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根据现有空间机械臂的结构特点,参照几种轻型机械臂的设计,设计了一种两自由度机械臂运动模块,并根据此模块研制了一台6自由度空间机械臂。运动模块由两个相邻关节轴线正交的关节组成,关节内部没有驱动器。机械臂内有一根高速主轴,为各个串联关节提供动能。机械臂控制系统采用上下位机方式,上位机根据虚拟场景仿真的运动轨迹发出控制指令给关节控制器,下位机根据关节状态表控制离合器组输入关节的能量。为确定机械臂在工作过程中的强度和稳定性,建立了机械臂的有限元模型,分析了其工作态的应力情况和动态特性。仿真结果表明,机械臂在工作态有足够的强度,在抓取的过程中,机械臂固有频率远离激励源的激励频率,无共振现象。通过多关节联动,机械臂可实现多种组合姿态,适用于在轨维修、加注等复杂空间任务。 相似文献
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发动机性能趋势监控是视情维护的重要组成部分。数据是整个监控工作的基础,只有保证数据的及时准确、完整连续,才能保证发动机性能趋势监控工作的有效进行。本文总结了实际工作中CFM56-3C发动机性能监控数据收集处理的方法和经验。 相似文献
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Jaekl P Zikovitz DC Jenkin MR Jenkin HL Zacher JE Harris LR 《Acta Astronautica》2005,56(9-12):1033-1040
We measured the amount of visual movement judged consistent with translational head movement under normal and microgravity conditions. Subjects wore a virtual reality helmet in which the ratio of the movement of the world to the movement of the head (visual gain) was variable. Using the method of adjustment under normal gravity 10 subjects adjusted the visual gain until the visual world appeared stable during head movements that were either parallel or orthogonal to gravity. Using the method of constant stimuli under normal gravity, seven subjects moved their heads and judged whether the virtual world appeared to move “with” or “against” their movement for several visual gains. One subject repeated the constant stimuli judgements in microgravity during parabolic flight. The accuracy of judgements appeared unaffected by the direction or absence of gravity. Only the variability appeared affected by the absence of gravity. These results are discussed in relation to discomfort during head movements in microgravity. 相似文献
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Searching for life on Mars: selection of molecular targets for ESA's aurora ExoMars mission 总被引:1,自引:0,他引:1
Parnell J Cullen D Sims MR Bowden S Cockell CS Court R Ehrenfreund P Gaubert F Grant W Parro V Rohmer M Sephton M Stan-Lotter H Steele A Toporski J Vago J 《Astrobiology》2007,7(4):578-604
The European Space Agency's ExoMars mission will seek evidence of organic compounds of biological and non-biological origin at the martian surface. One of the instruments in the Pasteur payload may be a Life Marker Chip that utilizes an immunoassay approach to detect specific organic molecules or classes of molecules. Therefore, it is necessary to define and prioritize specific molecular targets for antibody development. Target compounds have been selected to represent meteoritic input, fossil organic matter, extant (living, recently dead) organic matter, and contamination. Once organic molecules are detected on Mars, further information is likely to derive from the detailed distribution of compounds rather than from single molecular identification. This will include concentration gradients beneath the surface and gradients from generic to specific compounds. The choice of biomarkers is informed by terrestrial biology but is wide ranging, and nonterrestrial biology may be evident from unexpected molecular distributions. One of the most important requirements is to sample where irradiation and oxidation are minimized, either by drilling or by using naturally excavated exposures. Analyzing regolith samples will allow for the search of both extant and fossil biomarkers, but sequential extraction would be required to optimize the analysis of each of these in turn. 相似文献