557 results about "Rigid body" patented technology

The invention discloses a method for measuring an attitude angle of a free throwing object in a wind tunnel test through a binocular system, and belongs to the field of aerodynamics tests based on a photogrammetry technology. Comprising the steps that a binocular system is arranged in a wind tunnel, and internal and external parameters of the binocular system are calibrated through a cross scale; reconstructing the surface mark points of the calibration plate by photogrammetry outside the wind tunnel and establishing a local coordinate system; placing a calibration plate in the wind tunnel, wherein each vector of a local coordinate system is parallel or vertical to an incoming vector, and calibrating a wind tunnel coordinate system by adopting a resection method; carrying out photogrammetry and initial pose installation on mark points on the surface of a thrown object; acquiring each state image of the thrown object and reconstructing the three-dimensional coordinates of the surface mark points; taking the attitude angle of the thrown object as 0 degree as a reference state, and comparing the rigid body transformation relationship between the blowing state point cloud and the reference state point cloud to obtain attitude angle data. Alignment of a wind tunnel coordinate system and a binocular system coordinate system can be achieved, limitation of the appearance of the thrown object is avoided, and attitude angle data of the thrown object are calculated in a non-contact and high-precision mode.

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to a rigid-elastic coupling-oriented active and passive integrated control method for a hypersonic flight vehicle. The invention aims to realize stable tracking control of the elastic hypersonic flight vehicle. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft; self-adaptive identification of the elastic vibration frequency is realized through a cascaded self-adaptive filter; an elastic modal filtering estimation method is designed, and high-precision and low-cost elastic modal state quantity is provided for subsequent active feedback controller design; and then rigid-elastic coupling model decomposition is carried out, the control performance is ensured by using active disturbance rejection passive control for a rigid body subsystem, an RBF neural network is introduced for an elastic subsystem, an elastic mode is actively inhibited by using sliding mode control, and stable tracking of a reference instruction is realized. The method is an active and passive integrated control method for the hypersonic flight vehicle oriented to rigid-elastic coupling, and the application prospect is wide.

The invention belongs to the technical field of wafer processing, and particularly discloses an ultrasonic displacement vision cooperation wafer detection and edge grinding system. According to the invention, the control module coordinates the grinding mechanism, the wafer carrying table and the assembly integrated with displacement and visual detection, so that cooperative detection and edge grinding are realized. Specifically, the displacement detection module obtains the distance between the wafer and the grinding mechanism in real time, and an accurate physical reference is provided for compensation control; and the visual detection module captures continuous images during rotation of the wafer, so that the control module can extract micro texture features to identify the deviation state of the wafer. The combination of the two realizes the comprehensive real-time perception of the grinding working condition, and overcomes the limitation of insufficient perception. And finally, the control module fuses the displacement and offset information to generate an edge grinding instruction, and dynamically controls the grinding mechanism and the wafer carrying table to carry out linked rigid body transformation, so that real-time sensing information is directly converted into compensation action, and the problem of uneven grinding caused by insufficient dynamic compensation capability is effectively solved.

The invention relates to the field of assembly automation and flexible manufacturing, and discloses an assembly method for a prefabricated firewall of a transformer substation, and the method comprises the following steps: setting a plurality of space positioning reference points at the edge of a wallboard; acquiring three-dimensional coordinate data to form a first point set and a second point set; calculating an initial rigid body transformation parameter between the wallboards according to the first point set and the second point set; establishing an energy functional for describing a total error; carrying out minimization solution on the energy functional by adopting a variational method to obtain an optimal disturbance vector field; according to the optimal disturbance vector field, a plurality of fine adjustment actuators of the wallboard are controlled, posture fine adjustment is conducted, and physical assembly connection of the wallboard and the target wallboard is completed. According to the invention, accurate attitude estimation and error correction in the wallboard assembly process are realized; the robustness and geometric fitting capability of the assembly process are improved; the assembly precision and efficiency are remarkably improved, and the problem that traditional redundancy control distribution is unstable is solved.

