Static Stiffness Analysis of a New Type 6-DOF Micro-manipulation Robot

A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.

Nonlinear Static and Dynamic Stiffness Characteristics of Support Hydraulic System of TBM

Full-face hard rock tunnel boring machines(TBM)are essential equipment in highway and railway tunnel engineering construction.During the tunneling process,TBM have serious vibrations,which can damage some of its key components.The support system,an important part of TBM,is one path through which vibrational energy from the cutter head is transmitted.To reduce the vibration of support systems of TBM during the excavation process,based on the structural features of the support hydraulic system,a nonlinear dynamical model of support hydraulic systems of TBM is established.The influences of the component structure parameters and operating conditions parameters on the stiffness characteristics of the support hydraulic system are analyzed.The analysis results indicate that the static stiffness of the support hydraulic system consists of an increase stage,stable stage and decrease stage.The static stiffness value increases with an increase in the clearances.The pre-compression length of the spring in the relief valve a ects the range of the stable stage of the static stiffness,and it does not a ect the static stiffness value.The dynamic stiffness of the support hydraulic system consists of a U-shape and reverse U-shape.The bottom value of the U-shape increases with the amplitude and frequency of the external force acting on the cylinder body,however,the top value of the reverse U-shape remains constant.This study instructs how to design the support hydraulic system of TBM.

Performance analysis of high-static-low-dynamic stiffness vibration isolator with time-delayed displacement feedback

The displacement feedback with time delay considered is introduced in order to enhance the vibration isolation performance of a high-static-low-dynamic stiffness(HSLDS) vibration isolator. Such feedback is detailedly analyzed from the viewpoint of equivalent damping. Firstly, the primary resonance of the controlled HSLDS vibration isolator subjected to a harmonic force excitation is obtained based on the multiple scales method and further verified by numerical integration. The stability of the primary resonance is subsequently investigated. Then, the equivalent damping is defined to study the effects of feedback gain and time delay on primary resonance. The condition of jump avoidance is obtained with the purpose of eliminating the adverse effects induced by jumps. Finally, the force transmissibility of the controlled HSLDS vibration isolator is defined to evaluate its isolation performance. It is shown that an appropriate choice of feedback parameters can effectively suppress the force transmissibility in resonant region and reduce the resonance frequency. Furthermore, a wider vibration isolation frequency bandwidth can be achieved compared to the passive HSLDS vibration isolator.

丁苯橡胶发泡材料的制备和性能研究

研究白炭黑用量、硫黄/过氧化物BIBP并用硫化体系的过氧化物BIBP和助交联剂TAIC用量、发泡倍率、预硫化温度和预硫化时间对丁苯橡胶(SBR)发泡材料性能的影响。结果表明:白炭黑用量增大,SBR发泡材料的100%定伸应力、拉伸强度、静刚度和动静刚度比增大,拉断伸长率减小;随着过氧化物BIBP用量和助交联剂TAIC用量增大,SBR发泡材料的拉伸强度、拉断伸长率、压缩永久变形和动静刚度比减小,100%定伸应力和静刚度增大;随着发泡倍率增大,SBR发泡材料的静刚度减小,动静刚度比增大;预硫化温度为125℃和预硫化时间为16 min时,SBR发泡材料的减振性能最佳,此时泡孔直径较小及分布均匀。

Effect of Manufacturing Errors on Static Characteristics of Externally Pressurized Spherical Air Bearings

Externally pressurized spherical air bearings are the key component of the three-axis air bearing table, and the manufacturing errors of the bearing affects the performance of the air bearing table. However, the manufacturing errors are unavoidable, and the pursuit to enhance the manufacturing accuracy will increase the cost greatly. In order to provide some theoretical guideline for the tolerance choice in the design of the externally pressurized spherical air bearings with inherent compensation, the effects of several manufacturing errors on the static characteristics of the air bearing are studied. Due to the complex geometry of the computational domain, an unstructured meshing technology is used for mesh generation. A finite-volume method is adopted to discretize the three-dimensional steady-state compressible Navier-Stokes equations. A modified SIMPLE algorithm which is suitable for compressible flows is applied to solve the discretized governing equations. The effects of the dimension error and the roundness error of the ball head and the ball socket on the static characteristics are investigated. The investigation result shows that the positive dimension error and the oblate spheroid-type roundness error of the ball head as well as the negative dimension error and the prolate spheroid-type roundness error of the ball socket can improve the bearing capacity and static stiffness of the air bearings by reducing the mass flow. The calculation method proposed in this paper fits well for the general principle, which can be extended to the characteristics analysis of other air bearings.

