The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration...The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.展开更多
With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement t...With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement technology,the flexible swap device is designed and the dynamics simulation of institutions by the automatic dynamic analysis of mechanical systems(ADAMS)simulation software is analyzed.Throughout the analysis process,this paper studies the effect of collision force of flexible mechanism and provides a basis for the optimization of flexible plug agencies.展开更多
In this Letter, a novel and compact freeform off-axis three-mirror imaging system and its detailed design method are proposed. The primary mirror and tertiary mirror of the system have the same surface analytical expr...In this Letter, a novel and compact freeform off-axis three-mirror imaging system and its detailed design method are proposed. The primary mirror and tertiary mirror of the system have the same surface analytical expression and they are integrated on one single freeform surface. In this way, the alignment process is made much easier due to the much fewer degrees of freedom. In addition, the difficulty and cost for the data handling, fabrication,and testing of the freeform surfaces and system can also be significantly reduced in some cases, especially compared with the configuration having multiple surfaces of different expressions integrated on one monolithic substrate. The final system has a 100 mm effective focal length and a 4°× 3° field of view. The modulation transfer function of the system is close to the diffraction-limit.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51405425)Hebei Provincial Natural Science Foundation of China(Grant No.E2014203255)Independent Research Program Topics of Young Teachers in Yanshan University,China(Grant No.13LGA001)
文摘The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.
文摘With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement technology,the flexible swap device is designed and the dynamics simulation of institutions by the automatic dynamic analysis of mechanical systems(ADAMS)simulation software is analyzed.Throughout the analysis process,this paper studies the effect of collision force of flexible mechanism and provides a basis for the optimization of flexible plug agencies.
基金supported by the National 973 Program of China under Grant No.2011CB706701
文摘In this Letter, a novel and compact freeform off-axis three-mirror imaging system and its detailed design method are proposed. The primary mirror and tertiary mirror of the system have the same surface analytical expression and they are integrated on one single freeform surface. In this way, the alignment process is made much easier due to the much fewer degrees of freedom. In addition, the difficulty and cost for the data handling, fabrication,and testing of the freeform surfaces and system can also be significantly reduced in some cases, especially compared with the configuration having multiple surfaces of different expressions integrated on one monolithic substrate. The final system has a 100 mm effective focal length and a 4°× 3° field of view. The modulation transfer function of the system is close to the diffraction-limit.