The invention relates to the technical field of computer vision and industrial automation, and particularly discloses a MARK point high-precision PCB positioning and mechanical mapping method based on multi-coordinate system fusion, which is composed of PCB positioning and mechanical mapping in a template stage and PCB positioning and mechanical mapping in a production stage. Wherein the PCB positioning and mechanical mapping in the template stage comprises the steps of coordinate system establishment and image coordinate distortion correction; the PCB positioning and mechanical mapping in the production stage comprises Mark point real-time detection and offset calculation, real-time attitude solution and dynamic matrix calculation, and mechanical coordinate calculation of any PCB point. According to the method, a three-coordinate system collaborative modeling mechanism of an image coordinate system, a PCB coordinate system and a mechanical coordinate system is introduced, so that board attitude change and equipment fixing errors are separated, and the system robustness and the mapping precision are greatly improved; rigid body affine transformation is constructed by adopting double Mark points, the rotation angle, the proportion and the translation amount are solved in real time through two-point geometric constraint, and self-adaptive compensation of the posture change of the PCB is achieved.

The invention discloses an unmanned aerial vehicle steering effect analysis method based on wind disturbance, and belongs to the technical field of unmanned aerial vehicle overall design and flight control. Comprising the following steps: 1, constructing a coupling simulation model; step 1.1, constructing a six-degree-of-freedom rigid body dynamic model; step 1.2, integrating control laws; step 2, dynamically injecting a wind disturbance scene; step 3, dynamically evaluating the steering effect and extracting parameters; step 4, carrying out multidisciplinary collaborative optimization; and 5, carrying out closed-loop iteration verification. Dynamic closed-loop test: breaking through traditional static analysis, realizing real-time interactive simulation of wind disturbance-control-steering effect, and accurately capturing nonlinear transient response; multi-source disturbance fusion: discrete gust and continuous turbulence are compositely injected, so that challenges of complex meteorological conditions on steerage are reflected more truly; and cross-domain parameter linkage: through dynamic iteration of pneumatic, control and structural parameters, system performance loss caused by excessive design of a single specialty is avoided.

This invention discloses a servo-elastic stabilization method based on multi-sensor information fusion, belonging to the field of flight control. Specifically, it involves: extracting and modeling the main load-bearing structure of the aircraft; calculating the modal frequencies, mode shapes, and mode shape slopes of the aircraft under unconstrained conditions; then combining the aircraft, a first sensor, servo motors, and the control system to form a closed-loop servo-elastic system; calculating the open-loop system transfer function from the control input to the feedback input of the control system, drawing an open-loop Bode plot, and determining the dangerous frequencies and corresponding dangerous natural modes; based on this, placing a second angular velocity sensor on the aircraft; then calculating and correcting the weighting coefficients of the two angular velocity sensor signals, and introducing the weighted signal into the control system instead of the original signal; comparing the system characteristics to ensure the servo-elastic stability of the aircraft without affecting the rigid body phase and amplitude.

The invention provides an unmarked action acquisition and analysis method and system, and the method comprises the steps: recognizing static and dynamic 2D key points according to the static and dynamic image data of a tester, and reconstructing the static and dynamic 2D key points into static and dynamic 3D key points; based on the static 3D key points, calculating and optimizing the skeleton length, and performing scaling adjustment on the standard skeleton and muscle model to obtain a static skeleton and muscle model of the testee; estimating skeleton motion attitude information according to the original and optimized dynamic 3D key points, and matching the skeleton motion attitude information to a static skeleton and muscle model of a tester to perform inverse kinematics analysis; estimating ground support force GRF of left and right feet by using an inverse kinematics analysis result based on a dynamic balance relationship of human motion; on the basis of an inverse kinematics analysis result and ground support force GRF estimated values of the left and right feet, counter-acting force and torque required by each joint of the human body are calculated frame by frame by adopting an inverse kinematics method of a rigid body system, and then muscle strength and activation degree are calculated. According to the invention, unmarked action acquisition and analysis can be carried out.

The invention relates to a basketball player motion capture analysis method and system based on an industrial camera. The method comprises the following steps: based on a preset three-dimensional human body model, obtaining a three-dimensional human body surface grid sequence and internal skeleton joint kinematics data by combining a pixel-level mask of each multi-view image frame set; detecting a body contact event and a continuous time period based on the Euclidean distance of the three-dimensional human body surface grid sequence; based on the internal skeleton joint kinematics data, calculating a multi-dimensional kinematics feature time sequence; constructing a dynamic causal hypothesis based on the body contact event, checking the dynamic causal hypothesis based on a preset differentiable forward dynamic multi-rigid-body human body model and a multi-dimensional kinematics characteristic time sequence to obtain a loss function value, and judging the hypothesis with the smaller loss function value as a real dynamic causal relationship. And the identity identification information is combined to obtain the identity of the active force generation party and the identity of the passive force bearing party. By adopting the method, a real force exerting main body and a real force bearing main body in confrontation can be accurately identified.

