扭矩-转角曲线

Hydrostatic transmission is widely used in construction machine. The research of one of its hard cores, low speed high torque radial piston motor, is very important. To directly estimate the life of this kind of motor, and to design a orbit curve with the longest life at same condition, this paper gives theoretic research of the equal contact stress inner curve of radial piston motor. The research is divided into four parts:1 Taken all forces the piston endured into consideration when radial piston motor working, the force between roller and orbit is deduced.

静压传动技术在各类工程机械中得到广泛的应用，对作为其核心部件的径向柱塞式低速大扭矩液压马达的研究显得十分重要，为了能直接对这种马达进行寿命估计，并能在相同工况下求得寿命最长的轨道曲线，本文从设计等接触应力内曲线的角度对这类马达作探讨性的研究，主要从以下四个方面进行：(1)综合考虑径向柱塞式液压马达工作时的各种主要受力状况，对柱塞组件进行受力分析，并通过仿真分析影响轨道和滚动体间正压力的各个因素，得到正压力的简化表达式。

The paper given accurate computer formula and variation curve about suspension point motion (displacement velocity acceleration) and the torque variation law of reductor shaft .given two conclusion: one is the factor affected motor power is the law of suspension point torque ,the other is the factor affect torque fluctuation is the difference between the effective radius of hind heaven sheave and the theory's.

指出影响电机功率的因素是悬点扭矩的变化规律和扭矩波动的大小。其原因是后天轮轮廓曲线有效半径与理论值差异所致。

The vertical torsion spring laser guide beam arm is designed by analytic method, and the load curve is mapmaked in the permited fluctuation range. A torsion spring curve is designed to match with the VTSLGBA′s feature curve, and the torsion spring design parameter can be confirmed according to the match result.

采用解析法优化设计了立式扭簧激光导光臂，在允许的工作波动范围内绘出导光臂的载荷曲线，然后设计出一条扭簧的扭矩曲线使其与导光臂的载荷曲线相匹配，再根据匹配结果确定扭簧的设计参数。

Cylinder body endophragm and the live pump plunger shaft plate the hard chromium, has the very good abrasion resistance; Between all glide part has the oil-free lubrication axis and the guidance link reduces the friction coefficient, the extension service life, AW the air operated actuator U curved characteristic

输出扭矩大，动作灵活平稳；缸体内壁和活塞轴镀硬铬，具有很好的抗磨性；所有滑动部件之间配有无油润滑轴和导向环以降低摩擦系数，延长使用寿命，AW气动执行器的U型曲线特性输出扭矩更适用于大口径球阀、蝶阀。

For the first time, a screw pile and pile driver system for preventing flood and rushing to deal with an emergency was manufactured. The screw piles of the system is different from screw drills used to sap, and it doesn't push soils out. Analyses, including the screw pile's structural strength analysis and the screw blade's welding analysis, were done by ANSYS, which showed that the screw pile's structural strength is enough and that the distort of the screw blade is small. Testing on the screw pile and pile driver system showed that the system performed stably and could meet the need of preventing flood and rushing to deal with an emergency. A mechanics model of interaction of a screw pile and soil was built, and expressions of torque of screw pile's cylindrical part on the condition of screw pile's crew part being driven into soil fully were gained, then the relation of the torque with screw pitch and out diameter of cylinder, which shows the torque decreases with the screw pitch increasing, and that the torque increases with the out diameter of cylinder increasing, which was according with the experiments of the screw pile's being driven into soils, and thus a screw pile with the best structure was chosen. Experiments of bionic surface showed that, on the condition of certain pressure on the surface, the protruding bionic surface can not reduce adhesion and resistance and that the corrugated bionic surface can reduce adhesion and resistance. An orthogonal experiment of the corrugated bionic surface was done with the factors including the width of protrusion, the space between two protrusions, the trolley's velocity and the vertical surface pressure and with the surface frictional coefficient as the experimental target, and some inclusions were drawn that the best combination of the factors was acquired and that the width of protrusion affected the surface frictional coefficient remarkably.

