可通过其内置弹簧的变形来吸收被捕获卫星对空间机器人关节产生的冲击力矩; (2)在镇定运动阶段, 结合与之配合的缓冲从顺控制策略来适时开、关关节电机, 以保证关节受到的冲击力矩受限在安全范围. 首先, 利用多刚体系统理论获得配置柔性机构空间机器人及目标卫星分体系统动力学方程; 之后, 结合整个系统动量守恒关系, 捕获操作后系统运动几何关系及力的传递规律, 建立了两者形成联合体系统的动力学方程, 并计算了碰撞过程的冲击效应与冲击力. 为了实现失稳联合体系统的镇定控制, 提出了一种基于动态面的缓冲从顺控制方案. 上述控制方案可在实现吸收捕获操作产生的冲击力矩的同时, 还能在冲击力矩过大时适时开启、关闭关节电机, 以避免关节电机发生破坏; 此外, 动态面的引入避免了反演法存在的计算膨胀问题, 有效减少了计算量. 基于Lyapunov函数法证明了系统的稳定性, 并通过系统数值仿真结果验证了上述缓冲从顺控制策略的正确性.     

Electro-mechanical coupling bifurcation and bulging propagation in a cylindrical dielectric elastomer tube

This paper explores the critical and post-bulging bifurcation of a cylindrical dielectric elastomer (DE) tube undergoing finite deformation under electro-mechanical coupling loading. Explicit expressions for the critical conditions of electro-mechanical bifurcation are derived by using a simplified mathematical method. The post-bifurcation path is comprehensively investigated by specifying the material model as ideal dielectric elastomer. In the post-bifurcation analysis, we analytically establish conditions for the phase coexistence of steady propagation and analyze the physical implications. We demonstrate a global instability under force or voltage control and a localized instability under volume or charge control. Cylindrical tube experiments have been carried out under electro-mechanical coupling loading to verify the theoretical predictions. Good agreements on the critical conditions as well as the post-bifurcation path are obtained. This work characterizes the bifurcation mechanism of rubber-like materials under complex coupling loading.     

On non-linear dynamics of a coupled electro-mechanical system

Electro-mechanical devices are an example of coupled multi-disciplinary weakly non-linear systems. Dynamics of such systems is described in this paper by means of two mutually coupled differential equations. The first one, describing an electrical system, is of the first order and the second one, for mechanical system, is of the second order. The governing equations are coupled via linear and weakly non-linear terms. A classical perturbation method, a method of multiple scales, is used to find a steady-state response of the electro-mechanical system exposed to a harmonic close-resonance mechanical excitation. The results are verified using a numerical model created in MATLAB Simulink environment. Effect of non-linear terms on dynamical response of the coupled system is investigated; the backbone and envelope curves are analyzed. The two phenomena, which exist in the electro-mechanical system: (a)?detuning (i.e. a natural frequency variation) and (b)?damping (i.e. a decay in the amplitude of vibration), are analyzed further. An applicability range of the mathematical model is assessed.     

The scattering of P-waves by a piezoelectric particle with FGPM interfacial layers in a polymer matrix

Propagation of P-wave in an unbounded elastic polymer medium which contains a set of nested concentric spherical piezoelectric inhomogeneities is formulated. The polymer matrix is made of Epoxy and is isotropic; each phase of the inhomogeneity is made of a different piezoelectric material and is radially polarized and has spherical isotropy. Note that the individual phases are homogeneous, and all interfaces are perfectly bonded. The scattered displacement and electric potentials in the matrix are expressed in terms of spherical wave vector functions and Legendre functions, respectively. The transmitted displacement and electric potentials within each phase of the piezoelectric particle are expressed in terms of Legendre functions. The equations of motion and electrostatics in each phase of the piezoelectric inhomogeneity lead to a system of coupled second order differential equations, which is solved using the generalized Frobenius series. The present theory is extended to the case where the core of the inhomogeneity is made of PZT-4 and its coating is made of functionally graded piezoelectric material (FGPM) whose microstructural composition varies smoothly from PZT-4 at the core–coating interface to Epoxy at the coating–matrix interface. The effects of different types of variation in the electro-mechanical properties of FGPM on scattering cross-section and other electro-mechanical fields are addressed. The present theory is valid for arbitrary coating thickness, and arbitrary frequencies.     

Propagation of Love waves in a functionally graded piezoelectric material (FGPM) layered composite system

In this theoretical study, we investigate the propagation of Love waves in a layered structure consisting of two different homogenous piezoelectric materials, an upper layer and a substrate. A functionally graded piezoelectric material (FGPM) buffer layer is in between the upper layer and the substrate. We employ the power series technique to solve the governing differential equations with variable coefficients. The influence of the gradient coefficients of FGPM and the layer thicknesses on the dispersion relations, the electro-mechanical coupling factor, and the stress distributions of Love waves in this structure are investigated. We demonstrate that the low gradient coefficient raises the significant variation of the phase velocity within a certain range of ratios of upper layer thickness to equivalent thickness. The electro-mechanical coupling factor can be increased when the equivalent thickness equals one or two wavelengths, and the discontinuity of the interlaminar stress can be eliminated by the FGPM buffer layer. The theoretical results set guidelines not only for the design of high-performance surface acoustic wave (SAW) devices using the FGPM buffer layer, but also for the measurement of material properties in such FGPM layered structures using Love waves.     

