空间大质量目标转位操作双臂协调控制方法

针对空间中双臂协调转位过程中面临的双臂异构、刚度不同、负载较大、测量/执行误差影响大、抓捕位置随机偏差等问题，提出了一种空间大质量目标转位操作双臂协调控制方法。首先基于双臂转位的几何约束，进行协调转位运动规划。然后，将双机械臂关节划分为主动关节和从动关节，并对主动关节设计关节位置控制器，对从动关节设计零力控制器，从动关节在转位目标的拖动力下进行跟随运动。最后，数学仿真表明了所提出的双臂协调转位方法的有效性。     

110 GHz~170 GHz天线平面近场测量系统

面对(110~170) GHz天线准确计量的需求，设计了一套基于机械臂自动扫描的(110~170) GHz天线平面近场测量系统，它由矢量网络分析仪、扩频模块、机械臂扫描架、小型光学平台、扫描探头等硬件组成，通过测量软件设置仪器参数,控制机械臂扫描轨迹，采集扫描面上测试点的幅度和相位，将近场采集的数据用付氏近远场变换算法还原成天线增益方向图。采用标准增益喇叭天线对该系统进行实验验证，并将近场测量结果与远场测量结果进行比较，结果表明该系统测量方向图主瓣最大偏差为0.25 dB，能够满足天线计量的需求。     

Design and experiment of concentrated flexibility-based variable camber morphing wing

The morphing wing has a significant positive effect on the aerodynamic performance of the aircraft. This paper describes a leading-edge of variable camber wing with concentrated flexibility based on the geared five-bar mechanism. The driving points of morphing skin formed by the glass fibre composite sheet were optimized to make the skin deformation smooth. A geared fivebar kinematic mechanism rigidly connected to the skin was proposed to drive the leading-edge deformation. Besides, a new kind o...     

九宫格超弹太阳池阵列折展性能仿真与优化

弹性铰链是一种自驱动柔性机构。其只依赖折叠时储存的弹性能量，并在展开时自然释放，不需要部署外部能源。弹性铰链具有重复性高、精度高、轻质、能耗低等优点，因而被广泛应用于航天领域。文章针对不同组合形式弹性铰链展开状态的稳定性问题，基于压杆稳定理论，建立对向单层弹性铰链的峰值力矩模型，分析其屈曲失稳情况，进而有效估计出空间折展机构抵抗外界载荷的能力。采用ABAQUS建立弹性铰链的有限元模型，以此来准确描述其折展特性。利用全因子实验设计方法对样本点进行实验规划，进而建立可描述铰链折展特性的数学代理模型，并以簧片间距离及中心角为变量对弹性铰链进行优化设计，得到使弹性铰链机构具有较大弯曲力矩以及较小最大收展应力的最佳结构参数为中心角76°，簧片间距离Se为16.2mm。     

Aerodynamic optimization of a high-lift system with adaptive dropped hinge flap

The Adaptive Dropped Hinge Flap (ADHF) is a novel trailing edge high-lift device characterized by the integration of downward deflection spoiler and simple hinge flap, with excellent aerodynamic and mechanism performance. In this paper, aerodynamic optimization design of an ADHF high-lift system is conducted considering the mechanism performance. Shape and settings of both takeoff and landing configurations are optimized and analyzed, with considering the kinematic constraints of ADHF mechanism, and the desired optimization results were obtained after optimization. Sensitivity analysis proves the robustness of the optimal design. Comparison shows that the ADHF design has better comprehensive performance of both mechanism and aerodynamics than the conventional Fowler flap and simple hinge flap design.     

Energy efficient reactionless design of multi-arm space robot for a cooperative handshake maneuver

Space robots play a significant role in on-orbit capture, space structure construction, and assembly tasks. Since the robotic arms are attached to a free-floating satellite, the motion of the manipulator in such tasks and the satellite are coupled. Multiple-arm space robots can perform complex cooperative tasks and are superior to single-arm space robots. Current work proposes a reactionless manipulation algorithm for a multi-robotic arm based on the iterative Newton–Euler method for space robots with many task and balance arms. The present work demonstrates two tasks and one balance arm to perform a reactionless handshake maneuver in space. This maneuver is presented in detail for a planar and spatial case. The planar case uses 3 DoF robotic arms, while the spatial case uses 6 DoF robotic arms. In addition, the balance arm has been designed considering the efficient usage of energy satisfying reactionless manipulation concept. The design procedure focuses on minimizing energy used during the motion of the balance arm for a known motion of task arms using a genetic algorithm. Moreover, computational experiments are conducted to validate the use of the genetic algorithm for optimization. The results of proposed reactionless manipulation algorithm have been validated with the results available in the literature for the spatial case that uses a different method. In the future, an energy-efficient balance arm will be designed to handle tumbling objects.     

发动机试验台测力机构柔性梁设计研究

柔性梁的刚度性能影响风洞盒式应变天平的精准度,是发动机试验台测力试验数据精确可靠的重要保证,而柔性铰链更是柔性梁设计的关键所在。首先,借助有限元分析方法对四种典型柔性铰链进行计算分析,优选出综合刚性最好的柔性铰链形式;其次,基于选择的柔性铰链形式,研究三个关键结构参数对铰链刚度的影响;最后,设计五种不同厚度的柔性梁进行有限元分析,并加工实物模型进行加载试验验证。结果表明:铰链宽度b=40mm、半径R=5mm、最小厚度t=4mm时双圆弧柔性梁的综合刚度最好,且侧向柔度大,轴向刚度优;有限元计算值和试验值吻合良好,误差小于5%,表明将有限元方法运用于柔性梁的设计优化是可行、可靠的。     

MBSE在活动发射平台支承臂设计中的应用实践

针对基于文档的活动发射平台系统设计存在的信息离散、关联性差、不易追溯等问题，将基于模型的系统工程(Model-Based Systerm Engineering, MBSE)的正向设计方法引入活动发射平台支承臂方案设计和详细设计过程中，采用SysML语言进行系统建模，采用Modelica语言进行物理建模，采用NX和Ansys进行三维模型设计和仿真，并通过参数结构化和接口配置技术，实现了从系统设计到产品设计关键参数的闭环验证，提高了设计数据的一致性和可追溯性，验证了MagicDraw、Mworks、Teamcenter等系统集成应用的技术可行性，为活动发射平台和其他航天产品设计提供了指导和借鉴。