基于ADAMS的行星齿轮系刚柔耦合仿真局部缺陷识别

针对行星齿轮系在工作过程中出现的局部缺陷,将引起齿轮啮合异常,并导致冲击异常,其特征频率就会发生变化。现用ADAMS与ANSYS建立行星齿轮系的刚柔耦合模型,通过快速傅里叶变换（FFT）得到其啮合力的频域曲线,并分析无缺陷行星齿轮系的特征频率、行星轮齿局部缺陷的特征频率、太阳轮齿局部缺陷的特征频率。仿真结果与理论值吻合,说明了所建虚拟样机模型可靠,得到无缺陷行星齿轮系的特征频率是265.34Hz,行星轮齿局部缺陷的特征频率是17.67Hz,太阳轮齿局部缺陷的特征频率是36.13Hz,可用于识别行星齿轮系的行星轮或太阳轮局部缺陷。对行星齿轮系振动特性、可靠性的研究具有一定的指导意义。     

星表移动探测机器人研究现状综述

星表移动探测机器人是多学科、高新技术的结晶,用于非结构化环境中的星球表面探测,能有效减轻人类工作强度、保护人身安全以及代替人类完成恶劣环境下的科研探测工作,有着巨大的经济和社会效益。本文对已发射的探测器进行了统计,系统梳理了成功着陆月球、火星的探测机器人的技术参数、结构与机构组成等,综合对比了各国在星表移动探测机器人研制方面的技术状态。结合国内外的研究现状和成果,重点针对星表移动探测机器人移动系统的研究进行了梳理,将星表移动探测机器人从运动形式上划分为轮式、腿式、履带式及其他类型4种形式,对每类机器人的研究进展、技术参数、结构与机构形式、运动形态等进行了系统回顾和详细分析。结合星表移动探测机器人面临的探测任务及发展方向,对星表移动探测机器人未来发展趋势进行了展望。     

快速伺服刀具技术发展现状及趋势

介绍了FTS技术的发展背景、目前成熟的FTS产品及其特点后;对FTS系统加工光学自由曲面原理、FTS系统在机床上的集成以及驱动方式作了详细说明;并介绍了FTS技术的发展趋势。     

支撑刚度对行星传动系统动态均载特性的影响

考虑了行星架微位移、时变啮合刚度、旋转阻尼和构件自重,建立了行星传动系统动力学微分方程.利用多领域工程系统建模、分析与优化语言Modelica进行求解,分析了各主要构件支撑刚度对行星传动系统均载特性的影响.研究结果表明:刚性支撑条件下,较小的系统误差都将引起行星轮间载荷分配严重不均匀.一个或者多个构件的支撑刚度小于107N/m时系统能获得较好的均载效果.在构件支撑刚度敏感区间,随着该构件支撑刚度的增大,系统均载性能将迅速恶化.多个构件支撑刚度减小时,系统的均载效果比单个构件支撑刚度减小要好.改变其中某个行星轮的支撑刚度会使载荷在行星轮间重新分配,降低某个行星轮的支撑刚度,其分配的载荷减小.      

直升机行星传动轮系故障诊断研究进展

行星传动轮系是直升机传动系统的核心部件,是直升机健康和使用监测系统(HUMS)重要的监测对象。直升机行星传动轮系具有结构复杂紧凑、组件繁多、工况瞬时多变以及使用环境恶劣等特点,导致直升机行星传动轮系振动信号污染严重、成分复杂,具有较强的非平稳性和耦合调制特征。另外复杂的故障模式、较少的故障样本,也都增加了直升机行星传动轮系故障诊断的难度。面对这些难题,研究人员在基于信号降噪与信号分离、时频分析与解耦解调、数学建模与模式识别的故障诊断技术上取得了丰硕的成果。面对仍然存在的一些亟待研究和解决的问题,提出了直升机行星传动轮系故障诊断技术的研究方向以及未来的发展趋势。     

Multi-sensor terrain classification for safe spacecraft landing

A novel multi-sensor information fusion methodology for intelligent terrain classification is presented. The focus of this research is to analyze safety characteristics of the terrain using imagery data obtained by on-board sensors during spacecraft descent. This information can be used to enable the spacecraft to land safely on a planetary surface. The focus of our approach is on robust terrain analysis and information fusion in which the terrain is analyzed using multiple sensors and the extracted terrain characteristics are combined to select safe landing sites for touchdown. The novelty of this method is the incorporation of the T-Hazard Map, a multi-valued map representing the risk associated with landing on a planetary surface. The fusion method is explained in detail in this paper and computer simulation results are presented to validate the approach.     