Impulsive stabilization and synchronization of electro-mechanical gyrostat systems

The electro-mechanical gyrostat system has become a fundamental model of nonlinear dynamics due to its potential applications in practical engineering. It has also been intensively investigated in the last few years due to its intrinsic and complex nonlinear dynamical behaviors. This paper is mainly concerned on the issues of impulsive stabilization and synchronization of chaotic electro-mechanical gyrostat systems. Based on the practical stability theory of impulsive dynamical systems, some simple yet less conservative criteria ensuring impulsive stabilization and synchronization of electro-mechanical gyrostat systems are derived. Subsequently, numerical simulations are presented to demonstrate the effectiveness of the proposed control techniques.     

A new two-dimensional model for electro-mechanical response of thick laminated piezoelectric actuator

This paper investigates the electro-mechanical behaviour of a thick, laminated actuator with piezoelectric and isotropic lamina under externally applied electric loading using a new two-dimensional computational model. The elastic core is relatively thick and thus it is modelled by Timoshenko thick-beam theory. Although the piezoelectric lamina is a beam-like layer, it is formulated via a two-dimensional model because of not only the strong electro-mechanical coupling, but also of the presence of a two-dimensional electric field. It is shown in this paper that a one-dimensional model for the piezoelectric beam-like layer is inadequate. The piezoelectric model is constructed within the scope of linear piezoelectricity. The actuation response is induced through the application of external electric voltage. Under the strong coupling of elasticity and electricity, the strain energy and work of electric potential are presented. The electro-mechanical response of the laminated Timoshenko beam is formulated and determined via a variational energy principle. Numerical examples presented illustrate convincing comparison with finite element solutions and existing published data. New numerical solutions are also presented to investigate the geometric effect on the electro-mechanical bending behaviour.     

哈密顿体系下机电耦合问题的基本方程

利用多变量变分原理,针对具有机电耦合特性的压电材料,在哈密顿体系下推导出了机电耦合问题的对偶方程．求出了问题的零本征解和非零本征解的一般表达式。并就“二维压电平板对边受均布载荷”这一具体问题进行了完整的分析计算,得出了应力和电位移的具体解答,结果与一般弹性力学所得的结论相吻合,而且精度极高。表明哈密顿体系适用于压电材料的力学分析。     

Crack spacing effect for a piezoelectric cylinder under electro-mechanical loading or transient heating

This paper investigates the fracture problem of a piezoelectric cylinder with a periodic array of embedded circular cracks. An electro-mechanical fracture mechanics model is established first. The model is further used to the thermal fracture analysis of a piezoelectric cylinder subjected to a sudden heating on its outer surface. The temperature field and the associated thermal stresses and electric displacements are obtained and are added to the crack surface to form a mixed-mode boundary value problem for the electro-mechanical coupling fracture. The stress and stress intensities are investigated for the effect of crack spacing. Strength evaluation of piezoelectric materials under the transient thermal environment is made and thermal shock resistance of the medium is given.     

水分子扩散阻力对IPMC致动特性的影响

基于Tadokoro理论模型,采用有限元方法对离子交换膜金属复合材料(ionic polymer metal composite,IPMC)的电致动特性进行了数值模拟.通过比较求解控制方程中不考虑水分子扩散阻力和考虑水分子扩散力的两种计算模型,着重探讨和比较了水分子扩散阻力对钠离子携带周围水分子的迁移运动规律和变形过程中各个特征物理量的影响.结果表明,控制方程中增加水分子扩散阻力这一非线性项,对最终的宏观挠曲位移影响并不明显;但是对于钠离子浓度、等效应变、内部平衡力分布等物理量影响很大;这种影响还具有区域性特征,主要集中于电极板附近区域,其他区域影响较弱.控制方程中增加水分子扩散力可以更准确地描述钠离子在迁移过程各物理量的变化规律.     

黏弹性阻尼作用下轴向运动Timoshenko梁振动特性的研究

黏弹性阻尼一直是轴向运动系统的研究热点之一.以往研究轴向运动系统大都没有考虑黏弹性阻尼的影响.但在工程实际中, 存在黏弹性阻尼的轴向运动体系更为普遍.本文研究了黏弹性阻尼作用下轴向运动Timoshenko梁的振动特性.首先, 采用广义Hamilton原理给出了轴向运动黏弹性Timoshenko梁的动力学方程组和相应的简支边界条件.其次, 应用直接多尺度法得到了轴速和相关参数的对应关系, 给出了前两阶固有频率和衰减系数在黏弹性作用下的近似解析解.最后, 采用微分求积法分析了在有无黏弹性作用下前两阶固有频率和衰减系数随轴速的变化; 给出了前两阶固有频率和衰减系数在黏弹性作用下的近似数值解, 验证了近似解析解的有效性.结果表明: 随着轴速的增大, 梁的固有频率逐渐减小.梁的固有频率和衰减系数随着黏弹性系数的增大而逐渐减小, 其中衰减系数与黏弹性系数成正比关系, 黏弹性系数对第一阶衰减系数和固有频率的影响很小, 对第二阶衰减系数和固有频率的影响较大.