Research on static bearing characteristics of magnetic-liquid double suspension bearing

Due to low viscosity of seawater,it is difficult to form a seawater-lubricated film.It is easy to cause the overload and burning phenomenon of seawater-lubrication sliding bearing,and then the operation stability and service life can be shortened seriously.Therefore,the paper introduces an electromagnetic suspension theory into the seawater lubricated sliding bearing.Then a novel magnetic-liquid double suspension bearing can be formed,which can enhance bearing capacity and stiffness greatly.Firstly,the structural characteristics,support-adjustment mechanism of magnetic-liquid double suspension bearing is analyzed.Secondly,based on force balance equation,electromagnetic equation and flow equation,the transfer functions of single DOF bearing system of magnetic-liquid double suspension bearing under constant-flow supply model are deduced.Then bearing capacity,static stiffness and total power loss are selected as static performance indexes.The influence rule of operaton and structural parameters on the static performance of single DOF bearing system will be analyzed.The results show that bearing capacity decreases with the increase of liquid film thickness and width of edge seals,bias current and coil turns decrease.Static stiffness decreases with the increase of liquid film thickness,edge seals width,bias current and coil turns.Total power loss decreases with the increase of liquid film thickness,edge seals width,bias current and coil turns decrease.And static performance indexes can not be affected by liquid viscosity.The proposed research provides some theoretical and experimental basis for the parameter design of magnetic-liquid double suspension bearing.

Stiffness Analysis of Spherical Parallel Mechanism U_(P+R) with 2-DOF

As one of the typical less-mobility parallel mechanisms, the spherical parallel mechanism Up.s with two degrees of freedom （2-DOF） possess high order overconstraints, and the calculation of its stiffness is partly different with general parallel mechanisms owing to the bars in each branch are assumed to be arc-shaped. By means of small deformation superposition principle, the relationship between the angle displacement and line displacement of moving platform and the forces acted on the branches were derived out. Based on the results of static analysis, the relationship between the applied force, the line displacement and the angle displacement of the mechanism was set up. And then the stiffness matrix was obtained. The six principal stiffness of the mechanism and the corresponding directions were achieved by the orthogonal transformation. The numerical calculation was performed and the results showed that the principal stiffness and directions are varied with the pose-position of the mechanism, and the principal stiffness is gradually enlarged when it is far away from the anigin. In addition, the torsion stiffness is much greater and the line deformation stiffness is smaller, the difference between the two parts is huge. The research content of this paper supplies the theoretical foundation for the further engineering design and application of the spherical parallel mechanism.

一种小动静比橡胶隔振器仿真与试验

通过隔振器内部结构设计,在保证承载能力的同时降低橡胶隔振器的动态刚度。开展橡胶隔振器的静态变形、在给定静变形下的动态仿真分析,表明该隔振器在静态力-位移曲线上具有负斜率特性,对应隔振器内部结构的失稳变形;进行隔振器的静压试验、动态试验和隔振系统中的振动传递试验,结果表明,静态力-位移曲线试验结果呈现负斜率特性,在静态曲线上不同工作点处的固有频率呈现负斜率处最小的特性。

一种电磁式高静-低动刚度隔振系统建模与特性分析

为改善传统线性隔振系统尺寸参数确定后就无法取得更低起始隔振频率的缺陷,基于电磁线圈嵌套永磁体结构,提出一种具有高静-低动刚度特性的电磁式可变刚度隔振系统.采用分子电流法建立隔振系统磁力的数学模型;充分考虑隔振系统力学模型中二次与三次非线性刚度项的影响,建立单自由度被动隔振系统强非线性动力学模型;采用增量谐波平衡法(IHB)求解动力学模型,分析激励、电流等对隔振系统位移传递率的影响规律;构建实验测试系统,验证所提出新型隔振系统的有效性.实验结果和理论计算表明:通入电流比未通入电流时隔振系统的起始隔振频率降低了19.25%,拓宽了隔振频带,实现了其对不同振源的适应性.

低频大幅隔振器设计及实验

为了突破传统隔振器刚度和承载能力之间的矛盾,需要隔振器具有高的静态刚度,低动态刚度的特性.如今的准零刚度隔振器技术可以实现低频微幅隔振,但是对于大幅振动,隔振效果并不明显甚至失效,因此突破宽幅隔振成为隔振领域亟待解决的问题.为此,我们利用多稳态折纸通过并联装配的方式,构造具有宽幅零刚度区间的折纸型隔振器,以解决传统隔振器振动抑制幅值较低的问题.本文建立了宽零刚度隔振器模型,提出宽幅零刚度的设计方法,并通过动力学分析分析了模型的隔振效果.最后搭建试验样机,验证了理论的正确性.这种设计打破了传统准零刚度隔振器单点准零的设计准则,能够在一个大幅范围内保证稳定性,同时实现零刚度,极大拓宽了隔振器的适用范围.这种设计理念能够被用在新隔振材料设计和航空、船舶等大幅低频动态环境中.

