跳马项目的三维实时动态测量系统

为跳马项目研究的电测系统中引入数字信号处理的传递函数及频谱分析的方法,采集和处理了因人体冲击三维力对信号的耦合干扰造成的十分复杂的响应信号,具有较高的动态测试精度.可以获得跳马动作的全部运动生物力学参数.现已用于中国国家体操队进行计算机辅助训炼.     

远程多点三维实时运动测量仪

基于图像和视觉的非接触运动跟踪是目前光测力学中一个活跃的研究领域,在科研和工程测量方面都得到了广泛的应用.本文基于立体视觉原理介绍了一种远程多点三维实时运动测量仪,该系统由2个可独立工作的测量站构成,每个站具备完整的高速图像采集、距离测量、姿态感知、运动控制和数据处理功能.为了实现远程测量,站点之间通过网线或者无线传输...     

蜻蜓飞行姿态的实时模拟测量

作为昆虫自由飞行姿态实时测量的预研课题,本文利用投影栅线法对真实蜻蜓翅膀在适当频率摆动的机械驱动下模拟真实飞行时的三维形状变化进行了实时测量,由于在图像采集,预处理,位相提取,抑噪声去包络等环节采取了一系列措施,克服了由于蜻蜓翅膀透明度高,表面微观起伏变化剧烈所导致的栅线条纹图的平均灰度、对比度和信噪比都很低而给数据处理带来的困难,并最终得到了满意的结果。     

蜻蜒飞行姿态的实时模拟测量

作为昆虫自由飞行姿态实时测量的预研课题,本文利用投影栅线法对真实蜻蜓翅膀在以适当频率摆动的机械驱动下模拟真实飞行时的三维形状变化进行了实时测量.由于在图像采集,预处理,位相提取,抑噪声去包络等环节采取了一系列措施,克服了由于蜻蜓翅膀透明度高,表面微观起伏变化剧烈所导致的栅线条纹图的平均灰度、对比度和信噪比都很低而给数据处理带来的困难.并最终得到了满意的结果.     

勒让德伪谱法求解三维刚体摆姿态运动最优控制问题

研究伪谱法求解三维刚体摆姿态运动最优控制问题. 针对三维刚体摆这类含有约束的力学模型,提出了基于勒让德伪谱法的三维刚体摆姿态最优控制方法. 利用插值逼近设计了三维刚体摆姿态运动最优控制算法,得到了三维刚体摆的姿态最优控制轨迹,并结合松弛参数来控制插值点的取值,寻找满足的可行解. 仿真结果表明,基于勒让德伪谱法的最优控制算法使得三维刚体摆能以较小的误差运动到期望的末端姿态,且计算速度快,能够获得精度较高的控制输入量.     

漂浮运动对风力机气动特性的影响分析

海上浮式风机为蕴藏丰富的深海风能开发提供了有效的解决方案,浮式基础存在的大幅度纵荡、纵摇和艏摇运动可以改变风轮与流场间的相互作用,从而影响风力机的气动特性。基于叶素-动量理论及其修正方法,以NREL 5MW风力机为研究对象,考虑浮式基础运动对叶片不同径向位置处相对入流风速的影响,提出了风载荷的计算模型,通过编程计算获得了叶轮转矩和风力机功率,并比较了不同运动形式对风力机功率波动的影响。结果表明,纵摇对其功率特性影响最大,这为海上浮式风机的优化设计提供理论依据与数据基础。     

旋叶式压缩机滑槽背压对滑片运动特性影响

分析了新型旋叶式压缩机的结构特点，对滑片进行了受力分析，根据达朗伯原理，建立了力与主轴转角关系的数学模型。通过研究滑槽背压变化对滑片运动状态、运动规律等特性的影响及对三种背压状态的比较，认为恒定滑槽背压更有利于改善滑片的运动特性、提高旋叶式压缩机的工作性能，为旋叶式压缩机优化设计建立了基础。     

