航天器机械臂柔性力控辅助装配方法

文章从装配的实际需求出发,提出一种航天器机械臂柔性力控辅助装配方法:通过在机械臂末端法兰与负载之间安装的六维力传感器感知作用力与力矩信息,人手直接作用于机械臂末端的负载,系统通过负载的重力补偿算法获得人手作用的力与力矩信息,而后以力/力矩信息作为输入来控制机械臂进行移动或转动,使负载柔性跟随人手运动。文章给出了装配方法的详细设计方案与相关算法,并进行了初步试验验证。试验表明,该装配方法可以有效提高在航天器狭小空间内进行大重量工件安装的效率,且安全可靠。     

High resolution science with high redshift galaxies

We summarize the high-resolution science that has been done on high redshift galaxies with Adaptive Optics (AO) on the world’s largest ground-based facilities and with the Hubble Space Telescope (HST). These facilities complement each other. Ground-based AO provides better light gathering power and in principle better resolution than HST, giving it the edge in high spatial resolution imaging and high resolution spectroscopy. HST produces higher quality, more stable PSF’s over larger field-of-views in a much darker sky-background than ground-based AO, and yields deeper wide-field images and low-resolution spectra than the ground. Faint galaxies have steadily decreasing sizes at fainter fluxes and higher redshifts, reflecting the hierarchical formation of galaxies over cosmic time. HST has imaged this process in great structural detail to z  6, and ground-based AO and spectroscopy has provided measurements of their masses and other physical properties with cosmic time. Last, we review how the 6.5 m James Webb Space Telescope (JWST) will measure First Light, reionization, and galaxy assembly in the near–mid-IR after 2013.     

载人试验舱综合复压系统

综合复压系统是载人航天器空间环境试验设备的关键系统之一。文章结合国内外载人飞船试验的经验,简要介绍了载人试验舱综合复压系统方案设计时应考虑的主要技术指标。响应时间和阀门的选择是复压系统正常工作的关键;使用气体混合仪对氧、氮比精确控制以使复压气体符合航天员的生理要求。对复压流程进行了仿真,结果表明复压系统的设计能满足紧急复压的要求。     

设计特征模型中的装配特征识别

研究了由设计特征模型识别装配特征的算法 ,该算法采用凹凸特征模型为中间模型实现设计特征模型向装配模型的转化。识别算法用特征设计与特征识别相结合的方法有效地识别出设计特征指定面的所有凹凸特征 ,利用判别装配特征的充分必要条件得到所求的装配特征。该方法克服了传统算法的缺点 ,提高了装配特征识别的有效性和可靠性     

基于在轨组装维护的多载荷协同观测卫星平台构型设计

针对高轨遥感卫星多载荷协同观测和一致测量应用需求,在前期总体技术方案研究的基础上,通过开展现有在轨组装航天器和高轨卫星公用平台的构型调研,提出了一种适用于多载荷协同观测需求的平台构型设计方案。平台利用CZ-5运载火箭发射并在轨展开,采用“网格式中心承力筒+板+桁架”式的总体构型,开展了主传力路径、贮箱承载结构、网格式中心承力筒等的细化设计工作,并进行了结构产品的初步设计,建立了平台结构整星的有限元模型。仿真分析表明:平台结构整星的各向一阶频率均能满足运载火箭的频率要求。基于标准化、通用化的平台接口设计,使其具备可扩展及可维修的能力,大大提升了平台鲁棒性。基于全网格筒的主承力设计,增强平台结构承载能力,并改善平台内部热环境。该设计方案可为基于在轨组装维护的高轨遥感大平台结构的设计提供有价值的参考。     

半自动担架车的运动仿真

在讨论半自动担架车工作原理的基础上，应用运动学原理将担架车整个运动过程进行了分析。应用矩阵理论对担架车任意位置的13个关键点进行运动求解和运动仿真。     

面向多旋翼重载无人机均流技术优化研究CSCD

多旋翼重载无人机的应用需要大功率的无刷直流电机为其提供升力。金属-氧化物半导体场效应晶体管(MOSFET)和绝缘栅双极型晶体管(IGBT)等开关器件可以通过并联提供更大的电流容量,以满足大功率的需求。然而,由于杂散电感、器件特性的变化和印制电路板(PCB)布局的不对称等原因,并联开关器件将出现不平衡电流,这可能会对系统造成损坏。为解决此问题,使用Multisim软件搭建仿真电路,测量2个并联MOSFET之间的电流,分析不平衡电流产生的具体原因,并提出了一种采用栅极串联均流电阻联合耦合电感的MOSFET并联电流均衡方法,最后通过仿真和实验验证了该方法的可行性。与串联均流电阻法和耦合电感法相比,此方法能使导通电流保持均衡,更好地提高系统的可靠性。     

飞机复杂系统总装的数字化工厂路径探索

从飞机总装面临的高度集成交联的复杂系统环境为出发点,通过对飞机系统设计发展趋势和总装工程实现难点的分析,结合国外飞机数字化技术应用的经验教训,提出了面向产品特点和总装业务需求进行数字化工厂技术路径适配的方法,并按照系统工程的理念构建了数字化工厂的技术体系和路径模型,最后就具有应用潜力的技术前沿中的集成产品研制统一架构模型和覆盖全过程的生产线设计方法进行了案例应用讨论.     

天线测试平台系统设计与安装

简要介绍了天线测试平台系统的基本工作原理、系统（机械系统、测量系统、控制系统）设计、材料选择、误差分析和系统的现场安装。     

A heuristic cabin-type component alignment method based on multi-source data fusion

In cabin-type component alignment, digital measurement technology is usually adopted to provide guidance for assembly. Depending on the system of measurement, the alignment process can be divided into measurement-assisted assembly (MAA) and force-driven assembly. In MAA, relative pose between components is directly measured to guide assembly, while in force-driven assembly, only contact state can be recognized according to measured six-dimensional force and torque (6D F/T) and the process is completed based on preset assembly strategy. Aiming to improve the efficiency of force-driven cabin-type component alignment, this paper proposed a heuristic alignment method based on multi-source data fusion. In this method, measured 6D F/T, pose data and geometric information of components are fused to calculate the relative pose between components and guide the movement of pose adjustment platform. Among these data types, pose data and measured 6D F/T are combined as data set. To collect the data sets needed for data fusion, dynamic gravity compensation method and hybrid motion control method are designed. Then the relative pose calculation method is elaborated, which transforms collected data sets into discrete geometric elements and calculates the relative poses based on the geometric information of components. Finally, experiments are conducted in simulation environment and the results show that the proposed alignment method is feasible and effective.