大型空间机械臂关节动力学建模与分析研究

关节是空间机械臂的核心部件,是保证空间机械臂安全、平稳运行的关键。为全面反映大型空间机械臂关节的动力学特性并从细节之处优化关节设计,利用集中参数法建立了综合考虑轮齿柔性、啮合阻尼、齿侧间隙、啮合误差等非线性因素的细化关节动力学模型。模型中采用一种基于tanh的连续函数对传统分段线性间隙函数进行近似,从而降低了模型的求解难度。研究了各级齿轮精度、关节转速和负载对关节动力学特性的影响。仿真结果表明,三级齿轮的精度变化会影响关节转速波动的振幅并分别影响高、中、低频特性;转速的增加将提高振动频率和幅值;力矩负载的增大会使关节转速波动幅值显著增大,且在满载时,所有的高阶频率都得到明显激励;惯性负载的增大会减小转速波动,并将能量集中在中频上。
     

级间开缝间隙传感器动态测试方法研究

针对某型号分离面间隙传感器的测试要求,提出了一种间隙位移传感器的动态测试方案,设计了测量系统,通过激光测试法测量并记录级间开缝间隙传感器CI1-27在自由弹出状态下的输出响应。经应用,该方法操作便捷,数据可靠,为间隙传感器的动态测试提供了一种新的参考。     

导叶间隙不确定性对可调向心涡轮影响数值研究

为了评估可调向心涡轮导流叶片叶顶及叶根间隙尺寸不确定性对涡轮级性能的影响,首先将喷嘴环叶片大开度模型的单通道定常数值结果与实验数据对比;然后以导流叶片小开度涡轮为研究对象,数值模拟导叶两端叶顶间隙尺寸多种分配模型三维流场,总结出导叶间隙不确定性与涡轮级性能之间相应变化规律;最后选取导叶两端间隙平均分配模型和最优涡轮性能下间隙分配模型开展多通道定常/非定常计算,用于分析间隙分配变化对转静干涉影响。研究结果表明:当导流叶片轮缘侧间隙尺寸占全部间隙尺寸5%~15%范围时,涡轮级效率较高;当导叶间隙全部集中在轮缘侧时,涡轮效率较低;最高、最低效率差别约为6%。间隙泄漏流变化将引起下游转子叶片进口气流角发生变化,进而改变转子叶片吸力面前缘分离涡损失大小。此外,导叶两端间隙分配变化可以改变嘴环叶片吸力面激波强度,并通过诱发交变载荷变化方式影响转子叶片可靠性。     

Bifurcation analysis of dual-sidestay landing gear locking performance considering joint clearance

Sidestay lock mechanism is an important part of landing gear system, and the locking performance can be analyzed based on changes in its stability. However, during numerical continuation analysis of fully-rigid dual-sidestay landing gear without clearance, it has been found that the appearance of bifurcation points does not necessarily imply that both sidestay links can be locked synchronously. This problem reveals the limitations of fully-rigid model with ideally-articulated in solving dual-sid...     

Parameter optimization for torsion spring of deployable solar array system with multiple clearance joints considering rigid–flexible coupling dynamics

In this paper, four novel evaluation indices and corresponding hierarchical optimization strategies are proposed for a deployable solar array system considering panel flexibility and joint clearance. The deployable solar array model consists of a rigid main-body, two panels and four key mechanisms, containing torsion spring mechanism, closed cable loop mechanism, latch mechanism and attitude adjustment mechanism. Rigid and flexible components are established by Nodal Coordinate Formulation and A...