大功率汽轮机滑动轴承箱变工况性能研究

本文通过对某大功率汽轮机滑动轴承箱的受力情况进行简化理论建模,重点对稳定工况、变工况条件下轴承箱的受力进行分析,采用两种不同方法对轴承箱的变工况性能进行稳定性评估。基于有限元方法对轴承箱的空载工况、稳定工况以及变工况的刚性进行对比分析,结果表明稳定工况下的轴承箱弯曲静刚度和轴向静刚度均处于最高水平,且变工况会导致轴承箱静刚度水平显著下降。对变工况性能要求高的轴承箱而言,调整推拉键高度可以用于改善轴承箱刚性设计。

用于夹层梁静动力及屈曲分析的新型组合结构单元

推导出新型组合结构单元,用于考虑界面滑移的3层部分作用夹层组合梁的静动力及屈曲特性分析.基于铁木辛柯梁理论,建立考虑夹层梁部分作用效应的能量原理.针对其受力特性,在节点位移、横截面转角和界面滑移插值时均采用含内部自由度的高阶插值函数,以解决含界面有限元数值分析中常遇到的“滑移锁定”现象.通过变分原理得到夹层梁的刚度矩阵、质量矩阵以及几何刚度矩阵的显示表达式.基于MATLAB编译相应夹层结构的有限元程序并验证其准确性.对不同截面3层夹层组合梁进行不同荷载条件和边界条件下的静动力及屈曲特性分析,并探讨不同夹层组合梁跨高比和不同界面抗剪连接刚度下的计算结果及其误差的变化规律.所推导的显示表达式新型组合结构单元计算效率高,并便于推广应用于其他有限元程序或商业软件子程序中.

Method of reverberation ray matrix for static analysis of planar framed structures composed of anisotropic Timoshenko beam members

Based on the method of reverberation ray matrix（MRRM）, a reverberation matrix for planar framed structures composed of anisotropic Timoshenko（T） beam members containing completely hinged joints is developed for static analysis of such structures.In the MRRM for dynamic analysis, amplitudes of arriving and departing waves for joints are chosen as unknown quantities. However, for the present case of static analysis, displacements and rotational angles at the ends of each beam member are directly considered as unknown quantities. The expressions for stiffness matrices for anisotropic beam members are developed. A corresponding reverberation matrix is derived analytically for exact and unified determination on the displacements and internal forces at both ends of each member and arbitrary cross sectional locations in the structure. Numerical examples are given and compared with the finite element method（FEM） results to validate the present model. The characteristic parameter analysis is performed to demonstrate accuracy of the present model with the T beam theory in contrast with errors in the usual model based on the Euler-Bernoulli（EB） beam theory. The resulting reverberation matrix can be used for exact calculation of anisotropic framed structures as well as for parameter analysis of geometrical and material properties of the framed structures.

光滑环形液体密封流态演变规律及静态稳定性研究

光滑环形密封静态刚度系数直接影响转子系统稳定性。为探究影响光滑环形液体密封的静态失稳机制及影响因素,应用计算流体力学方法建立光滑环形液体密封模型,研究密封在不同流动状态(层流、过渡流和湍流)、偏心率、进出口压力和转速下流动特性。结果表明:黏性效应是导致层流到过渡流状态下直接静态刚度先减后增主要原因;在过渡流和湍流中,黏性和惯性效应会使高偏心率下密封产生的气流力和刚度系数均为负值;随雷诺数增加,密封静态稳定性降低。

炭黑N330用量对天然橡胶阻尼性能的影响

研究炭黑N330用量对天然橡胶(NR)阻尼性能的影响。结果表明:随着炭黑用量的增大,NR混炼胶的FL,Fmax和Fmax-FL增大,t90缩短;NR硫化胶的邵尔A型硬度、100%定伸应力、300%定伸应力、拉伸强度和撕裂强度增大,拉断伸长率和回弹值减小;NR硫化胶低温下的损耗因子(tanδ)峰值减小,高温下的tanδ呈增大趋势。随着温度的升高,NR硫化胶的tanδ减小,且炭黑N330用量大的NR硫化胶的tanδ减小速率大于炭黑N330用量小的NR硫化胶,表明高温下炭黑N330用量大的NR硫化胶的阻尼性能对温度变化更敏感。随着炭黑N330用量的增大,NR硫化胶的静刚度和动/静刚度比都增大,表明炭黑N330用量增大对NR硫化胶的阻尼性能有提升作用。

