The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of be...The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.展开更多
As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general par...As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.展开更多
A new method is presented to analyze multi-degree-of-freedom (MDOF) dynamic systems subjected to an external shock excitation. A two-degree-of-freedom theoretical system with linear characteristics is exemplified to i...A new method is presented to analyze multi-degree-of-freedom (MDOF) dynamic systems subjected to an external shock excitation. A two-degree-of-freedom theoretical system with linear characteristics is exemplified to illustrate the procedure of this method. The equations of motion of the dynamic system are established via matrix method. The dynamic responses of the dynamic system under an external shock excitation of a half-sine type are obtained by MATLAB and ANSYS. It is proved that the new method is helpful to analyze MDOF dynamic systems.展开更多
The dynamic characteristic analysis model of antenna structures is built,in which the structural physical parameters and geometrical dimensions are all considered as unascertained variables.And a structure dynamic cha...The dynamic characteristic analysis model of antenna structures is built,in which the structural physical parameters and geometrical dimensions are all considered as unascertained variables.And a structure dynamic characteristic analysis method based on the unascertained factor method is given.The computational expression of structural characteristic is developed by the mathematics expression of unascertained factor and the principles of unascertained rational numbers arithmetic.An example is given,in which the possible values and confidence degrees of the unascertained structure characteristics are obtained.The calculated results show that the method is feasible and effective.展开更多
The thermodynamic parameters of FRW fire-retardant plywood at different temperatures were measured by dynamic mechanical analysis (DMA) equipment such as storage modulus, loss modulus and loss angle tangent. The influ...The thermodynamic parameters of FRW fire-retardant plywood at different temperatures were measured by dynamic mechanical analysis (DMA) equipment such as storage modulus, loss modulus and loss angle tangent. The influences on the thermodynamic properties of FRW fire-retardant plywood by the FRW fire retardant were analyzed between the FRW fire-retardant plywood and the untreated plywood. The results showed that the transition temperature of FRW fire-retardant plywood’s storage modulus was delayed than the untreated plywood. Its value was also higher than the untreated plywood. Meanwhile the glass transition temperature of plywood treated by FRW fire retardant was raised. FRW fire-retardant plywood could keep the better mechanical performances and ability of deformation-resistance at higher temperature and during longer period than the untreated plywood.展开更多
基金Projects(2014QNB18,2015XKMS022)supported by the Fundamental Research Funds for the Central Universities of ChinaProjects(51475456,51575511)supported by the National Natural Science Foundation of China+1 种基金Project supported by the Priority Academic Programme Development of Jiangsu Higher Education InstitutionsProject supported by the Visiting Scholar Foundation of China Scholarship Council
文摘The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.
基金supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 52075467)the Natural Science Foundation of Hebei Province of China(Grant No.E2021203109)+1 种基金the State Key Laboratory of Robotics and Systems(HIT)(Grant No.SKLRS-2021-KF-15)the Industrial Robot Control and Reliability Technology Innovation Center of Hebei Province(Grant No.JXKF2105).
文摘As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.
文摘A new method is presented to analyze multi-degree-of-freedom (MDOF) dynamic systems subjected to an external shock excitation. A two-degree-of-freedom theoretical system with linear characteristics is exemplified to illustrate the procedure of this method. The equations of motion of the dynamic system are established via matrix method. The dynamic responses of the dynamic system under an external shock excitation of a half-sine type are obtained by MATLAB and ANSYS. It is proved that the new method is helpful to analyze MDOF dynamic systems.
基金the National Defense Science and Technology Research Projects of China (51421060505DZ0155)the National Science Foundation of Shaanxi Province of China (2005A009)
文摘The dynamic characteristic analysis model of antenna structures is built,in which the structural physical parameters and geometrical dimensions are all considered as unascertained variables.And a structure dynamic characteristic analysis method based on the unascertained factor method is given.The computational expression of structural characteristic is developed by the mathematics expression of unascertained factor and the principles of unascertained rational numbers arithmetic.An example is given,in which the possible values and confidence degrees of the unascertained structure characteristics are obtained.The calculated results show that the method is feasible and effective.
文摘The thermodynamic parameters of FRW fire-retardant plywood at different temperatures were measured by dynamic mechanical analysis (DMA) equipment such as storage modulus, loss modulus and loss angle tangent. The influences on the thermodynamic properties of FRW fire-retardant plywood by the FRW fire retardant were analyzed between the FRW fire-retardant plywood and the untreated plywood. The results showed that the transition temperature of FRW fire-retardant plywood’s storage modulus was delayed than the untreated plywood. Its value was also higher than the untreated plywood. Meanwhile the glass transition temperature of plywood treated by FRW fire retardant was raised. FRW fire-retardant plywood could keep the better mechanical performances and ability of deformation-resistance at higher temperature and during longer period than the untreated plywood.
文摘为了研究浇注式沥青胶浆的高温性能及评价指标,采用动态力学分析(DMA)方法,通过动态剪切流变试验,探讨了不同温度、沥青种类、粉胶比对浇注式沥青胶浆高温性能的影响.分析了广义剪切模量与浇注式沥青混合料高温变形之间的相关性,探讨了该指标作为浇注式胶浆高温性能评价指标的适用性,并以车辙深度为控制标准,对广义剪切模量以及60℃条件下的贯入度提出了建议值.结果表明:浇注式沥青胶浆复数剪切模量和相位角受温度、沥青种类、粉胶比因素影响明显;广义剪切模量与混合料永久变形呈良好的线性关系,能作为一种合适的劲度指标评价浇注式沥青胶浆的高温稳定性;60℃条件下,浇注式沥青混合料贯入度指标建议值不大于3.29 mm.
