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本文根据刚体螺旋运动的特点,利用旋转矩阵构造出评价载体姿态变化的目标函数;采用Vafa等人的“虚机械臂”模型简化计算;利用动量矩守恒的假设条件及完成抓取固定目标时的几何位形关系,得到微分约束和边界约束。提出机械臂“周期运动”寻优法,从而得到全局优化的近似解析解。 相似文献
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柔性机械臂动力学的虚功率原理-有限元法 总被引:1,自引:0,他引:1
本文根据虚功率原理,用有限元方法对柔性机械臂系统进行了理论上的讨论和描述,并导 出了柔性机械臂的动力学方程,对单臂模型的数值计算结果验证了本文的方法。 相似文献
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以某地面无人作战系统中的机械臂为研究对象,探讨其运动学模型建立中的相关问题.结合该机械臂的结构特点,利用D-H方法建立其相应的运动学模型,并在该基础上求解机械臂的正、逆运动学方程.最后在Matlab环境下,借助Robotics Toolbox工具箱对该机械臂的结构和运动学问题进行验证和仿真.仿真结果表明:该设计方法是正确可行的. 相似文献
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零燃料大角度姿态机动技术是新近应用在国际空间站的新概念姿态控制技术。构造了以控制力矩陀螺为执行机构的空间站姿态控制动力学模型,在此基础上,建立了空间站本体与控制力矩陀螺之间的角动量守恒关系。针对各类大角度姿态机动任务,通过分析空间站惯量参数与控制力矩陀螺性能参数之间的解析关系,得到了零燃料大角度姿态机动路径的存在性条件。通过规划算例验证了存在性分析的正确性。所提出的零燃料大角度姿态机动存在性条件,为姿态机动路径的存在性判断提供了便捷可行的方法,为零燃料大角度姿态机动技术未来在我国空间站实施的可行性论证提供重要的理论依据。 相似文献
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采用传递函数方法对约束层阻尼板进行了动力学分析.使用Hamilton原理得到了约束层阻尼板的运动方程和边界条件,对未知位移进行级数展开,引入状态向量,使用分布参数传递函数方法建立系统的状态空间方程进行求解,分析了四边简支板的自由振动和频率响应问题,得到了板的固有频率、损耗因子和频响曲线.算例的计算结果与NASrRAN计算结果相比吻合良好. 相似文献
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为提高舰炮自动机机构和弹药运动的控制精度,需要研究自动机柔性动力学问题。首先,利用多体动力学理论,研究弹药摆弹与转弹之间的交接运动误差;然后,根据拉格朗日方程推导了特定浮动坐标系下摆弹臂柔体动力学方程,分别由摆弹臂柔体与刚体动力学模型,分析了柔性摆弹臂的前四阶主振动响应,进一步比较了柔性体振动对于误差的影响。研究表明:在弹簧驱动条件下,柔性摆弹臂在大范围运动的同时包含着高频振动,由动力弹簧输出的摆角包含有振动成分;根据弹性振动引起的(角)位移响应误差,可以确定摆/转接口中摆弹臂摆角、弹药位移与姿态误差裕度,而抑制柔性摆弹臂一阶主振动可以有效减小响应误差。该研究结果可用于摆弹臂结构优化并以此提高摆/转接口的可靠性。 相似文献
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The war that Portugal was obliged to fight in Africa began in 1961 and immediately stretched the resources of its armed forces. Nowhere was this thinness more apparent than in policing the vast territory of Angola. The east and southeast of Angola were particularly vulnerable, as the area was a vast, sparsely populated region characterised by enormous featureless plains or chanas covered in tall grass and broken by an extensive river system and mountainous forests. The only military solution to policing these immense spaces was aviation and specifically the helicopter that could carry troops into battle, protect them with a gunship and bring them home when the operation was concluded. The immediate problem for the Portuguese Air Force (Força Aérea Portuguesa or FAP) in Angola and elsewhere was a scarcity of helicopters. The solution was an alliance with South Africa, which had a strong inventory of Alouette IIIs, to help in policing the east. This move was likewise in the interest of South Africa, as its threat came from Zambia through south-eastern Angola. This article examines the strategic and tactical development of this unusual, cross-cultural alliance and the symbiotic relationship that resulted in destruction of the enemies of both in Angola. 相似文献
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本文主要介绍了国外焊条的现状和发展趋势,包括焊条的高韧性、高效率、低尘低毒和耐吸潮性能,为国内的焊条研究提供了参考依据。 相似文献
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《Arms and Armour》2013,10(2):122-143
Many late medieval documents, notably inventories of arms and armour, of Englishmen contain references to ‘Scottish swords’ and other weapons. What did the compilers of these documents mean when they described a weapon as ‘Scottish’? How did such weapons come to be in the possession of these men? This article will attempt to explain this phenomenon drawing on primary documentary sources and surviving material culture from Glasgow Museums’ collections and others, as well as artworks from the period. 相似文献
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In the Post-Bipolar Era the growing complexity of the military operations requires a new approach for the resolution of international crises. Since the end of the Cold War, peace support operations (PSO) have become the mainstay and principal occupation of most Western armies. At the same time, Italy has been one of the most important actors in such an area. The article focuses on the cooperation between military and civil components (a process called CIMIC) as a key variable in the Italian PSOs. We will analyse in detail the main lessons learned from past military interventions as well as the general context in which new tendencies are taking place. The maintaining of a minimum security frame becomes essential to fulfil activities ‘collateral’ to the mission: reconstructing services and infrastructure, food distribution, water and medication, law and order, de-mining, training of local forces, and supporting local institutions. These are the main tasks to obtain thrust and support from the population. 相似文献