考虑结合面特性影响的机床整机有限元静力学分析模型

针对机床数字化设计中典型结合面建模精度误差较大的问题,提出了一种采用虚拟材料等效结合面静力学特性的方法,建立了考虑结合面特性影响的机床整机有限元静力学分析模型,并完成了相应的静刚度测试实验。首先,综合考虑了弹塑性变形机制和摩擦力的影响,提出了一种新的结合面法向和切向刚度的分析模型;其次,根据不同类型结合面的特点,采用虚拟材料模拟结合面的刚度特性,建立了刚度特性与虚拟材料弹性模量和泊松比的关系,并将其应用于精密数控机床整机的静刚度分析;最后,开展了整机工艺系统的静刚度测试实验,得到了主轴末端X、Y、Z三个方向的刚度分别为26.60 N/μm、41.87 N/μm和40.17 N/μm,并将其与仿真数据进行了对比。研究结果表明:不考虑结合面影响的模型相对误差将近17%,而考虑结合面影响的模型相对误差在5%以内,验证了考虑结合面特性影响的机床整机有限元静力学分析模型的有效性;采用虚拟材料等效结合面静力学特性的方法可作为机床数字化设计的一种可行的方法。

一种双简支―悬臂梁反共振隔振器设计分析与试验

[目的]为探究三元件型反共振隔振器的实现形式,提出一种由一根悬臂端含质量块的双简支-悬臂梁与一根双支撑梁所组成的机械装置(BAVI)。[方法]首先,分析双简支-悬臂梁的动态特性,推导其阻抗方程;然后,根据驱动点阻抗函数综合其低阶模型是单惯容与单弹簧二元件的串联结构,并解析低阶模型的等效参数;最后,通过装置试件设计与试验,验证其反共振特性和理论方法有效性,并在此基础上分析装置刚度特性及不同阻尼形式的效果。[结果]结果表明,当跨度比共振隔振器结构,具有“高静低动”刚度特性;在双简支-悬臂梁上采取阻尼措施后,可实现隔振区传递率以最大速率衰减的同时抑制共振峰的效果。[结论]所提机械装置证明了三元件型反共振隔振器的可实现性,提供了一种简易可行的工程结构。

可拆卸支架预应力混凝土叠合板受弯性能试验及短期刚度理论研究

为解决现阶段普通钢桁架预应力混凝土预制底板开裂荷载较小、施工时搭设满堂临时支撑及叠合板正常使用状态下仍存在反拱等问题,本课题组提出了一种可拆卸支架预应力混凝土叠合板。通过对3块结构形式相同但尺寸不同的试件进行静力加载试验,测得其开裂荷载、挠度曲线、应变分布及破坏特征等。试验结果表明:可拆卸钢管桁架能显著提高预制底板的开裂荷载,其受弯性能满足施工阶段的荷载要求且外加荷载为叠合层恒载时试件挠度接近0,解决了叠合板正常使用阶段存在反拱的问题;较弱的腹杆弯折钢筋不能使刚度较大的桁架上弦矩形钢管和混凝土底板形成一个均匀连续工作的整体。基于试验结果引入折减系数对等弹性模量法计算预制底板开裂弯矩、施工阶段短期刚度进行了修正。

并联式六维加速度/力感知机构的设计及分析

为了解决感知机构对加速度和力信息同时反馈的问题,设计了一种基于3-RPR平面并联机构的六维加速度/力感知机构,推导了解耦算法,分析了解耦精度、灵敏度与结构参数之间的关联。首先,综合运用Angeles特征长度法和Gosselin奇异分析法,绘制了并联机构的奇异曲面;其次,设计了感知机构的结构模型,分别运用Kane方程和静力平衡方程推导了加速度、力解耦算法;然后,基于半闭环思想,构建了加速度误差补偿算法;最后,通过分析并联机构的静刚度矩阵,推导多维传感器灵敏度的定义式,揭示了结构参数对解耦精度和灵敏度的影响规律。实验结果显示,线加速度、角加速度、力及力矩的解耦误差分别小于8.8242×10^(-4),4.2914×10^(-6),0.4461×10^(-6)和8.6297×10^(-6),为感知机构的尺度综合提供理论指导。

考虑弹流润滑效应的三点接触球轴承刚度特性分析

为获得润滑状态下三点接触球轴承更为准确的刚度特性,应考虑弹流润滑效应对轴承刚度的影响。文中基于拟静力学模型考虑高速离心力和陀螺力矩效应,根据给定轴承的结构参数和工况,计算滚动体与内外圈的法向接触载荷和各部件的运动速度。将拟静力学模型的计算结果和润滑介质参数代入弹流润滑模型,求解出滚动体与内外圈之间的压力分布和油膜厚度分布。进一步研究了转速、轴向载荷和润滑油的初始黏度对油膜压力和最小油膜厚度的影响。基于弹流润滑理论分析了转速和轴向载荷对轴承接触刚度、油膜刚度及综合刚度的影响。结果表明:转速的提高会大幅增加润滑油膜的整体厚度;润滑油初始黏度的增大会增加油膜厚度;随着轴承转速的提高,轴承的整体轴向刚度和轴向油膜刚度减小;随着轴向载荷的增大,轴承轴向刚度和轴向油膜刚度增大,且差值变化不大。