A closed-form nonlinear model for spatial Timoshenko beam flexure hinge with circular cross-section

Beam flexure hinges can achieve accurate motion and force control through the elastic deformation. This paper presents a nonlinear model for uniform and circular cross-section spatial beam flexure hinges which are commonly employed in compliant parallel mechanisms. The proposed beam model takes shear deformations into consideration and hence is applicable to both slender and thick beam flexure hinges. Starting from the first principles, the nonlinear strain measure is derived using beam kinematics and expressed in terms of translational displacements and rotational angles. Second-order approximation is employed in order to make the nonlinear strain within acceptable accuracy. The natural boundary conditions and nonlinear governing equations are derived in terms of rotational Euler angles and subsequently solved for combined end loads. The resulting end load-displacement model, which is compact and closed-form, is proved to be accurate for both slender and thick beam flexure using nonlinear finite element analysis. This beam model can provide designers with more design insight of the spatial beam flexure and thus will benefit the structural design and optimization of compliant manipulators.     

一种用于机载设备的高精度转动型柔性铰链

 传统铰链应用于机载设备时会产生摩擦、磨损、接触面热梯度等问题,而利用材料变形产生运动的柔性铰链可避免此类缺陷,获得高性能的同时,降低维护成本。现阶段使用的交叉簧片柔性铰链无法满足某些超精密航空机载设备的定位精度要求,因此将交叉点推广到任意位置以改善性能。首先,考虑机械接口,建立了广义交叉簧片柔性铰链的刚度和轴漂模型,从而分析了各个参数与刚度及轴漂的关系,并评估了由于加工因素造成的簧片不等长给性能带来的影响,得到了具有等值刚度和较小轴漂特性的柔性铰链。然后,通过有限元仿真验证了所分析特性的有效性。最后,通过组合提出了一种更大行程的复合柔性铰链,当转角为15°时,且在垂直力作用下,轴漂小于3 μm,精度优于在国外已得到应用的蝶形铰链。     

基于三角原理的压电驱动微位移定位机构的设计与分析

设计了一种基于三角原理的精密柔性定位机构,机构由压电叠堆作为驱动元件,经由柔顺机构输出缩小的位移.进行了理论计算和有限元分析并在样机上进行了静态特性的实验,结果表明该柔顺机构可以实现预期的运动.     

Variable stiffness design of redundantly actuated planar rotational parallel mechanisms

Redundantly actuated planar rotational parallel mechanisms (RAPRPMs) adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their stiffness. The geometrical parameters of the mechanism impact the performances of modulating stiffness. Analytical expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness. A novel method of variable stiffness design was presented to optimize the geometrical parameters of the mechanism. The stiffness variation with the internal force was maximized. The dynamic change of stiffness with the dynamic location of the mechanism was minimized, and the robustness of stiff-ness during the motion of the mechanism was ensured. This new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.     

Precision Stabilization Systems

This paper discusses the relationships that must be considered in analyzing the design and performance of typical precision stabilization systems. In particular, the disturbance inputs that are due to kinematic and geometrical coupling are examined in depth by considering systems implemented with either a conventional two-axis gimbal or a traditional half-angle mirror assembly. The disturbance coupling that is associated with the gimbal drive actuators and the effect of structural compliance on the stabilization control loops are also discussed in detail. Other aspects of stabilization system design that are considered include the potential improvements in performance that can be achieved by using appropriate multiaxis gimbal configurations and by utilizing the angular pointing characterisitics of beam expansion telescopes.     

起落架有限元梁模型建立及其静力学分析

为了获得起落架载荷传递以及评估几何非线性和静不定对起落架载荷传递的影响,同时探索起落架结构有限元梁模型的建模方法,应用HyperMesh和Ansys联合仿真的方法搭建某型具有局部静不定特征的前起落架、主起落架有限元梁模型;使用此模型进行三种载荷工况的静力学计算,获得考虑静不定和几何非线性的起落架接头和截面载荷,以及在单位载荷作用下起落架的航向、侧向和扭转刚度,并与传统方法计算结果进行对比.结果表明:有限元方法和传统方法获得的接头载荷有差异,部分差异超过了±10％,最大差异达到30％;计算前起落架外筒横梁、斜梁截面内力的传统方法及其简化具有合理性,对起落架支柱设计具有指导意义.     

