Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure

以速度方向可操作度作为跳跃性能的评价指标,从机构设计角度寻求改善仿蛙跳跃机器人跳跃性能的方法.在仿蛙跳跃机器人机构模型的基础上,建立了起跳阶段的运动学方程,得到机器人从关节空间到质心运动空间的速度映射关系,结合速度方向可操作度,利用优化算法对仿蛙跳跃机器人的机构参数进行优化,使机器人的跳跃性能达到最佳.优化结果表明,运用速度方向可操作度理论,对跳跃机器人机构参数进行优化研究是有效可行的.     

最佳传力特性的偏置曲柄滑块机构解析法设计

本文根据偏置曲柄滑块机构的运动特性和传力特性所建立的函数关系，运用极值理论推导出给定条件下传力特性最佳的计算公式，大大方便了设计应用，值得推广。     

Halo White Dwarfs and Baryonic Dark Matter

We describe the formation of hot intergalactic gas along with baryonic remnants in galaxy halos. In this scenario, the mass and metallicity of the hot intracluster and intragroup gas relates directly to the production of baryonic remnants during the collapse of galactic halos. We construct a schematic but self-consistent model in which early bursts of star formation lead to a large remnant population in the halo, and to the outflow of stellar ejecta into the halo and ultimately the Local Group. We consider local as well as high redshift constraints on this scenario. This study suggests that the microlensing objects in the Galactic halo may predominantly be 0.5M white dwarfs, assuming that the initial mass function for early star formation favored the formation of intermediate mass stars with m 1M. However, the bulk of the baryonic dark matter in this scenario is associated with the ejecta of the white dwarf progenitors, and resides in the hot intergalactic medium.     

The Primordial Helium-4 Abundance from Observations of a Large Sample of Blue Compact Dwarf Galaxies

We use a sample of 45 low-metallicity H II regions in blue compact dwarf (BCD) galaxies to determine the primordial helium abundance YP with a precision better than 5%. We have carefully investigated the physical effects which may make the He I line intensities deviate from their recombination values such as collisional and fluorescent enhancements, underlying He I stellar absorption and absorption by Galactic interstellar Na I. By extrapolating the Y vs. O/H and Y vs. N/H linear regressions to O/H = N/H = 0, we obtain YP = 0.244±0.002 and 0.245±0.001, respectively, higher than previous determinations (YP = 0.230 - 0.234). Part of the difference comes from the fact that previous investigators have not taken into account underlying He I stellar absorption, especially in the NW component of the BCD I Zw 18 which, because of its extremely low metallicity plays a key role in the determination of YP. We derive a slope dY/dZ = 2.3±1.0, considerably smaller than those derived before. With this smaller slope and taking into account the errors, chemical evolution models with an outflow of well-mixed material can be built for star-forming dwarf galaxies which satisfy all the observational constraints. Our YP gives _bh ₅₀ ² = 0.058±0.007,f consistent with the lower limit set by dynamical measurements and X-ray observations of clusters of galaxies. It is also consistent, within the framework of standard big bang nucleosynthesis theory, with measurements of primordial 7Li in galactic halo stars and with the D/H abundance measured in absorption systems toward quasars by Burles and Tytler (1997).     

国有企业经营者的激励总是及其对策

首先分析了我国国有企业经营者的激励问题及其产生原因，在此基础上提出了解决我国国有企业经营者激励问题的构想。     

扭力平衡机设计的探讨

本文以ＷＭ－８０／φ２７３毫米火箭炮的扭力平衡机为背景，讨论了扭力平衡机的基本原理及其设计的一般情况。通过对Ｍｐ，Ｍｑ０和Ｍｑ等参数的确定，分析，为同类型产品的设计计算提供了理论指导。     

某型号机襟翼机构摩擦磨损可靠性分析与计算(英文)

本文应用空间机构的建模方法建立了某型号机襟翼机构运动的数学模型。当给出输入参数时，可通过此数学模型求出襟翼机构的理论输出参数。输入参数相同时，通过引入摩擦磨损量至数学模型可获得襟翼机构的实际输出参数，并在此基础上求得襟翼机构的摩擦磨损可靠性。     

干切削刀具的耐用度试验研究

利用硬质合金刀具和陶瓷刀具，对渗碳淬硬钢20CrMnTi进行以车代磨的干车削试验，得出了干车削时的刀具耐用度和陶瓷刀具的T-v曲线，建立了T-v经验公式，并研究了陶瓷刀具的磨损机理。     

一类空间对称6R机构的运动学研究及组合应用

可展开平板机构已广泛应用于平板天线、太阳翼等航天机构产品。为提高可展开平板机构的刚度和展收比,将空间对称6R机构应用于可展开平板机构设计。首先,根据约束条件,计算后给出了一种空间3R运动链的几何参数关系;然后,结合螺旋理论,分析了该3R运动链的约束螺旋系;进而根据对称性,研究了空间对称6R机构的自由度、奇异性等运动特征;在此基础上,提出了一种特殊的空间对称6R转动机构;最后,研究了空间对称6R机构的组合方法,设计出一种新型单自由度可展开平板组合机构,并对其进行了运动学仿真验证。该可展机构具有二维方向的展开收拢能力,为可展开平板机构的创新设计提供了有益参考。     

Storage life of silicone rubber sealing ring used in solid rocket motor

It is urgent to carry out detailed research on storage performance of rubber sealing ring to get the criterion for its storage life. This paper acquires material ageing regularity by theoretical analysis and experimental confirmation. On this condition, failure mode and failure criterion of typical sealing structure is studied, and the failure mechanism is found. Thus by analyzing the stress distribution, the relationship between ageing state and sealing condition is established. Rationalization proposal is put forward and storage life of sealing ring is evaluated. The research mentionedabove has special reference to the design of sealing structures and can provide reference for prolonging their service life.