导纳型力觉接口的透明性力觉交互研究

提出了一种面向导纳型力觉接口设备透明性优化的自适应人机力觉交互算法,在基于速度环力前馈PI控制器基础上引入了接触刚度在线辨识及迭代修正.构造了该自适应控制律作用下系统稳定性的判定函数,证明了当力觉接口的速度环渐进无差时控制器具有全局稳定性.力觉接口设备与固定刚度环境接触以及与操作者随机交互的实验结果表明,控制算法能够自适应操作者与力觉接口之间的抓握刚度变化,在保证稳定性的同时有效提高力觉交互过程的透明性.

一种具有三维空间自重构能力的新型模块可避障运动仿真研究

提出一种具有三维空间重构能力的新型模块化自重构机器人，根据不确定目标构型的机器人重构运动规划策略，对机器人模块及其周围环境进行描述；采用三维相对方位描述方法，建立了机器人可避障运动规则库，并结合VC＋＋与Open GL技术开发了基于可避障运动规则库的机器人仿真运动平台，验证了该方法的高效性。

Molecular dynamics simulation on mechanisms of plastic anisotropy in nanotwinned polycrystalline copper with{111}texture during tensile deformation

Based on molecular dynamics(MD)simulation,the mechanisms of plastic anisotropy in nanotwinned polycrystalline copper with{111}texture during tensile deformation were systematically studied from the aspects of Schmid factor of the dominant slip system and the dislocation mechanism.The results show that the Schmid factor of dominated slip system is altered by changing the inclining angle of the twin boundaries(TBs),while the yield stress or flow stress does not strictly follow the Schmid law.There exist hard and soft orientations involving different dislocation mechanisms during the tensile deformation.The strengthening mechanism of hard orientation lies in the fact that there exist interactions between the dislocations and the TBs during plastic deformation,which leads to the dislocation blocking and reactions.The softening mechanism of soft orientation lies in the fact that there is no interaction between the dislocations and the TBs because only the slip systems parallel to the TBs are activated and the dislocations slip on the planes parallel to the TBs.It is concluded that the plastic anisotropy in the nanotwinned polycrystalline copper with{111}texture is aroused by the combination effect of the Schmid factor of dominated slip system and the dislocation mechanism.

Prediction of grain scale plasticity of NiTi shape memory alloy based on crystal plasticity finite element method

Grain scale plasticity of NiTi shape memory alloy(SMA)during uniaxial compression deformation at 400℃was investigated through two-dimensional crystal plasticity finite element simulation and corresponding analysis based on the obtained orientation data.Stress and strain distributions of the deformed NiTi SMA samples confirm that there exhibits a heterogeneous plastic deformation at grain scale.Statistically stored dislocation(SSD)density and geometrically necessary dislocation(GND)density were further used in order to illuminate the microstructure evolution during uniaxial compression.SSD is responsible for sustaining plastic deformation and it increases along with the increase of plastic strain.GND plays an important role in accommodating compatible deformation between individual grains and thus it is correlated with the misorientation between neighboring grains,namely,a high GND density corresponds to large misorientation between grains and a low GND density corresponds to small misorientation between grains.

Influence of Fe addition on phase transformation behavior of Ni Ti shape memory alloy

Three different NiTi-based alloys,whose nominal compositions were Ni50Ti50,Ni49Ti49Fe2,Ni45Ti51.8Fe3.2(molefraction,%),respectively,were used in the current research to understand the influence of Fe addition on phase transformationbehavior in NiTi shape memory alloy(SMA).The microstructure and phase transformation behavior of the alloys were investigatedby optical microscopy(OM),transmission electron microscopy(TEM),X-ray diffraction(XRD)and differential scanningcalorimetry(DSC)analysis.The results show that the matrix of the Ni50Ti50alloy consists of both B19′(martensite)phase and B2(austenite)phase.Moreover,the substructures of twins could be observed in the B19′phase.However,the ternary alloys of NiTiFeexhibit B2phase in the microstructures.Such microstructures were also characterized by large presence of Ti2Ni precipitatesdispersed homogenously in the matrix of the two kinds of alloys.The addition of Fe to the NiTi SMA results in the decrease in phasetransformation temperatures in the ternary alloys.Based on mechanism analysis,it can be concluded that this phenomenon isprimarily attributed to atom relaxation of the distorted lattice induced by Ni-antisite defects and Fe substitutions during phasetransformation,which enables stabilization of B2phase during phase transformation.

Constitutive equation and processing map of equiatomic NiTi shape memory alloy under hot plastic deformation

In order to describe the deformation behavior and the hot workability of equiatomic NiTi shape memory alloy (SMA) during hot deformation, Arrhenius-type constitutive equation and hot processing map of the alloy were developed by hot compression tests at temperatures ranging from 500 to 1100 °C and strain rates ranging from 0.0005 to 0.5 s?1. The results show that the instability region of the hot processing map increases with the increase of deformation extent. The instability occurs in the low and high temperature regions. The instability region presents the adiabatic shear bands at low temperatures, but it exhibits the abnormal growth of the grains at high temperatures. Consequently, it is necessary to avoid processing the equiatomic NiTi SMA in these regions. It is preferable to process the NiTi SMA at the temperatures ranging from 750 to 900 °C.

Mechanically-induced martensite transformation of NiTiFe shape memory alloy subjected to plane strain compression

Based on the channel die compression, NiTiFe shape memory alloy(SMA) was subjected to plane strain compression. Mechanically-induced martensite transformation, nanocrystalline and amorphous phase can be observed in the case of large plastic strain. Mechanically-induced martensite transformation is obviously different from the conventional stress-induced martensite transformation. The former generally occurs after dislocation slip, whereas the latter arises prior to dislocation slip. The occurrence of B19’ martensite phase contributes to accommodating subsequent plastic deformation of NiTiFe SMA. Mechanically-induced B19’ martensite is partially stabilized due to the existence of local high stress field and consequently it is unable to be reverted to B2 austenite phase during unloading.

Stress-induced martensite phase transformation of FeMnSiCrNi shape memory alloy subjected to mechanical vibrating polishing

Fe66Mn15Si5Cr9Ni5(wt.%)shape memory alloy(SMA)withγaustenite andεmartensite was subjected to mechanical vibrating polishing and consequently its surface suffered from plastic deformation in the case of compressive stress.Almost completeεmartensite transformation is found to occur in FeMnSiCrNi sample subjected to mechanical vibrating polishing,where stress-induced martensite transformation plays a predominant role.Stressinduced martensite transformation of FeMnSiCrNi SMA is closely related to the orientation of external stress.The complicated compressive stress which results from the mechanical vibrating polishing contributes toεmartensite transformation fromγaustenite of FeMnSiCrNi SMA.Mechanical vibrating polishing has a certain influence on the surface texture ofεmartensite of FeMnSiCrNi SMA,where■<0001>texture appears in the polished FeMnSiCrNi SMA.