基于四杆机构单元的柔性铰链设计与尺寸优化

针对柔性铰链存在的转动角度小和径向漂移大等问题,进行了大转角和高精度柔性铰链设计。利用四杆机构中曲柄摇杆机构的转角放大特性,以固化的四杆机构为变形模块,通过摇杆的小变形实现铰链的大转角运动。柔性铰链中固化的四杆机构为超静定结构,基于超静定结构理论进行了柔性单元的受力分析,并建立了柔性铰链的刚度模型,实现柔性铰链的分析和设计。根据设计方案选取设计变量,基于理论推导得到刚度建立目标函数,根据性能和几何边界建立约束条件,利用遗传算法对柔性铰链尺寸进行优化,并通过ANSYS进行了特定尺寸下柔性铰链变形和应力分析,验证了优化结果的正确性。     

五分量激光测量装置的试验研究

所讨论的激光测量装置,可以同时测量~个移动轴的5个移动误差分量,即两个直线度分量和3个角位移分量。该装置测量线性误差和角位移误差的精度可分别达到1.5μm和0.5”以内。     

巨磁致伸缩材料作动器及其谐振频率研究

 快速倾斜镜（FSM）是自适应光学系统中提高系统传输精度的关键器件。针对快速倾斜镜的应用背景，采用巨磁致伸缩材料作为驱动组元，研制适用于新型快速倾斜镜的巨磁致伸缩材料作动器，并对作动器的输出位移、输出力及振动模态进行了研究。采用超高温度梯度区熔定向凝固法制备了具有〈112〉轴向择优取向的TbDyFe巨磁致伸缩合金,其10MPa预压力时平行于外磁场方向的饱和磁致伸缩性能达到0.175%，线性段磁致伸缩性能超过0.12%。所研制的巨磁致伸缩材料作动器的准静态位移超过±40μm，输出力达到1 000N以上，并且具有良好的动态响应。巨磁致伸缩材料作动器在1kg负载时的一阶共振频率达到97Hz。这为新型快速倾斜镜系统的研制建立了良好的基础。     

定向通信系统天线波束指向误差分析

对影响定向通信系统天线波束指向误差的因素进行了分析,给出了一种特殊情形下波束指向误差与姿态角的关系式,同时给出了一般情形下基于最小二乘估计的波束指向误差与姿态角关系的推导方法.给出的关系式和方法对分析定向通信系统波束指向误差提供了理论依据,有助于评估定向通信系统的波束对准情况.     

齿轮传动涡扇发动机低压转子结构与动力学分析

选取齿轮传动涡扇发动机低压转子为研究对象,以结构效率评估参数量化其动力学特性.通过建立低压转子简化模型,对低压转子关键结构参数(即支承方案、支点支承刚度)对其动力学特性的影响规律进行了研究,阐明了低压转子结构参数与其动力学特性的关系,并对其支承方案及支承刚度进行了优选设计.当低压转子支承方案为1-0-1,两支点支承刚度分别为5.84×107N/m和5.90×107N/m时,转子动力学性能较优,此时转子角向抗变形能力较好,前两阶临界转速分布满足共振裕度设计要求,且分布于小的转速区间内.      

Boundary condition modelling and identification for cantilever-like structures using natural frequencies

The actual boundary conditions of cantilever-like structures might be non-ideally clamped in engineering practice, and they can also vary with time due to damage or aging. Precise modelling of boundary conditions, in which both the boundary stiffness and the boundary mass should be modelled correctly, might be one of the most significant aspects in dynamic analysis and testing for such structures. However, only the boundary stiffness was considered in the most existing methods. In this paper, a boundary condition modelling and identification method for cantilever-like structures is proposed to precisely model both the boundary stiffness and the boundary mass using sensitivity analysis of natural frequencies. The boundary conditions of a cantilever-like structure can be parameterized by constant mass, constant rotational inertia,constant translational stiffness, and constant rotational stiffness. The relationship between natural frequencies and boundary parameters is deduced according to the vibration equation for the lateral vibration of a non-uniform beam. Then, an iterative identification formulation is established using the sensitivity analysis of natural frequencies with respect to the boundary parameters. The regularization technique is also used to solve the potential ill-posed problem in the identification procedure.Numerical simulations and experiments are performed to validate the feasibility and accuracy of the proposed method. Results show that the proposed method can be utilized to precisely model the boundary parameters of a cantilever-like structure.     

舰载机壁板剪切后屈曲承载能力预测与试验验证

舰载机着舰撞击对机翼盒段产生巨大的扭矩，蒙皮以剪切形式承受扭矩，这是机翼壁板的重要设计工况。为准确预测加筋壁板剪切后屈曲承载能力，采用MSC.NASTRAN软件MRIKS弧长法，将线性屈曲分析的一致模态缺陷位移作为扰动引入后屈曲分析。考虑材料和几何双重非线性，对整体加筋壁板剪切试验件的后屈曲破坏过程进行模拟、对承载能力进行预测。根据剪切试验结果，进行对比分析。结果表明：有限元模拟的加筋板初始屈曲发生在蒙皮上，长桁足够大的相对刚度使得长桁与蒙皮连接线上出现屈曲节点，随着载荷增大，加筋壁板整体"坍塌"，与试验现象一致。有限元分析（FEA）得到的初始屈曲载荷与试验结果的误差为1.25%，预测的极限承载载荷与试验破坏载荷的误差为2.4%。表明引入缺陷后的MSC.NASTRAN弧长法非线性后屈曲计算能够准确预测加筋壁板剪切后屈曲承载能力，为加筋壁板剪切试验和强度设计提供了分析方法。     