The invention discloses a rapid deformation reconstruction method for a large-displacement flexible beam structure, and belongs to the field of structural health monitoring. On the basis of a co-rotation coordinate method, the local displacement is obtained after rigid body displacement is removed from the total displacement of the flexible beam structure. Local displacement obtained through a co-rotation coordinate method is substituted into an iFEM formula based on a small deformation hypothesis, and the deformation reconstruction problem under the geometric nonlinear condition is converted into the problem that the mean square error sum of theoretical strain and actually measured strain is minimum by searching an optimal node displacement parameter to achieve square functional optimization. And solving the optimal solution of the functional by adopting an optimization algorithm. In addition, a simplification strategy which ignores a high-order small quantity is adopted, so that the whole nonlinear deformation reconstruction method remarkably improves the calculation efficiency on the premise that the calculation precision is not sacrificed. According to the method, the node displacement parameter enabling the functional to be minimum can be rapidly solved, and rapid and high-precision deformation reconstruction of the large-displacement flexible beam structure is achieved.

The invention discloses a humanoid robot bionic foot with autonomous terrain testing capability, which comprises a front sole component and a rear sole component which are flexibly connected through a sole fascia, a support connecting frame is hinged with an arch component to form a space transmission structure, and the support connecting frame and the arch component cooperate with the fascia to form an arched composite support. The locust-imitating foot pad has the innovation points that the locust-imitating foot pad realizes segmented flexible and local fitting buffering; the pelma fascia and the arch-shaped arch absorb impact in the initial gait stage, and rigid body transmission is reduced; the dorsal muscle imitating elastic sheet and the achilles tendon imitating elastic sheet store and release energy in the second half of the gait, and the dynamic stability is improved; pressure sensors are arranged at three points of the front / rear sole and the ankle joint, a space stress model is constructed, distribution of the force center and the touchdown point of the sole is analyzed in real time, and the terrain state is judged. Through structure-sensing coupling, the foot can autonomously judge the terrain under the non-driving state, passive foot landing adaptation is achieved, environment dependence is simplified, and the application range is wide. And the walking robustness under the complex terrain is improved.

The invention discloses a welding robot welding seam positioning method for shipyard part machining. The problems that an existing method is poor in deformation adaptation, weak in interference resistance and insufficient in positioning precision for shipyard large-size parts are solved. The method comprises the four steps that 1, a to-be-welded part is pre-fixed through a shipyard special tool, and a laser contourgraph, a millimeter wave radar and an industrial camera are combined to collect multi-source features; 2, obtaining a final welding seam positioning coordinate through multi-source feature layered extraction (a global reference feature layer builds a coordinate network, and a local welding seam feature layer improves a groove / gap parameter), global-local correlation matching (a rigid body transforms a mapping coordinate and calculates a deformation deviation) and dynamic deviation compensation (cubic spline interpolation fits a deformation curve and generates a three-dimensional compensation amount); 3, a positioning coordinate calibration robot TCP is imported, and a path is generated according to the welding seam type; and 4, verifying the precision in a no-load manner, and recalculating the compensation amount if the deviation exceeds 0.1 mm. The method is high in positioning precision, strong in interference resistance and suitable for complex working conditions of shipyards.

The invention relates to the field of clearance checking of a vehicle chassis part DMU (digital prototype), in particular to clearance checking between parts with large deformation. Specifically, the invention provides a dynamic gap checking method based on flexible body deformation coupling analysis, and the method comprises the steps: building a flexible body nonlinear mechanical model through finite elements, applying boundary conditions such as working conditions and loads, executing large deformation and nonlinear analysis, and obtaining deformation data of an anisotropic material under a limit load; converting the deformation data into a parameterized entity model through a geometric reconstruction algorithm, and constructing a high-precision digital prototype; multi-degree-of-freedom kinematics simulation is implemented in a DMU module of three-dimensional design software, and three-dimensional space analysis is performed on dynamic gaps between flexible bodies and between flexible and rigid bodies in combination with a contact interference analysis algorithm. The method can be used for checking the clearance between the moving parts, judging the interference of the moving parts and confirming the operation stability of the vehicle in complex and severe working conditions.

