In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture t...In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.展开更多
Many animals have a magic ability to move or hold on ceilings and walls because of the design of their adhesive pads. The experiments were carried out to study the effects of material properties (elastic modulus EM an...Many animals have a magic ability to move or hold on ceilings and walls because of the design of their adhesive pads. The experiments were carried out to study the effects of material properties (elastic modulus EM and chemical components CC) and contact geometry (surface roughness, connecting stiffness) on their adhesive properties. The adhesion of the lowest EM samples is the highest (15 kPa) and the surface roughness has strong effects on adhesion and the adhesion decreases to 1.5 kPa for the highest EM samples. The adhesive forces are heavily influenced by CC of polyurethane. Surface roughness heavily influences the adhesion and when the roughness is higher than R a 0.3 μm, the obtained adhesion of the samples is the same. The adhesion does not change with the normal forces when a sphere is used to contact with flat PU samples. But when the two matually contact surfaces are flat, the adhesion of a material increases with the normal load at first and then turns to slightly raise. The adhesion of them is the same for the contact angles from 1 to 3 degree when the samples are softly connected. But when they are adhesive hardly to each other the adhesion decreases with increase of the contact angle.展开更多
This paper presents a simplified beam design method for semi-rigid composite frames with vertical loading at the serviceability limit state. Equations were developed to determine the deflections of the composite beam ...This paper presents a simplified beam design method for semi-rigid composite frames with vertical loading at the serviceability limit state. Equations were developed to determine the deflections of the composite beam allowing for both joint flexibility and beam sectional properties, along with a formula for the connection secant stiffness. The equations for the connection stiffness are more accurate than previous equations used because it considers the beam-to-column stiffness ratio and the beam-to-connection stiffness ratio. The equations were validated by the experimental results for two semi-rigid composite frames. The equations agree well with the experimental data because they take into account the actual beam-to-column connections and the composite action between the steel beam and the concrete slab.展开更多
基金Project(2006AA04Z228) supported by the National High Technology Research and Development Program of China
文摘In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.
文摘Many animals have a magic ability to move or hold on ceilings and walls because of the design of their adhesive pads. The experiments were carried out to study the effects of material properties (elastic modulus EM and chemical components CC) and contact geometry (surface roughness, connecting stiffness) on their adhesive properties. The adhesion of the lowest EM samples is the highest (15 kPa) and the surface roughness has strong effects on adhesion and the adhesion decreases to 1.5 kPa for the highest EM samples. The adhesive forces are heavily influenced by CC of polyurethane. Surface roughness heavily influences the adhesion and when the roughness is higher than R a 0.3 μm, the obtained adhesion of the samples is the same. The adhesion does not change with the normal forces when a sphere is used to contact with flat PU samples. But when the two matually contact surfaces are flat, the adhesion of a material increases with the normal load at first and then turns to slightly raise. The adhesion of them is the same for the contact angles from 1 to 3 degree when the samples are softly connected. But when they are adhesive hardly to each other the adhesion decreases with increase of the contact angle.
基金the National Science Fund for Distinguished Young Scholars (No. 50225825)
文摘This paper presents a simplified beam design method for semi-rigid composite frames with vertical loading at the serviceability limit state. Equations were developed to determine the deflections of the composite beam allowing for both joint flexibility and beam sectional properties, along with a formula for the connection secant stiffness. The equations for the connection stiffness are more accurate than previous equations used because it considers the beam-to-column stiffness ratio and the beam-to-connection stiffness ratio. The equations were validated by the experimental results for two semi-rigid composite frames. The equations agree well with the experimental data because they take into account the actual beam-to-column connections and the composite action between the steel beam and the concrete slab.