纤维缠绕球形贮箱刚度分析

对纤维缠绕球形贮箱在外压、内压和温差等作用下,进行应力、变形和稳定性等结构刚度分析。结果表明,与金属材料贮箱相比,纤维缠绕球形贮箱具有显著的刚度约束条件,如临界卸载内压和临界温差等。纤维缠绕球形贮箱在按强度要求进行结构设计和分析的基础上,还需校核刚度约束条件。为此,提出了纤维缠绕球形贮箱结构稳定性的各类临界载荷包括外压、卸载内压和温差等的计算公式及判据,为结构方案设计和研制的试验提供参考。     

Pointing Accuracy and Dynamic Range in a Steered Beam Adaptive Array

The performance of a steered beam adaptive array as a function of the beam pointing error is examined. The purpose is to determine how close the steered beam has to be to the actual desired signal arrival angle for good performance. It is shown that the beam pointing error that can be tolerated is essentially a question of dynamic range. The greater the desired signal dynamic range that must be accommodated by the array, the more accurate the beam pointing angle must be.     

Design and feedforward control of large-rotation two-axis scan mirror assembly with MEMS sensor integration

As a key component of electro-optical systems, a Two-axis Scan mirror AssemblY(TSAY) is usually used for Line-of-Sight(LOS) precision pointing, tracking, scanning, and stabilizing. Therefore, it is necessary for a TSAY to have a large angular range, high dynamic characteristics, and small mirror surface distortion. Furthermore, vibration from carriers of electro-optical systems, such as spacecraft and airplanes, is inevitable, so it is critical to guarantee the control accuracy of a TSAY under vibration. In this paper, a TSAY prototype is designed and developed. To increase the control bandwidth, structural topology optimization is applied to the TSAY's elliptical mirror to reduce the moment of inertia, meanwhile keeping surface flatness. A flexible hinge is adopted to achieve a large angular range. To suppress the angular perturbation caused by the base linear vibration, an adaptive feedforward loop with base-integrated Micro-Electro-Mechanical System(MEMS) accelerators is constructed to enhance the TSAY's feedback loop. Simulation and experimental results show that the TSAY prototype's two-axis mechanical angular ranges are more than ±3.2°, the mirror surface flatness Root Mean Square(RMS) value is better than 0.04 k, and the closed-loop bandwidth is beyond 330 Hz. These are suitable for most applications. Besides, the angular perturbation caused by the base vibration can be suppressed more than 37.7% with the addition of the adaptive feedforward loop.     

Vibrations of an elastic guide beam with a missile moving along it

Transverse nonstationary vibrations of a guide beam having the initial flexure are considered. An absolutely rigid missile moves under the propulsive force along this guide beam on two sliding supports. The beam displacements introduced by its vibrations are presented as an expansion with respect to the given functions according to the Ritz method. The equations of nonstationary vibration of the beam with the missile moving along it are obtained in the generalized coordinates, the expansion coefficients being chosen as them. The example is presented. Also studied is the effect of different beam and missile parameters on the beam displacement and transverse and angular velocity of the missile.     

Laser Ranging Capability as Affected by System Pointing Error

This paper discusses the interrelationships among the ranging capability of a laser ranging system, the beamwidth of the transmitter, and the system pointing error. Since, in general, the system pointing error is statistical, the probability of successful ranging can be determined by means of these interrelationships, as is illustrated in a detailed analysis of a laser ranging system in which a gimbaled mirror is employed as an optical relay.     

Calibration of Precision Gimbaled Pointing Systems

Corrections of pointing data provided by gimbal readout transducers can be used to compensate for the errors that arise because of gimbal misalignments and inaccuracies in transducer readout. This paper reviews the sources of pointing error in precision gimbaled pointing systems and describes the techniques for determining them. In particular, a method of calibration that is suitable for systems in which constraints on gimbal travel preclude the use of conventional calibration procedures is presented, and the pointing readout accuracy that can be achieved by this method is evaluated.     

一种层压复合材料组合界面单元及有限元模型

 为了高效模拟计算复合材料层合板的层间损伤,提出了一种由刚性元和零厚度的内聚力单元组合而成的新型组合界面单元,并提出了以弯曲板单元作为子层单元,与上述界面单元结合构成的层合板三维有限元模型,通过界面单元刚度的连续衰减模拟分层损伤累积过程。有限厚度的八结点组合界面单元每个结点有5个自由度,能考虑子层结点平动和转动对层间损伤的作用。通过对双悬臂梁(DCB)和末端缺口弯曲(ENF)试验的计算模拟表明,新型组合界面单元和有限元模型能很好地模拟复合材料层合板的分层损伤过程,对不同的网格划分有很好的适应性。