A multi-stage regulation strategy of space manipulators with a free-swinging joint failure

To ensure tasks can be completed after a free-swinging joint failure occurs, a multi-stage regulation strategy of space manipulators is proposed. Considering all terms of the dynamics equation, an evaluation model of the regulation ability (EMRA) of active joints over the fault joint is established based on the fuzzy entropy. And then a multi-stage regulation strategy based on the EMRA is designed to regulate the fault joint. The strategy divides the regulation process into several stages, and select a certain active joint to regulative the fault joint in every stage. With this multi-stage regulation strategy, the fault joint can be regulated to the desired angle without huge torque on regulative joints. The simulation is carried out with a 7-DOF space manipulator, verifying the correctness and effectiveness of the multi-stage regulation strategy. The strategy has three advantages: Coriolis and centrifugal terms are both considered for the first time in selecting the regulative joint, making the selection result more in line with the actual regulation process; The influence of the model uncertainty is eliminated in establishing the EMRA, making the evaluation of regulative ability more precise; The fault joint is successfully regulated to the desired angle without huge torque on regulative joints.     

K8、JK8机翼接头与检验量规协调准确度的提高

分析了 K8、 JL8机翼接头孔精加加后与检验量规位置协调的条件，介绍了为提高它们之间协调准确度所采取的措施及其效果。     

美国MTS公司应用软件在测试上的应用

介绍了用美国ＭＴＳ公司的平面应变断裂韬度测试软件，对ＴＣ４合金进行ＫＩＣ测试的过程及结果。     

复合材料层板中就位横向拉伸强度的研究

本文利用弹性力学和断裂力学方法对纤维增强复合材料的横向拉伸强度进行了分析，其中考虑了９０度开裂层厚度和开裂邻层的约束效应的影响，推导出正交各向异性对称铺层中昨合就位横向拉伸强度的数学表达式，得出开裂层的厚度和约束邻层铺设角对就位横向拉伸强度都有影响的结论，理论计算与Ｆｌａｇｇｓ实验结果吻合较好。     

应力极值分布、强度威布尔分布的可靠性

本文运用应力—强度干涉理论,推导了应力为Ⅰ型极小值分布,强度为威布尔分布的可靠度计算公式,并对冗长的计算公式进行简化,在简化公式的基础上,运用一定的数学技巧,改变积分公式中的积分变量和上下限。将被积函数化成在某一区域内的可积函数。采用de Boor编制的一种严谨的自适应Romberg外推格式的FORTRAN程序进行数值积分。对应予不同的组合参数,给出应力服从Ⅰ型极小值分布,强度服从威布尔分布的可靠度数值。本文最后讨论了服从这两种分布的组合参数的变化对可算度数值变化的影响。     

Numerical Simulation of Impact Loading on Solid Propellant Within an Orthotropic Shell

The strain–stress state of the solid propellant rocket engines (SPREs) is simulated under impact. The effect of orientation of elastic and strength properties of orthotropic organoplastic shell material on the strain–stress state of the solid propellant is investigated. Normal and oblique impact of single steel cylinder projectiles, both simultaneous and at different times of multiple, converging steel spheric particles with SPRE are investigated in this study. The investigation is conducted numerically. The numerical modeling was carried out in a three-dimensional formulation by the method of finite elements for the continuous approach of the mechanics of a deformable solid. The destruction of the anisotropic material is described by the tensor-polynomial criterion of the fourth degree, which takes into account the influence of hydrostatic pressure.     

带滑移铰空间机械臂惯性空间轨迹的复合自适应跟踪控制

讨论了载体的位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的控制问题。动力学分析表明，结合系统动量及动量矩守恒关系得到的运动Jacobi关系及系统动力学方程将是系统惯性参数的非线性函数，借助于增广变量法，我们得到了与惯性参数呈线性关系的系统广义Jacobi矩阵及系统控制方程，以此为基础，针对系统中存在未知惯性参数的情况，设计了一种末端抓手惯性空间期望轨迹跟踪的复合自适应控制方案，此控制方案的优点在于不需要测量空间机械臂载体的位置及移动的速度，加速度，仿真运算证实了方法的有效性。     

高强度铝合金中氢传输的研究

采用化学镀镍层作为铝合金LC4上防护层,应用电化学氢渗透技术研究了氢在LC4中的静态传输规律以及在不同热处理状态下,氢在LC4中的传输对其应力腐蚀敏感性的影响。实验结果表明:常温下氢在LC4中的静态传输是以扩散为控制步骤的过程。氢扩散系数为10~(-9)cm~2·s~(-1)数量级,为同条件下氢在纯铝中扩散系数的四分之一;LC4材料的DCB试样在常温下的3.5％NaCl溶液中的应力腐蚀断裂不遵循氢脆机理。     

高强钛合金中的微动损伤与疲劳

本文对高强钛合金Ti-10V-2Fe-3Al在不同温度下的微动损伤和疲劳特性进行了研究。试验结果表明,该合金对微动损伤十分敏感,常温疲劳强度下降达50％。微动损伤的主要机制是疲劳脱层,这是由作用在材料次表层的交变切应力引起的,它将导致疲劳裂纹的萌生和早期断裂。疲劳裂纹的扩展方向可根据接触应力分析得到解释。在较高试验温度下,由于接触面形成的氧化层的保护作用,微动损伤程度减弱。     

铝/ZN-1阻尼材料复合结构件的粘接技术研究

探讨了胶黏剂黏度、硬铝表面处理方式及硅烷偶联剂KH-560的使用方式等因素对硬铝板/ZN-1阻尼材料复合结构件的粘接性能的影响。研究表明：如果硬铝板表面采用砂纸打磨处理时，采用黏度较低的TC-1环氧树脂胶或者在黏度较高的J-22环氧树脂胶中添加2％的硅烷偶联剂KH-560可以获得优异的粘接效果；当硬铝板表面采用铬酸阳极化处理时，两种胶黏剂均能获得优异的粘接效果。