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Lord Aikins Adusei 《African Security Review》2013,22(3):332-359
Energy continues to serve as the bedrock of modern economies and the main driver of modern society. For Africa, the production and supply of energy resources such as crude oil, natural gas, uranium, coal, biomass, biofuels and other renewables are an important source of employment, rents, taxes, royalties and profits. This sector brings in several tens of billions of dollars of revenue annually. The production and delivery of such resources, however, depend on critical infrastructures such as pipelines, refineries, processing plants, terminals, rigs, electrical energy pylons, substations, pump stations, vessels, and tankers. These infrastructures have been attacked by terrorists, insurgents, vandals and saboteurs, all of whom see them as targets against which to register their grievances and extract concessions from the state. This paper is a chronological account of some of the documented incidents of terrorism, insurgency, kidnapping, destruction, sabotage, and human casualties suffered in the oil and gas sectors in Africa between 1999 and 2012. It is based on data extracted from the databases of the RAND Database of World Terrorism Incidents and the University of Maryland's Global Terrorism Database (GTD). 相似文献
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《战略研究杂志》2012,35(5):689-711
Abstract This article explores the effect of connectivity on strategic affairs. It argues that the effect on war's character is potentially, although not yet shown in practice, considerably large. Its effect upon the distribution of power among states in the international system is small, contrary to the claims of ‘cyberwar’ alarmists. All told, however, its effect upon strategic affairs is complex. On the one hand, it represents a significant advance in the ‘complexification’ of state strategies, understood in the sense of the production of intended effects. On the other hand, strategists today – still predominantly concerned with the conflicts and confrontations of states and organised military power – are generally missing the power which non-traditional strategic actors, better adapted to the network flows of the information age, are beginning to deploy. These new forms of organization and coercion will challenge the status quo. 相似文献
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This article demonstrates the inconsistent and wavering Soviet attitude towards national liberation movements in general and the Palestinian organizations in particular. Until the late 1960s, the Soviets viewed these organizations with suspicion, hesitating to engage in political dialogue with them. However, in the 1970s, political and military events in the region, as well as modifications in the Kremlin's Cold War strategies, led to a general shift towards the Middle East in Soviet foreign policy. Soviet leaders showed increased willingness to provide certain Palestinian organizations with arms with which to conduct terrorist activities against Israeli, pro-Israeli, Jewish and Western targets. The article explores the complex relations between Palestinian organizations and the USSR in the field of international terror. The study also exposes and analyzes the nature and content of Soviet–Palestinian arms dialogues and transactions. It provides clear evidence that Soviet policymakers and other luminaries were fully informed of, and sometimes directly involved in, these transactions and dialogues at the highest levels. 相似文献
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Paul Rich 《Small Wars & Insurgencies》2013,24(1):39-56
The September 11 global crisis prompted by the attacks on the World Trade Center and the Pentagon raises major questions concerning the nature and trajectory of terrorism in the post-Cold War global order. Hitherto, terrorism has been largely debated by analysts at the level of nation states. Terrorist and insurgent movements have also been largely anchored in nationalist and ethnic power bases even when they have sought to mobilise a transnational ideological appeal on religious or class grounds. There have been a few exceptions to this pattern such as the alliance between the German Baader-Meinhof group and the Japanese Red Army Faction, but even such international alliances as this did not, until at least the 1980s, presage anything like a global terrorist network necessitating a global strategic response. This study examines terrorism and global strategic responses. 相似文献