球体入水空泡演变和运动特性影响试验研究

为了探究表面粗糙度对球体入水空泡演变及运动特性的影响,基于实验室开放水槽试验系统,选取了5种表面粗糙度的球体,使用高速摄像机记录入水过程,并得到了各个球体的入水空泡、喷溅的演变过程以及运动特性的变化。发现入水空泡和喷溅的闭合都会给球体一个负方向的加速度。通过对比不同表面粗糙度球体的位移、速度、加速度曲线,发现表面粗糙度最大的球体在砰击阶段结束后,其速度会明显小于其他球体,并且表面粗糙度对球体运动的影响主要体现在入水早期。分析了上述各球体的入水空泡闭合后,与自由面相连的空泡的收缩运动,发现其收缩速度和加速度曲线均会出现极大值点,呈现出球体表面粗糙度越大出现得越早的趋势。

     

变截面异形杆空中运动特性理论研究

为了提高离散杆战斗部对目标的毁伤效果,提出了一种变截面异形杆设计方案。以爆轰作用后异形杆的初始状态为初始条件,考虑空气阻力对杆条运动的影响,建立了杆条空中运动方程,对比了相同初始条件下长径比相同的柱形杆和异形杆的速度、角速度变化规律。计算结果表明：与柱形杆相比,当杆条与战斗部无安装角时,变截面异形杆在飞行一定距离后能够在保持较高存速的同时获得较好的侵彻角度,近似于正侵彻目标,产生较好的侵彻效果;当杆条与战斗部有安装角时,变截面异形杆也可以在一定飞行距离内形成不连续的杀伤环切割目标,达到与等截面柱形杆相同的毁伤效果。该研究结果对相关离散杆战斗部研究具有一定的理论参考价值。     

基于气力输送技术大体积类球体物料运动特性研究

为了获取大体积物料物理属性参数、负载综合阻力系数和物料形状系数等关键参数,研究不同气力输送条件下大体积物料的运动规律,课题采用理论计算、仿真分析和测试试验相结合的方法,完成了不同体积、不同密度以及不同输送条件下,大体积类球体物料运动特性参数获取、试验测取数据校正和运动数据的对比分析.数据表明,在设定输送条件下,物料运动...     

Kinematic analysis of multi-loop spatial mechanisms: The five-loop case

Multi-loop spatial mechanisms, or parallel mechanisms, are being used to an increasing degree in robotic applications, because they offer some advantages over the open-chain mechanisms. In fact they exhibit high stiffness and low inertia, a fair compliance to the design requirements, and the ability to hold the power actuators in the base. On the other hand, they are often so complex that they can be analyzed only by digital computers, and in general they are designed on the basis of practical solutions rather than theoretical investigations of their structure and kinematics.This paper on the kinematic analysis of multi-loop spatial mechanisms deals in particular with manipulators with five loops and lower pairs. Two approaches are outlined, according to the different backgrounds of the authors: the decomposition method [9], and a differential approach to the non-linear equation set, 19.(6) which encompasses the direct and inverse kinematic problems, as well as the synthesis of the robot.The results are then specialized for mechanisms with the end-effector supported by three spatial parallelograms, like the DELTA-4 robot. For this class of mechanisms an interesting property is also demonstrated, which dramatically reduces the need for computation in the kinematic problems.

