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...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.展开更多
A flow measurement system consisting of an optical fiber Fabry–Perot（F-P） sensor and an elbow tube is proposed and demonstrated to realize flow measurements and eliminate thermal disturbance.Two F-P sensors are sym...A flow measurement system consisting of an optical fiber Fabry–Perot（F-P） sensor and an elbow tube is proposed and demonstrated to realize flow measurements and eliminate thermal disturbance.Two F-P sensors are symmetrically mounted on the inner-wall surface of the elbow of 90° in order to eliminate the effect of thermal disturbance to the flow measurement accuracy.Experimental results show that the absolute phase difference is the square root of the fluid flow.It is consistent with the theoretical analysis,which proves that the flow measurement method can measure flow and eliminate the influence of thermal disturbance simultaneously.展开更多
文摘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.
基金supported by the National Instrumentation Program of China(No.2013YQ030915)the National Natural Science Foundation of China(Nos.61675152,61227011,61378043,61475114,61505139,and 61505138)+2 种基金the open project of Key Laboratory of Micro Opto-electro Mechanical System Technology,Tianjin University,Ministry of Education(No.MOMST2016-3)the Shenzhen Science and Technology Research Project(No.JCYJ20120831153904083)the SEM Soft Science Research and Development Project of Ministry of Housing and Urban-Rural Development of China(No.2016-K4-087)
文摘A flow measurement system consisting of an optical fiber Fabry–Perot（F-P） sensor and an elbow tube is proposed and demonstrated to realize flow measurements and eliminate thermal disturbance.Two F-P sensors are symmetrically mounted on the inner-wall surface of the elbow of 90° in order to eliminate the effect of thermal disturbance to the flow measurement accuracy.Experimental results show that the absolute phase difference is the square root of the fluid flow.It is consistent with the theoretical analysis,which proves that the flow measurement method can measure flow and eliminate the influence of thermal disturbance simultaneously.