The invention discloses a shaft system alignment key process identification and optimization method based on an error flow model, and the method comprises the steps: constructing an error source set in a shaft system assembly process, and building a related space coordinate system based on an assembly topological relation; establishing a nominal pose transfer equation based on an infinitesimal rigid body coordinate transformation principle; constructing a joint surface contact error vector by combining the diameter of the flange on the basis of a flange opening value and a dislocation value measured on site; performing first-order linearization processing on the nominal pose transfer equation based on the joint surface contact error vector, and obtaining a sensitivity matrix; constructing a state equation for describing error accumulation according to the sensitivity matrix and the error source set; a sensitivity coefficient is constructed based on a state equation and is compared with a judgment threshold, key control characteristics are identified, accurate errors can be predicted by quantifying a transmission mechanism of each error source, and key procedures are accurately identified in combination with the sensitivity coefficient, so that a reasonable strategy is adopted for optimization, and the product quality is ensured to be qualified.

The invention provides a three-dimensional water elasticity response calculation method based on boundary element-explicit finite element coupling, and belongs to the technical field of water elasticity response calculation based on computer data processing. The wave evolution of a fluid domain is solved by adopting a boundary element method, and the dynamic response of the elastic plate is solved by adopting an explicit finite element method. Inspired by an implicit boundary condition method of a wave-rigid body coupling effect, an explicit dynamic control equation of a structural domain elastic plate is substituted into a boundary condition met by an object plane acceleration potential of a fluid domain elastic plate, and an additional relation between an elastic plate surface fluid velocity potential time derivative and a normal derivative of the elastic plate surface fluid velocity potential time derivative is established; the implicit boundary condition is satisfied by the surface of the elastic plate. The deduced implicit boundary condition and the satisfied Laplacian equation are combined, and the value of the surface of the elastic plate can be accurately obtained. According to the three-dimensional time domain numerical method for wave-elastic plate coupling provided by the invention, stable and accurate calculation of wave load and structural response can be realized.

The invention discloses an autonomous underwater vehicle hydrodynamic coefficient solving method based on multi-degree-of-freedom coupling driving, and provides a multi-degree-of-freedom dynamic coupling driving joint simulation strategy aiming at the limitations of low efficiency, step-by-step calculation error accumulation and the like of a traditional hydrodynamic coefficient calculation method. Through deep fusion of a system identification theory and a six-degree-of-freedom rigid body motion equation, a full-degree-of-freedom coupling simulation platform based on dynamic grid self-adaption is developed, transverse fluid power interference under plane constraint motion is decoupled, and synchronous iterative solution of six-degree-of-freedom hydrodynamic parameters of surging, swaying, heaving, pitching, rolling and yawing is achieved. According to the method, six-degree-of-freedom coupling motion numerical simulation is carried out by taking an independently researched and developed cheongfish series AUV (Autonomous Underwater Vehicle) as an example, and all hydrodynamic coefficients can be solved only through one-time example calculation. According to the method, the hydrodynamic coefficient of the autonomous underwater vehicle can be rapidly obtained, and the purpose of accurately controlling the autonomous underwater vehicle is achieved.

The invention relates to the technical field of ocean resource development, in particular to a method for calculating vortex-induced vibration of a deep-sea mining riser under the action of internal waves. According to the method, velocity and acceleration distribution characteristics of a flow field are determined according to wave parameters such as amplitude and wavelength of ocean internal waves, and load input is provided for calculation of vortex-induced vibration of the deep-sea mining riser; the ocean internal wave flow field has remarkable particularity, is different from uniform flow and typical shear flow, and is unsteady non-uniform shear flow; based on the particularity of an ocean internal wave flow field, vortex-induced load distribution on a deep-sea mining riser under the action of a traditional wake flow vibrator model is obtained by improving the traditional wake flow vibrator model; according to the geometric nonlinear problem caused by the large slenderness ratio of the deep-sea mining super-long riser and the weak constraint characteristic of the deep-sea mining riser, the rigid body displacement and the elastic deformation of the riser are separately calculated by adopting a co-rotation coordinate method, so that the calculation efficiency is improved to meet the actual engineering requirements; the invention discloses a calculation method for vortex-induced vibration of a deep-sea mining riser under the action of ocean internal waves.