FTS-300快速刀具伺服系统驱动元件特性研究

针对FTS快速刀具伺服系统驱动元件,研究了压电陶瓷电机的静态特性和动态特性,并对其进行了试验研究,选用峰值功率大的电源放大器,可以有效缩短PZT电容的充放电时间,提高响应速度。     

行星齿轮传动系统的稳态热分析

行星齿轮传动系统中,各零部件的本体温度和温度场的分布对系统的工作性能和可靠性有重要影响。以直升机的主传动系统中的行星齿轮系统为对象,建立了其发热模型和热传递模型,利用热网络分析法从而得到该系统的稳态温度分布,为行星齿轮传动系统的稳态热分析提供了一个有效的方法,并为行星齿轮系统的瞬态热分析奠定了基础     

星型风扇驱动齿轮箱概念设计探讨

风扇驱动齿轮箱在齿轮传动涡扇发动机中发挥重要作用,为了支撑我国宽体客机发动机总体方案论证,进一步开展齿轮传动涡扇发动机的研制工作,以五路分流人字齿星型风扇驱动齿轮箱为研究对象开展概念设计。所设计的齿轮箱的主要结构特征为:太阳轮为浮动构件,通过花键传扭;行星轮采用齿轮/轴承一体化设计并选用调心滚子轴承;齿圈采用柔性支承,通过摩擦传扭。基于概念设计,本文总结并分析了后续研制过程中可能遇到的技术难点,包括传动效率、均载机构、支承与连接结构、齿面修形及系统动力学五个方面,为进一步开展风扇驱动齿轮箱的研制工作指出方向。     

Water Partitioning in Planetary Embryos and Protoplanets with Magma Oceans

The water content of magma oceans is widely accepted as a key factor that determines whether a terrestrial planet is habitable. Water ocean mass is determined as a result not only of water delivery and loss, but also of water partitioning among several reservoirs. Here we review our current understanding of water partitioning among the atmosphere, magma ocean, and solid mantle of accreting planetary embryos and protoplanets just after giant collisions. Magma oceans are readily formed in planetary embryos and protoplanets in their accretion phase. Significant amounts of water are partitioned into magma oceans, provided the planetary building blocks are water-rich enough. Particularly important but still quite uncertain issues are how much water the planetary building blocks contain initially and how water goes out of the solidifying mantle and is finally degassed to the atmosphere. Constraints from both solar-system explorations and exoplanet observations and also from laboratory experiments are needed to resolve these issues.     

星际着陆自主障碍检测与规避技术

 为了在具有科学价值的复杂地形区域实现安全着陆,未来的星际着陆器必须具备自主障碍检测与规避的能力。从星际着陆导航传感器技术、自主障碍检测方法和自主障碍规避技术3个方面出发,对星际着陆自主障碍检测与规避技术进行较全面的分析和总结。首先,对适用于星际着陆自主障碍检测的各种主动式和被动式传感器的工作原理、优缺点进行较深入的阐述;接着,基于不同传感器的测量信息,对各种自主障碍检测方法的障碍检测能力、优缺点进行较详细的对比分析;然后,基于多信息融合的自主障碍检测方法,对安全着陆点选择的原则进行阐述;最后,对星际着陆自主障碍规避流程和适用于星际着陆自主障碍规避的制导控制方法进行较系统的总结。     

The Charging of Planetary Rings

This chapter will review what is known about the charging of planetary rings, in particular the sum of the individual currents from the time-varying charge dQ/dt, of the planetary ring particle. For the smallest ring particles, in addition to checking the plasma conditions for the charging currents, one must consider if collective effects in the ring environment are relevant. Two planetary ring environments that have held a strong interest for ring scientists in the last two decades are Saturn’s spokes in the B Ring and the environment of Saturn’s E ring. Two sections of this chapter will describe these planetary ring charging environments in detail. Finally, we describe two charging effects that demonstrate areas of future studies while providing fresh examples of the intriguing effects from planetary ring charging processes.     

平面研磨抛光轨迹研究

介绍了平面研磨抛光轨迹均匀性的研究方法,详细阐述了双轴式(包括定偏心式和不定偏心式)、直线式、摇摆式、计算机控制小工具式单面研磨抛光轨迹和行星式双面研磨抛光轨迹的数学函数及其轨迹均匀性,指出了当前轨迹研究中存在的不足.     

