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511.
Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly 总被引:2,自引:0,他引:2
A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented based on the detection system. Firstly, the deviation between the normal vector and the spindle axis is measured by the four laser displacement sensors installed at the head of the multi-function end effector. Then, the robot target attitude is inversely solved according to the auto-normalization algorithm. Finally, adjust the robot to the target attitude via pitch and yaw rotations about the tool center point and the spindle axis is corrected in line with the normal vector simultaneously. To test and verify the auto-normalization algorithm, an experimental platform is established in which the laser tracker is introduced for accurate measurement. The results show that the deviations between the corrected spindle axis and the normal vector are all reduced to less than 0.5°, with the mean value 0.32°. It is demonstrated the detection method and the auto-normalization algorithm are feasible and reliable. 相似文献
512.
513.
针对激光通信与测距一体化星间链路载荷轻小型单反射镜组件进行结构设计与力热稳定性研究,开展单反镜柔性支撑机构优化设计,根据运载力学环境与在轨力热环境工况,对反射镜组件进行光机集成分析,验证光机结构的在轨力热稳定性.分析结果表明,双层圆弧形槽口柔性支撑结构在温度拉偏后反射镜的面型精度均方根(RMS)可达λ/72,基频模态为417.93Hz,满足指标要求.进一步对反射镜组件进行动力学分析,随机振动分析结果表明,反射镜加速度响应均方根为11arms,满足3σ准则.通过0.2g正弦扫频试验验证了有限元模态分析相对误差为2.23%,实验结果表明,反射镜组件柔性支撑设计合理,力热稳定性分析结果基本准确可靠,满足工况要求. 相似文献
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515.
S.E.S. Ferreira K. Scherer M.S. Potgieter 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2008,41(2):351-360
Cosmic ray modulation in the outer heliosphere is discussed from a modeling perspective. Emphasis is on the transport and acceleration of these particles at and beyond the solar wind termination shock in the inner heliosheath region and how this changes over a solar cycle. We will show that by using numerical models, and by comparing results to spacecraft observations, much can be learned about the dependence of cosmic ray modulation on solar cycle changes in the solar wind and heliospheric magnetic field. While the first determines the heliospheric geometry and shock structure, the latter results in a time-dependence of the transport coefficients. Depending on energy, both these effects contribute to cosmic ray intensities in the inner heliosheath changing over a solar cycle. 相似文献
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517.
根据常用的频率采集方法,结合速度矢量信号的特点,提出了将速度矢量信号转换为不同相位的频率信号以实现速度矢量采集的设计思路,通过软硬件结合的方式实现速度采集系统.为提高系统的测试性,设计了自激励测试电路.为了解决速度变化带来的采样精度低问题,设计了采样时钟自动调整机制.经测试,采集结果准确,精度可调,可满足系统要求. 相似文献
518.
针对空间飞行器自主交会对接的最终逼近阶段,采用雷达作为相对测量设备,建立了目标飞行器轨道坐标系下的相对运动方程以及基于星载雷达的测量模型;运用基于状态相关黎卡提方程(SDRE)的方法设计滤波器,对目标飞行器运动状态进行估计,给出了状态相关黎卡提方程的数值解法,通过具体仿真算例分析了所设计滤波器的性能,并与扩展卡尔曼滤波器进行了比较,结果表明所提出的滤波器模型具有更高的相对状态确定精度. 相似文献
519.
介绍了一种0~1000 mV直流毫伏标准源的设计原理和技术方案,该方案采用20位D/A转换器作为基准,通过设计分压比分别为1000∶1,100∶1和10∶1的精密比例分压电路,实现了0~1000 mV直流标准电压信号的输出。 相似文献
520.
A.D. Akchurin V.V. BochkarevE.Yu. Ryabchenko O.N. Sherstyukov 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2009
The paper describes a new technique that improves precision of the virtual height measurements by a coherent pulse sounding of the ionosphere. Proposed technique is based on the method of maximum likelihood that matches expected and observed spectral domain signatures of the signal intermixed with the noise. Computer simulations show that our technique allows measurements of the echo virtual height with ∼100 m precision even at a much coarser step of the height sampling in the sounder. In experiment, we expect an average 300 m precision of the virtual height measurements for single echoes received during periods of little spread due to ionospheric irregularities. 相似文献