The invention relates to the field of precision manufacturing of aero-engine blades, and particularly discloses an aero-engine blade grinding and polishing removal amount control method which comprises the steps that an industrial robot carries 3D visual equipment to conduct multi-angle scanning on a blade pasted with mark points, the number of public mark points between adjacent scanning poses is forcibly restrained to be larger than or equal to 3, and the number of the mark points is smaller than or equal to 3; a rigid body transformation matrix is solved based on space coordinate transformation, and high-precision point cloud automatic splicing is achieved; blade point clouds before and after grinding and polishing are reconstructed through Delaunay triangulation with consistent parameters, and a triangular mesh continuous curved surface is generated; calculating the minimum space distance from each vertex of the target curved surface to the source curved surface as a removal amount error epsilon, and positioning an out-of-tolerance region based on epsilon distribution; and generating a compensatory processing track by adopting an equal residual height method. The problem of point cloud registration caused by rare geometric features of the blade is solved, machining decision is driven through curved surface space errors, closed-loop accurate control over the removal amount is achieved, and the consistency of the grinding and polishing quality of the blade is improved.

The utility model discloses a torsion bar elastic restraint spherical steel support which comprises a longitudinal spherical steel support, the longitudinal spherical steel support comprises a fixed support bottom plate located at the bottom, a support bottom basin is arranged on the support bottom plate in a sliding mode, a torsion bar assembly for restraining and limiting is arranged on the support bottom plate, and the longitudinal spherical steel support comprises a longitudinal spherical steel support body. The torsion bar assemblies are arranged on the two opposite side faces of the support bottom basin. Horizontal movement of the pin shaft end of the torsion arm is restrained through the side plate slide way, rigid rotation of the torsion arm is achieved when the support moves, and the torsion arm rotates to drive the torsion rod spring to twist; a connecting rod assembly is removed, so that the structure is more compact; and the direction of external force is parallel to the axis of the fixing bolt, so that the stress of the bolt is optimized, and the bridge support is more suitable for the application scene of the bridge support.

The invention relates to the technical field of mechanical dynamics analysis and mechanism simulation, and discloses a guide rail impact and dynamic analysis method for a three-degree-of-freedom flat-bottom push rod cam mechanism, which comprises the following steps of: establishing a global coordinate system and a local coordinate system, and defining a push rod as a rigid body with three degrees of freedom of transverse, longitudinal and rotation; the effective input displacement of the cam is corrected according to the rotation angle, and the normal contact force, the friction force and the total cam contact torque are calculated; meanwhile, collision between four corners of the push rod and the guide rail is monitored, and guide rail impact force and guide rail impact total torque are calculated. And constructing a coupling dynamics differential equation set by integrating the force and the torque, and solving a motion state by using numerical integration. And further identifying the dynamic behavior of the system by using a Poincare section and a quintuple impact mode code. Simulation of inclination, overturning and multi-point impact of the push rod is achieved, the period, bifurcation and chaotic motion states of the system can be effectively recognized, and theoretical support is provided for mechanism optimization design.

The application provides a kind of air-breathing hypersonic vehicle aerodynamic servo elasticity active control system and method, comprising: elasticity frequency estimator obtains the elasticity frequency estimation value of controlled object based on the pitch angle information sent by controlled object, and sends to state disturbance joint estimator;State disturbance joint estimator obtains corresponding state estimation result, disturbance estimation result and pitch angle estimation result based on the pitch angle information received, elevator deflection angle and elasticity frequency estimation value;Attitude controller obtains the elevator deflection angle of controlled object based on the rigid body pitch angle control value received, state estimation result and disturbance estimation result, and sends to state disturbance joint estimator and controlled object.The application can control the stability of controlled object.