行星齿轮传动的功率分流动态均衡优化设计

本文研究了浮动件支承刚度对行星齿轮功率分流动态均衡性的影响,引入功率分流动态不均衡系数K_c和动载系数 K_d,定量地描述了不同支承刚度下功率在各行星齿轮间分配不均衡程度和啮合动载荷波动程度。以浮动件支承刚度为设计变量,使 K_c和 K_d 达到极小为目标函数,采用遗传算法对 2 K -H行星齿轮传动进行了动态优化设计。研究表明:优化后的行星齿轮传动不仅固有频率有所降低,而且在工作转速附近,功率分流不均衡及动载荷皆有较大改善。      

Planetary Radio Astronomy Receiver

Voyager (Mariner Jupiter/Saturn 1977) spacecraft will carry the first experiment specifically designed to measure low-frequency nonthermal planetary radio emissions. The technical aspects of the planetary radio astronomy instrument are described here. Signals from 10-m orthogonal monopoles are processed to measure polarization and for either maximum sensitivity or observation of rapid temporal variations. The 0.3-?V/?kHz (i.e., -117 dBm/kHz with a 50-12 source) sensitivity and the 140-dB dynamic range achieved allow signals to be observed from near earth through planetary encounter. Stepped-or fixed-frequency operation is commandable over a range of 1.2 kHz to 40.5 MHz with internal calibration for absolute amplitude measurement.     

空间机器人研究进展及技术挑战

空间机器人是实现空间操控自动化和智能化的使能手段之一,在无人及载人的空间科学探索活动中至关重要。首先,回顾了国际空间站舱内外机器人、中国空间站机器人、在轨自由飞行空间机器人等几类轨道空间机器人工程应用现状,以及已成功在轨应用月面机器人和火星机器人两类星表机器人系统的应用现状。其次,针对空间机器人后续日益复杂的任务需求,探讨了空间机器人在机构构型、关节驱动、末端操作、感知认知、行走移动、动力学与控制等方面面临的技术挑战。然后,论述了空间机器人在多臂、超冗余、柔性化、可重构、仿生等新型机构构型方面的探索,介绍了空间机器人主动、被动柔顺关节方面的研究进展,论述了空间机器人末端执行器在专用化工具及通用化多指灵巧手两个方向的研究进展,总结了星表机器人在新型移动机构构型、高自主导航方面的研究进展,介绍了空间机器人在多传感器集成融合、力与触觉感知方面的研究进展,论述了空间机器人在多臂协调控制、柔顺控制、漂浮基座抓捕动力学控制等方面的研究进展。最后,展望了空间机器人在空间目标抓捕与移除、高价值飞行器在轨服务与维修、空间大型构件在轨组装及星球科学探测等方面的应用前景。     

基于相似理论的星球车牵引通过性模型

深空探测车辆在星球表面巡视过程中,应避免过度沉陷,保障其可靠的通过性能具有重要意义。月球和火星表面重力加速度分别约为地球表面重力加速度的1/6和2/5,地面实现低重力环境的模拟具有一定局限性,因此基于相似理论进行轮壤相互作用系统的量纲分析,研制二分之一缩比模型车;开展缩比模型车轮壤试验,重点研究滑转条件下车轮沉陷行为和牵引特性;基于地面力学理论,结合轮壤接触应力分布的线性化方法,建立与沉陷和滑转率相关联的星球车挂钩牵引力预测模型。通过土槽试验数据对模型进行验证,结果表明该模型具有较高的准确性。能够为星球车通过性评估提供一定的理论技术基础。     

Vision-aided inertial navigation for pinpoint planetary landing

Autonomous and safe landing spacecraft on moon and planetary bodies is a rather difficult and risky task. Accurate relative navigation between the spacecraft and the planetary surface is essential, together with the autonomous hazard detection and avoidance. This paper describes the vision-aided inertial navigation (VAIN) scheme to meet the pinpoint landing requirement of the next generation planetary lander. Images of distinctive surface feature called feature points/landmarks are detected and tracked autonomously to improve the performance of inertial navigation. Landmark image information derived from optical navigation camera and the spacecraft state information sensed by IMU (Inertial Measurement Unit) are integrated in extended Kalman filter algorithm. The validity of the proposed navigation scheme is confirmed by computer simulation.     

Physical studies of the planetary rings

In this review paper, the physical properties of the Saturnian and Uranian rings as derived from ground-based observations are first discussed. Focus is then shifted to the study of the orbital dynamics of the ring particles. Numerical simulations of the evolutionary history of a system of colliding particles in differential rotation together with theoretical modelling of the inelastic collision processes are surveyed. In anticipation of the information returned from in situ measurements by space probes, interactions of the planetary rings with the interplanetary meteoroids and planetary magnetospheres are briefly considered. Finally, models of planetary ring origin are examined. In this connection, some recent work on the satellite resonant perturbation effects on the ring structure are also touched upon.