在感应式无线电能传输系统的实际应用中,通常需要系统输出电压保持恒定。采用一种基于串并/串(SP/S)谐振补偿的感应式无线电能传输系统拓扑结构,当系统发射端和接收端的相对位置确定并采用定频控制时,该结构在全负载范围内具备接收端输...在感应式无线电能传输系统的实际应用中,通常需要系统输出电压保持恒定。采用一种基于串并/串(SP/S)谐振补偿的感应式无线电能传输系统拓扑结构,当系统发射端和接收端的相对位置确定并采用定频控制时,该结构在全负载范围内具备接收端输出恒压特性。同时分析了随着横向偏移的变化,系统输出恒压增益的变化特性。最后,设计了一个6.6 k W、20 k Hz定频控制的感应式无线电能传输实验系统,验证了所采用的SP/S谐振补偿拓扑结构的可行性和有效性。展开更多
Polishing plays an indispensable role in optical processing,especially for large-aperture optical reflective mirrors with freeform surfaces.Robotic polishing requires effective control of the contact force between the...Polishing plays an indispensable role in optical processing,especially for large-aperture optical reflective mirrors with freeform surfaces.Robotic polishing requires effective control of the contact force between the robot and the mirror during processing.In order to maintain a constant contact force during polishing,traditional polishing robots rely on closed-loop control of air cylinders,whose performances heavily rely on high-fidelity force sensing and real-time control.This paper proposes to employ a compliant constant-force mechanism in the end-effector of a polishing robot to passively maintain a constant force between the robot and the mirror,thus eliminating the requirement for force sensing and closed-loop control.The compliant constant force mechanism utilizing the second bending mode of fixed-guided compliant beams is adopted and elaborated for the passive end-effector.An end-effector providing a constant contact force of 40 N is designed and prototyped.The polishing experiment shows that the passive constant-force end-effector provides stable contact force between the robot and the mirror with fluctuation within 3.43 N,and achieves RMS(Root Mean Square)lower thanλ/10(λ=632.8 nm)of the polished surface of the largeaperture optical reflective mirror.It is concluded that the constant-force compliant mechanism provides a low-cost and reliable solution for force control in robotic polishing.展开更多
LetD be a disc with radiusr in the Euclidean plane ?2, and letF be a Lipschitz continuous real valued function onD. SupposeA 1 A 21 A 3 A 4 is an isosceles trapezoid with lengths of edges not greater thanr, and ∠A 1 ...LetD be a disc with radiusr in the Euclidean plane ?2, and letF be a Lipschitz continuous real valued function onD. SupposeA 1 A 21 A 3 A 4 is an isosceles trapezoid with lengths of edges not greater thanr, and ∠A 1 A 21 A 3 = α≤π/2 By means of the Brouwer fixed point theorem, it is proved that ifF has a Lipschitz constant λ≤min{1, tgα}, then there exist four coplanar points in the surfaceM = {(x, y, F(x, y))∈?3:(x, y)?} which span a tetragon congruent toA 1 A 21 A 3 A 4. In addition, some further problems are discussed.展开更多
文摘在感应式无线电能传输系统的实际应用中,通常需要系统输出电压保持恒定。采用一种基于串并/串(SP/S)谐振补偿的感应式无线电能传输系统拓扑结构,当系统发射端和接收端的相对位置确定并采用定频控制时,该结构在全负载范围内具备接收端输出恒压特性。同时分析了随着横向偏移的变化,系统输出恒压增益的变化特性。最后,设计了一个6.6 k W、20 k Hz定频控制的感应式无线电能传输实验系统,验证了所采用的SP/S谐振补偿拓扑结构的可行性和有效性。
基金National Natural Science Foundation of China(Grant No.U1913213)West Light Foundation of the Chinese Academy of Sciences(Grant No.XAB2016A10)Shanxi Provincial Key Research and Development Projects of China(Grant No.2018ZDXM-GY-105).
文摘Polishing plays an indispensable role in optical processing,especially for large-aperture optical reflective mirrors with freeform surfaces.Robotic polishing requires effective control of the contact force between the robot and the mirror during processing.In order to maintain a constant contact force during polishing,traditional polishing robots rely on closed-loop control of air cylinders,whose performances heavily rely on high-fidelity force sensing and real-time control.This paper proposes to employ a compliant constant-force mechanism in the end-effector of a polishing robot to passively maintain a constant force between the robot and the mirror,thus eliminating the requirement for force sensing and closed-loop control.The compliant constant force mechanism utilizing the second bending mode of fixed-guided compliant beams is adopted and elaborated for the passive end-effector.An end-effector providing a constant contact force of 40 N is designed and prototyped.The polishing experiment shows that the passive constant-force end-effector provides stable contact force between the robot and the mirror with fluctuation within 3.43 N,and achieves RMS(Root Mean Square)lower thanλ/10(λ=632.8 nm)of the polished surface of the largeaperture optical reflective mirror.It is concluded that the constant-force compliant mechanism provides a low-cost and reliable solution for force control in robotic polishing.
基金Project supported by the National Natural Science Foundation of China (Grant No. 19231201)
文摘LetD be a disc with radiusr in the Euclidean plane ?2, and letF be a Lipschitz continuous real valued function onD. SupposeA 1 A 21 A 3 A 4 is an isosceles trapezoid with lengths of edges not greater thanr, and ∠A 1 A 21 A 3 = α≤π/2 By means of the Brouwer fixed point theorem, it is proved that ifF has a Lipschitz constant λ≤min{1, tgα}, then there exist four coplanar points in the surfaceM = {(x, y, F(x, y))∈?3:(x, y)?} which span a tetragon congruent toA 1 A 21 A 3 A 4. In addition, some further problems are discussed.