The invention discloses a DIC-based I-II composite crack tip position identification method, which is characterized in that the change of vertical displacement near a crack tip is calculated based on crack tip plastic deformation and crack opening displacement, and rigid body displacement is removed. According to the general expansion direction of the I-II composite crack, line segments which are parallel to the expansion surface of the crack and are equidistant are arranged on the two sides of the crack respectively, and the position, with the maximum vertical displacement difference change, near the crack tip is the line segment area where the transverse coordinate of the crack tip is located; the area is set as a line segment, the vertical displacement change of the area is solved, the position, with the maximum vertical displacement change, of the line segment is the longitudinal coordinate point of the crack tip, and therefore the position of the crack tip is determined. Correcting the crack surface by using the crack tip coordinates, then introducing parallel correction line segments which are equidistant from the crack surface to the two sides of the crack surface, and determining the coordinates again; the coordinates can be converted according to the propagation path of the composite crack. According to the method, only changes of a vertical displacement field near the crack tip need to be measured, elastic-plastic parameters of a material do not need to be determined, the detection process is simple and convenient, high equipment requirements do not exist, the detection efficiency of the tip position of the I-II composite crack is improved, and convenience and simplicity are achieved.

The invention relates to the field of intelligent equipment control and industrial automation, in particular to an intelligent equipment butt-assembling cooperative control system with multi-axis linkage compensation. The data acquisition module is used for acquiring current, force / torque, temperature, position and speed data under a unified time reference; the benchmark reconstruction module is used for generating an ideal position benchmark and an ideal force / torque benchmark on the basis of an ideal rigid body model under a preset reference coordinate system; the parameter injection module is used for injecting thermoelastic deformation, rigidity attenuation and hysteresis friction parameters to generate a theoretical simulation state; constructing a double-track difference module of a real residual error and a theoretical residual error; the coupling judgment module is used for carrying out time sequence similarity verification and generating a state judgment result; the feedback control module is used for outputting a multi-axis linkage compensation instruction or a compliant return instruction; according to the invention, inherent drift and real assembly interference of equipment can be distinguished, and stable compensation and safe concession control are realized.

The invention relates to the technical field of aeroelastic analysis of aero-engines, in particular to a boosting-energy complementing gliding aircraft thermal / aeroelastic coupling modeling and analysis method considering rigid-elastic coupling. A frame for simultaneously solving rigid body motion and elastic vibration is established, the amplitude and direction disturbance characteristics of thrust pulsation and the rigidity degradation effect caused by pneumatic heat generation-heat conduction are considered, and the problem of prediction deviation caused by neglecting of rigid-elastic coupling and an extreme thermal environment in traditional solving is solved. According to the method, aeroelastic response analysis of the aircraft in different load stages (full load, half load and no load) can be simulated, and hot gas bomb response under the action of thrust disturbance and extreme thermal load is solved, so that the prediction capability of dynamic behaviors of the aircraft under complex working conditions is improved; and a theoretical technical support is provided for aeroelastic response servo suppression of the boosting-energy complementing gliding aircraft in a large impact / extreme thermal environment.

The invention relates to the technical field of connecting part load distribution and life analysis, in particular to a method for evaluating axial load distribution and wear life of a connecting part, which comprises the following steps of: generating a three-dimensional geometric model by inputting key structure parameters of a spline coupling so as to identify a tooth surface contact area, a transition area and a non-key area; the method comprises the following steps of: constructing a combination assembly model through rigid body transformation, identifying a physical contact area to generate a node pair set, and identifying a potential stress concentration and contact instability area after applying a load working condition in the assembly model. The method comprises the following steps of: selecting a local mesh as a candidate region of local mesh refinement, integrating to generate a complete finite element input file, calculating the wear depth of a contact node based on a wear model, and determining whether to terminate simulation, so that the whole process automation of the connecting part from modeling, assembling to wear prediction is realized, and the analysis efficiency and the result accuracy are remarkably improved.

The invention discloses a robotized autonomous assembly system and method for large aircraft components, and the system comprises a sensing module, a decision module and an execution module, the sensing module comprises a depth camera and a point cloud registration unit which is used for estimating the relative rigid transformation of a target point cloud of the current large aircraft component relative to a source point cloud of a known assembly pose; the decision-making module is used for converting relative rigidity into a tail end target pose under a base coordinate system of the mechanical arm based on a coordinate system chain type transmission principle and rigid body pose invariance constraint; the execution module is used for receiving the target pose of the mechanical arm and planning a collision-free, smooth and efficient motion track from the current pose to the target pose; the mechanical arm executes the assembling action according to the motion trail, meanwhile, the depth camera feeds back pose data in real time, and closed-loop control is formed till assembling is completed; according to the invention, the technical problems of insufficient sensing precision, poor system flexibility, limited measurement real-time performance and splitting of each link in the existing aircraft large component assembly technology can be effectively solved.