研制了防汛抢险螺旋桩机系统，提高了沉桩作业效率；利用ANSYS对桩体进行整体结构强度分析以及螺旋叶片的焊接分析，表明桩体结构强度足够，焊接过程中，螺旋叶片的变形小；对整个螺旋桩机系统进行试验，表明该系统性能可靠，工作稳定，作业效率高，能够满足防汛抢险沉桩作业基本需要；建立了螺旋桩桩土作用力学模型，得出螺旋桩沉桩过程中螺旋桩螺旋部分完全进入土体时螺旋桩圆柱部分所受扭矩以及扭矩与防汛抢险螺旋桩的螺旋导程和圆柱外径的关系曲线，表明螺旋桩螺旋部分完全进入土体时螺旋桩圆柱部分所受扭矩随着螺旋导程的增大而减小，随着圆柱外径的增大而增大，这与螺旋桩沉桩试验结论相符合，据此优选出最佳结构的螺旋桩；仿生曲面试验表明，尺寸较小的球冠突起型仿生曲面在一定压力作用下未能起到减粘降阻的作用，而尺寸较大的波纹型仿生曲面相对平板具有一定的减粘降阻作用；以波纹型仿生曲面突起宽度、波纹型仿生曲面两突起之间间距、台车的牵引速度以及叶片表面垂直载荷为因素，以曲面摩擦系数试验指标进行正交试验，寻求出在一定试验条件下最佳因素水平组合；波纹型仿生曲面突起宽度在本试验条件下对曲面摩擦系数影响显著，而其它几个因素对曲面摩擦系数影响均不显著；通过波纹型仿生曲面突起宽度和台车牵引速度的单因素试验，表明曲面摩擦系数随着仿生曲面突起宽度的增大而减小，而随着台车牵引速度的变化基本保持不变，和正交试验结果保持一致。

An apparatus made by our lab is used for direct measurement of torque of yarns. The torque-twist relation curves, torque-relaxation behavior of several kinds of yarns at room temperature and heat-setting temperature are given. After analyzing the difference of different yarn torque it can be found that the special structures of composite yarns made of polyester filament and wool staple fibers mainly cause the high residual torque.

应用自行研制的直接测量纱线扭矩装置，这里测试数种纱线的扭矩-捻度关系曲线及其在常温和热状态下的扭应力松弛关系曲线，分析相同捻度下各种纱线扭矩差异的根源，发现涤长丝与毛短纤复合纱线的特殊结构是造成复合纱线残余扭矩较大的主要原因。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

The power of motor is positive proportion to square root of equality of square pure torque .the pure torque is combined by suspension point torque and balancing weight torque ,so the change of suspension point's motion law and balancing weight offset angle can causes pure torque variation .especially, the suspension motion law is decided by configuration curve of hinder heaven sheave .so the paper has emphatically studied and analysis the law that the configuration curve of hinder heaven sheave brings the change of pumping unit energy-saving .

电机功率与减速器曲柄轴净扭矩均方根成正比，减速器曲柄轴净扭矩是由悬点载荷产生的扭矩和平衡重产生的平衡力矩合成的；改变悬点运动规律和平衡重的滞后角可以引起净扭矩的变化，其中悬点运动规律是由后天轮曲线决定的，因此，本文依据此原理着重研究分析了后天轮曲线影响抽油及节能的变化规律。

The data indicates that the fourth circle is the maximum locking torque stage when the self-tapping screw locks into the boss. The curve of this stage is from 1080° to 1440°. Besides, it will continue the value of the locking torque until the boss produces the strip.

由实验结果显示：自攻螺丝锁入凸毂的第四圈为最大锁附扭矩阶段，此阶段的锁附扭矩曲线角度由1080至1440，此外并继续增加锁附扭矩值直到凸毂产生滑牙为止。

Although the torque figure is uninspiring, 85 percent of the maximum torque (340 Nm/250 ft-lb) is available from 2000 rpm up to 6,500 rpm creating an almost flat torque curve across this wide rev range.

虽然扭矩数字是令人鼓舞，百分之八十五的最大扭矩（ 340 Nm/250英尺磅），可从2000年每分钟转速高达6500转创造一个基本持平扭矩曲线在这个全转速范围内。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。