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Sommario I meccanismi spaziali in catena chiusa, o meccanismi paralleli, trovano sempre più largo impiego in robotica, dal momento che presentano taluni vantaggi rispetto ai meccanismi in catena aperta: offrono tra l'altro elevata rigidezza e bassa inerzia, flessibilità nel soddisfare le esigenze progettuali e possibilità di collocare gli azionamenti nella base. Spesso tuttavia la loro complessità è tale che si possono analizzare solo col computer, e vengono quindi progettati a partire da soluzioni pratiche, piuttosto che da sistematiche basi teoriche. Questo lavoro illustra metodi generali per lo studio cinematico di meccanismi spaziali in catena chiusa, riferendoli al caso di meccanismi con cinque catene e coppie cinematiche elementari. Gli approcci presentati, che riflettono la diversa formazione degli autori, sono: un metodo di decomposizione [9], e un metodo basato sul calcolo differenziale per lo studio del sistema di equazioni non lineari (6) che, in forma implicita, configura i problemi cinematici diretto e inverso e la sintesi del robot.I risultati vengono quindi applicati a un meccanismo il cui elemento terminale è sostenuto da tre parallelogrammi articolati spaziali, come nel caso del robot DELTA-4. Per questa classe di meccanismi si dimostra anche un'interessante proprietà che riduce drasticamente la quantità di calcoli richiesti dal problema cinematico.

     

用给定转角分步实现刚体任意有限转动的研究

刚体的任意有限转动可以分解为3次绕指定转轴的定轴转动,但在实际应用中,可能出现难以绕某轴实现连续任意角度旋转的情况。本文探究的问题是,刚体的任意有限转动是否可以分解为几次旋转角大小给定、转轴方向任意的定轴转动,以及如何实现这种分解。本文以姿态四元数为主要工具,构造性地证明了上述分解的可行性,并给出了具体的分解方法。     

晶体非比例双滑移的一般运动学

本文对非比例双滑移的变形规律和运动学进行了一般的数学分析。提出了双线性双滑移、逐段线性双滑移的变形梯度张量的解析公式。导出了线元切向量的变形方程以及拉伸轴在极射赤面投影图上位置变化计算公式。 对于任意形式的双滑移,本文提出了运动学分析的精确的数值积分方法。 最后结合面心立方和体心立方晶体,计算了几种典型情况下的拉伸轴旋转。     

On the kinematic analysis of geared robotic wrists

Geared robotic wrists are often mounted on heavy duty robots with high dexterity. Although these devices have only recently been adopted in industrial practice, systematic studies on their kinematic structure and design methodologies have already been initiated. In this paper parametric equations, to be used for the automated kinematic analysis of such mechanical systems, have been deduced. The formulation of the method is quite general and is based on the graph representation of a kinematic structure.

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Sommario I polsi robotici ad ingranaggi ed a complessità giroscopica vengono frequentemente utilizzati in robots a cui sono richieste caratteristiche di destrezza ed elevata capacità di carico. Sebbene tali dispositivi vengano da tempo utilizzati nella corrente pratica industriale, solo da pochi anni sono stati iniziati studi sistematici sulla loro struttura cinematica e sulle metodologie di progettazione.Il lavoro discute un metodo generale per l'analisi cimematica dei rotismi in parola ed é fondato, in particolare, sulla rappresentazione mediante grafi di strutture cinematiche.

     

The angular-acceleration tensor of rigid-body kinematics and its properties

Summary The angular-acceleration tensor of rigid-body kinematics is recalled, and its invariant properties are analyzed. An explicit form of its inverse is given, its eigenvalues being calculated in symbolic form. The special case in which the tensor under study becomes singular, is given due attention. Received 8 May 1998; accepted for publication 27 July 1998     

Optimal synthesis of three-revolute manipulators

An optimization method is proposed and discussed in order to synthesize a three-revolute open chain manipulator whose structure can have minimum size encumbrance and a workspace with prescribed constraints. The sequential quadratic programming optimization technique used has been successfully applied to the formulated problem as illustrated in some examples.A first version of this paper was presented at AIMETA 92, 11th Italian Congress of Theoretical and Applied Mechanics, Trento, 28 September–2 October 1992.     

A Note on Maximum Shear

The problem of the determination at any point P in a body of that pair of infinitesimal material line elements which suffers the maximum shear in a deformation has been solved [1]. Here that problem is revisited and a short proof, of geometrical type, of the result is presented. This revised version was published online in July 2006 with corrections to the Cover Date.