The invention provides flexible device alignment detection equipment and a detection method thereof. The flexible device alignment detection equipment comprises a jig platform, a shaping mechanism, a main detection module and a control module. The bearing plane of the jig platform is provided with a positioning reference edge to establish a workpiece coordinate system; the main detection module obtains an unshaped first state reference image and a shaped second state reference image. The control module matches the two-state reference features under a workpiece coordinate system, obtains feature coordinates and solves initial plane rigid body transformation parameters; inversely mapping the second state feature coordinates to the first state to obtain a residual deformation quantity vector, and reconstructing a residual deformation field; and determining and normalizing an adaptive weight coefficient according to the residual modulus value, and solving by adopting weighted least squares to obtain a global alignment deviation of a shaping state relative to a workpiece coordinate system. The equipment can improve the robustness and stability of alignment calculation when in-plane deformation exists.

The invention discloses a lower limb exoskeleton man-machine synchronization self-adaptive admittance control method based on a disturbance observer, and provides a torque-sensor-free control scheme for solving the problems that an existing lower limb exoskeleton is large in intention recognition delay, high in model dependence and prone to drifting of a physical sensor. The method comprises the following steps: firstly, establishing a man-machine coupling dynamic model of a single-joint equivalent rigid body, and uniformly representing human body active torque, nonlinear friction and external load change as total disturbance of a system; secondly, constructing a three-order linear extended state observer, observing the total disturbance in real time by using a joint encoder and a control instruction, and reconstructing a man-machine interaction torque through a model-assisted disturbance separation strategy; furthermore, a variable parameter admittance controller is constructed in combination with a gait phase calculated by an inertial measurement unit, and the virtual stiffness and the damping coefficient are dynamically adjusted according to the observed interaction torque amplitude. According to the invention, accurate perception and compliant response to human body motion intentions can be realized on a low-computing-power embedded platform, the phenomenon of asynchronous man-machine motion is effectively eliminated, and the comfort and walking metabolism efficiency of a wearer are remarkably improved while the robustness of the system is ensured.

The invention discloses a reduced-order modeling and integrated rapid forecasting method for dynamic motion and structural response of a floating fan. The method comprises the following steps: performing finite element modal analysis on a floating fan structure, extracting a rigid body modal and a main elastic modal, constructing a low-dimensional modal space, orthogonalizing mass and stiffness matrixes, and reducing the degree of freedom of a system; hydrostatic force recovery, mooring, gravity rigidity and external exciting force are calculated according to the initial position of the structure, a hydrostatic balance control equation is established through modal space transformation, and generalized displacement is solved through iteration; recalculating the water pressure at the Gaussian point of the structural grid based on the radiation diffraction theory, calculating the pneumatic load in combination with the blade element momentum theory, and obtaining a generalized external load through modal transformation after superposition; a motion equation is established in a modal space, generalized displacement is solved through numerical integration, a global displacement field is reconstructed, a stress time history is directly calculated, and integrated rapid forecasting is achieved. According to the method, the calculation efficiency is remarkably improved while the key dynamic characteristics and the response precision of the structure are kept, and reliable support is provided for near-real-time evaluation of operation and maintenance of the floating type draught fan.

The invention provides a flexible physical simulation method and system based on dynamic topology cutting, and the method comprises the steps: carrying out the dynamic topology mapping and aggregation processing of the geometric vertex data of a flexible body, and generating a surface particle topological structure; constructing an elastic response model based on the relative displacement between the mass points, and combining implicit Euler correction and toughness gradient extraction to generate an elastic potential energy parameter set; constructing a fracture sensitive energy field in combination with the rigid body motion trail and an energy permeation threshold value, and performing multi-domain response screening; and further carrying out region identification, structure redirection and phase reconstruction to generate a continuous deformation harmonic map, and realizing dynamic stable repair of the flexible body topology through repair domain construction and rebound fusion. Dynamic response, self-adaptive energy path identification, regional continuous deformation recovery and efficient and stable local topological repair of a flexible topological structure are realized, and physical precision and evolution robustness of flexible simulation are remarkably improved.