空间机械臂辅助舱段对接过程中存在测量与控制误差,易导致对接机构间存在较大接触力,传统FMA(Force Moment Accommodation)控制方法在测量接触力时无法消除大负载惯性力对测量的影响,且测量仪器的引入会进一步降低空间柔性机械臂的刚度...空间机械臂辅助舱段对接过程中存在测量与控制误差,易导致对接机构间存在较大接触力,传统FMA(Force Moment Accommodation)控制方法在测量接触力时无法消除大负载惯性力对测量的影响,且测量仪器的引入会进一步降低空间柔性机械臂的刚度。为此,文章提出了柔性机械臂辅助大负载空间舱段对接的阻抗控制方法,采用拉格朗日法推导了空间机械臂的关节输入力矩方程作为前馈输入,建立了含动力学前馈的空间机械臂阻抗控制程序,并以在商业软件ADAMS中建立的空间柔性机械臂与对接舱段组成的系统的动力学模型作为控制对象,对系统进行ADAMS-Matlab联合仿真。仿真结果表明,按照此控制方法,系统可克服外力干扰使目标解析点按照期望的方式运动;同时,通过测量机械臂关节运动参数即可实现对外力的准确感知,而不需额外添加力传感器,既消除了大负载惯性力对测量的影响,也不会导致柔性机械臂刚度的降低。展开更多
The paper presents the principles of a method, which in two simple stages makes possible to carry out the statically calculation of values of forces acting in the fiat static indeterminate trusses. In each stage, it i...The paper presents the principles of a method, which in two simple stages makes possible to carry out the statically calculation of values of forces acting in the fiat static indeterminate trusses. In each stage, it is considered the static determinate truss, scheme of which is obtained after remove the suitable number of members from the basic static indeterminate truss. The both intermediate statically determinate trusses are of the same clear span and they are loaded by forces of half values applied to the corresponding truss nodes. The method applies one of the typical procedures of calculation of the statically determinate trusses and then it is applied in an appropriate way the rule of superposition for obtaining the final values of forces acting in particular members of the basic truss. The values of forces calculated in this way are of a very close approximation to the force values determined in the special and complex ways being considered as the exact calculation methods. The proposed method can be useful mostly but not only for the initial structural design of such systems. The simplicity of the two-stage method justifies an assumption that it can be relatively easy and worthy to adjust to the requirements of the computer aided technology of statically calculation of the complex forms of trusses.展开更多
In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization mod...In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization modeling, to be used in the preliminary design phase, for the turbine cover plate of an aero-engine. The parameterization modeling of the turbine cover plate is achieved by using commercial CAD （computer aided design） software processing in batch mode. Two main approaches are presented the outer face and the skeleton models. These models can then be integrated into an iterative process for designing optimal shapes. Both models are capable of reproducing existing cover plate with reasonable accuracy in relatively shorter time periods. However, the skeleton approach provides probably the best results in terms of flexibility and accuracy, but increases programming complexity and requires greater run times.展开更多
文摘空间机械臂辅助舱段对接过程中存在测量与控制误差,易导致对接机构间存在较大接触力,传统FMA(Force Moment Accommodation)控制方法在测量接触力时无法消除大负载惯性力对测量的影响,且测量仪器的引入会进一步降低空间柔性机械臂的刚度。为此,文章提出了柔性机械臂辅助大负载空间舱段对接的阻抗控制方法,采用拉格朗日法推导了空间机械臂的关节输入力矩方程作为前馈输入,建立了含动力学前馈的空间机械臂阻抗控制程序,并以在商业软件ADAMS中建立的空间柔性机械臂与对接舱段组成的系统的动力学模型作为控制对象,对系统进行ADAMS-Matlab联合仿真。仿真结果表明,按照此控制方法,系统可克服外力干扰使目标解析点按照期望的方式运动;同时,通过测量机械臂关节运动参数即可实现对外力的准确感知,而不需额外添加力传感器,既消除了大负载惯性力对测量的影响,也不会导致柔性机械臂刚度的降低。
文摘The paper presents the principles of a method, which in two simple stages makes possible to carry out the statically calculation of values of forces acting in the fiat static indeterminate trusses. In each stage, it is considered the static determinate truss, scheme of which is obtained after remove the suitable number of members from the basic static indeterminate truss. The both intermediate statically determinate trusses are of the same clear span and they are loaded by forces of half values applied to the corresponding truss nodes. The method applies one of the typical procedures of calculation of the statically determinate trusses and then it is applied in an appropriate way the rule of superposition for obtaining the final values of forces acting in particular members of the basic truss. The values of forces calculated in this way are of a very close approximation to the force values determined in the special and complex ways being considered as the exact calculation methods. The proposed method can be useful mostly but not only for the initial structural design of such systems. The simplicity of the two-stage method justifies an assumption that it can be relatively easy and worthy to adjust to the requirements of the computer aided technology of statically calculation of the complex forms of trusses.
文摘In order to reduce product development cycle time, aerospace companies tend to develop various correlations integrating geometric and performance parameters. This paper covers the development of a parameterization modeling, to be used in the preliminary design phase, for the turbine cover plate of an aero-engine. The parameterization modeling of the turbine cover plate is achieved by using commercial CAD （computer aided design） software processing in batch mode. Two main approaches are presented the outer face and the skeleton models. These models can then be integrated into an iterative process for designing optimal shapes. Both models are capable of reproducing existing cover plate with reasonable accuracy in relatively shorter time periods. However, the skeleton approach provides probably the best results in terms of flexibility and accuracy, but increases programming complexity and requires greater run times.
