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.     

SiO2气凝胶骨架增强改性研究进展

分析SiO_2气凝胶骨架增强改性的特点,阐述了共前驱体、化学添加剂、老化、表面改性和热处理工艺在SiO_2气凝胶骨架增强方面的国内外研究动态和未来发展趋势,以期为设计并优化SiO_2气凝胶的微结构及性能提供理论依据和方法。     

复合材料气瓶热防护材料隔热性能试验研究

以复合材料气瓶热防护材料的耐高温及隔热性能为研究对象，通过真空舱模拟上面级飞行段的真空环境，采用石英灯阵模拟热源，对两种热防护方案开展真空热试验，分析了不同材料（组合）、多层隔热组件不同单元的隔热性能及其差异产生的原因。结果表明两种防热方案都可使气瓶壁面温度满足不超过70 ℃的温度要求，其中“柔性隔热毡+中温多层”组合防热结构的耐温和隔热性能更优，并通过理论计算与试验值对比验证了热仿真计算中的不确定性，试验结果可为后续型号防热设计提供参考。     

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。     

耐高温隔热材料组合结构模拟研究与试验验证

以热防护系统隔热组合结构中不同隔热材料厚度尺寸为计算变量,以飞行器主结构温度极值即最低背面温度为目标参数,以组合结构中第二层材料最高使用温度为约束条件建立隔热组合结构模型,并进行了石英灯考核验证。采用通用软件ANSYS 进行一维瞬态有限元热分析,将模型计算结果和试验结果进行了全面对比,各项数据吻合良好。     

铝蜂窝夹层板热管区域平面度控制方法研究

主要研究蜂窝板热管区域局部平面度超差的原因及控制方法。经分析,蜂窝叠块的尺寸精度以及胶膜固化后的厚度不均匀性是导致超差的主要原因,通过提高工装均压板的厚度,利用胶膜厚度的自适应性弥补零部件尺寸累积偏差,提高平面度,并对新方法下产品剥离、剪切强度进行测试,结果表明,该工艺方法可以在不影响产品力学性能的前提下大幅改善产品热管区域平面度。     

民用飞机液压管路系统设计流程与方法

飞机液压管路系统设计的优劣直接影响着液压系统及用户系统的性能.为了形成设计指导,根据民用飞机的设计思路,从需求入手,总结民用飞机研制各阶段液压管路系统设计输入、输出信息的捕获、设计方法及应达到的设计目标.通过实例,验证了所采用的压降曲线谱快速分配、调整压降及管径方法简单有效,本文所总结的设计流程与方法能够指导民用飞机液压管路系统的设计.     

Selective thermal emission and infrared camouflage based on layered media

Infrared camouflage based on artificial thermal metasurfaces has recently attracted significant attention. By eliminating thermal radiation differences between the object and the background, it is possible to hide a given object from infrared detection. Infrared camouflage is an important element that increases the survivability of aircraft and missiles, by reducing target susceptibility to infrared guided threats. Herein, a simple and practicable design is theoretically presented based on a multilayer film for infrared stealth, with distinctive advantages of scalability, flexible fabrication, and structural simplicity. The multilayer medium consists of silicon substrate, carbon layer and zinc sulfide film, the optical properties of which are determined by transfer matrix method. By locally changing the thickness of the coating film, the spatial tunability and continuity in thermal emission are demonstrated. A continuous change of emissive power is further obtained and consequently implemented to achieve thermal camouflage functionality. In addition, other functionalities, like thermal illusion and thermal coding, are demonstrated by thickness-engineered multilayer films.     

叶轮机转静干涉计算建模方法比较

通过对尾迹-叶片干涉和激波-叶片干涉这两类典型转静干涉流动的模拟,对3种基于傅里叶分析的时域非定常计算建模方法,即形修正相延迟法、空间-时间梯度法和谐波平衡法进行对比分析；详细考察它们的区别与联系,不同方法的计算准确度和计算速度.计算表明:3种建模方法都可以很好地捕捉到非定常流动细节；与传统的时间推进法相比,计算速度提高了几倍到几十倍,可用于工程设计之中.      

Recent developments in thermal characteristics of surface dielectric barrier discharge plasma actuators driven by sinusoidal high-voltage power

Flow control using surface Dielectric Barrier Discharge(DBD) plasma actuators driven by a sinusoidal alternating-current power supply has gained significant attention from the aeronautic industry. The induced flow field of the plasma actuator, with the starting vortex in the wall jet,plays an important role in flow control. However, the energy consumed for producing the induced flow field is only a small fraction of the total energy utilized by the plasma actuator, and most of the total energy i...