Bionic Attitude Transformation Combined with Closed Motion for a Free Floating Space Robot

In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.

Three-dimensional analysis of relationship between relative orientation and motion modes

Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coordinate system and the target body coordinate system, a basic model of sensor is stated and the definition of relative angular velocity between the two coordinate systems is introduced firstly. Then, the three-dimensional analytic expressions of relative angular velocity for different motion modes are derived and simplified by analyzing the influences of target centroid motion, rotation around centroid and relative motion. Finally, the relationships of the relative angular velocity directions and values with motion modes are discussed. Simulation results validate the rationality of the theoretical analysis. It is demonstrated that there are significant differences of the relative orientation in different motion modes which include luxuriant information about motion modes. The conclusions are significant for the research of motion mode identification,maneuver detection, maneuvering target tracking and interception using target signatures.

Numerical research on slamming characteristics of aircraft landing on water

In order to investigate the impact characteristic of an aircraft landing on water,a computational fluid dynamics(CFD)simulation is conducted to explore the slamming characteristics of the NACA TN 2929 A model.The flow around the model is solved by using Reynolds-averaged Navier-Stokes equations with the shear stress transport(SST)k—ωturbulence model,based on finite volume method(FVM).The free surface is captured by using the volume of fluid(VOF)method,and the aircraft impact process is realized with help of overset mesh technology.Then,the effects of horizontal and vertical velocities and initial pitch angle on the slamming load,attitude change,impact pressure and flow field evolution are investigated.The results reveal that the horizontal velocity has a considerable influence on whether the aircraft’s horizontal tail hits the water,and further affects the maximum vertical load as well as the maximum pitch angle throughout the impact process.The vertical velocity determines the slamming load before the horizontal tail strikes the water,while the horizontal velocity has a significant effect on the load after the horizontal tail hits the water.A smaller initial pitch angle results in not only a heavier slamming load but also a more dramatic change of the posture after the aircraft impacts the water.The impact pressure of the aircraft is maximized at the junction of the approaching surface of the fuselage and the free surface.In some cases,the pressure is also concentrated on the undersurface of the horizontal tail.