CN108645583A - One kind being fitted to each other face normal direction contact damping high-precision detection device and method - Google Patents
One kind being fitted to each other face normal direction contact damping high-precision detection device and method Download PDFInfo
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- CN108645583A CN108645583A CN201810469752.0A CN201810469752A CN108645583A CN 108645583 A CN108645583 A CN 108645583A CN 201810469752 A CN201810469752 A CN 201810469752A CN 108645583 A CN108645583 A CN 108645583A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/027—Specimen mounting arrangements, e.g. table head adapters
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- General Physics & Mathematics (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The invention discloses one kind being fitted to each other face normal direction contact damping high-precision detection device and method, including main frame structure：The main frame structure for being fitted to each other face contact damping high-precision detection device has the upper backup pad with circular hole, four columns and the lower supporting plate with T-slot；Pretightning force applies and detection：Apply pretightning force with test specimen above and below jack pair；Pretightning force is detected in real time with pressure sensor；Exciting force applies and detection：Apply exciting force with vibrator and exciting rod, exciting force is detected with pressure sensor；Exciting feature detects：The vibration displacement for measuring upper and lower support plate respectively with displacement sensor detects the vibration acceleration of upper backup pad with acceleration transducer.It may be implemented to the high-acruracy survey for being fitted to each other face normal direction contact damping under different contact surface patterns and different pretightning forces using the device and method in the present invention.
Description
Technical field
The invention belongs to machine-building and dynamics fields, are related to one kind and being fitted to each other face normal direction contact damping high-precision inspection
Survey device and method.
Background technology
Mechanical system is formed by numerous parts assembly connections, is fitted to each other face and is largely present among mechanical system.
Faying face damps the vibration characteristics for largely affecting mechanical structure, and faying face damps and accounts for about such as in high-end numerical control machine
90% or more of its total damping value is fitted to each other face damping and directly affects numerically-controlled machine tool complete machine dynamic response characteristic and flutter
Problem, and then the stability and retentivity of machine finish are influenced, therefore it is fitted to each other the high-precision of face contact damping parameter
Detection is of great significance for Accurate Prediction complete machine oscillation characteristic.
Identify that the method for being fitted to each other face contact damping mainly has by testing to measure at present：Transfer function method, frequency resistance
Ni Bifa, phase frequency method.Transfer function method is needed based on the higher dimensional matrix relationship between overall structure dynamic test data and damping
It to invert to higher dimensional matrix, increase calculation amount, cause test error to expand in damping identification process, cumulative errors are serious.
Frequency damping ratio method is largely dependent upon signal period estimation based on the relationship between structural natural frequencies and damping ratio, from
And it is subject to certain restrictions in precision.Phase frequency method is exactly the frequency and combination by measuring constructed quality block models
Phase at face identifies Complexed Prostate Specific Antigen.
Invention content
It is an object of the invention to overcome the above-mentioned prior art, one kind is provided and is fitted to each other face normal direction contact damping
High-precision detection device and method.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
One kind being fitted to each other face normal direction contact damping high-precision detection device, including upper backup pad and lower supporting plate, upper branch
Fagging is connected with lower supporting plate by column；Upper test specimen and lower test specimen are set between upper backup pad and lower supporting plate；Lower support
Jack is installed on plate, pretightning force is applied by test specimen under jack pair；Through-hole is offered on upper backup pad, under vibrator
End connection exciting rod, vibrator apply exciting force by exciting rod to upper test specimen；It is detected in real time by first pressure sensor pre-
Clamp force detects exciting force by second pressure sensor, first for measuring lower test specimen vibration displacement is provided on lower test specimen
Displacement sensor is provided with second displacement sensor for measuring upper test specimen vibration displacement on upper test specimen and for detecting upper examination
The acceleration transducer of part vibration acceleration.
The present invention, which further improves, to be：
The T-slot for installing jack is offered on lower supporting plate.
It is connected by four columns between upper backup pad and lower supporting plate.
First pressure sensor is mounted on the end of jack；Second pressure sensor is mounted on the end of exciting rod, and
It is bonded in the upper surface of test specimen；Acceleration transducer is pasted onto the surface of upper test specimen with paraffin；By gauge stand by current vortex position
Displacement sensor is fixed on test specimen up and down.
First pressure sensor, the first displacement sensor and second displacement sensor will be collected by data collecting card
Data are sent to industrial personal computer, and industrial personal computer interacts with data collecting card, and industrial personal computer will control signal by data collecting card and send
To power amplifier, vibrator is driven to apply exciting force to upper test specimen by power amplifier.
One kind being fitted to each other face normal direction contact damping high-precision detecting method, includes the following steps：
1) it installs and is detected test block；
Jack, first pressure sensor, lower test specimen and upper test specimen are installed successively from bottom to top, adjustment jack makes up and down
Test specimen faying face is in initial contact state, and using the level of test specimen above and below level measurement and adjustment；
2) install and correct sensor；
Vibrator is hung on rack vertically, exciting rod is connect with second pressure sensor, and second pressure sensor is viscous
In upper test specimen upper surface, the length of exciting rod is adjusted；Acceleration transducer is pasted onto the surface of upper test specimen with paraffin, passes through gauge stand
Eddy current displacement sensor is fixed on test specimen up and down, and is calibrated；
3) exciting force applies and data acquire：
Data are distributed and are acquired using LMS Test.Lab tests system；Data collector is set, its triggering is made
The sine excitation signal of one unit amplitude adjusts the amplitude size F of exciting force by power amplifiern, vibrator is made to generate
Exciting force fn, the upper surface of upper test specimen is applied a force upon by exciting rod, and measured with the pressure sensor that exciting rod carries
Act on the exciting force on test specimen；The normal acceleration of upper test specimen is measured by acceleration transducerIt is passed with the first displacement
The normal direction dynamic displacement x of test specimen above and below sensor and second displacement sensor measurement1、x2；The test signal of each sensor passes through LMS
Defeated time computer of data collector；
4) contact damping calculates：
4.1) signal is acquired：
LMS softwares are connect with data collector by cable, are then sequentially connected power amplifier and vibrator, and will
Two pressure sensors, acceleration transducer and two displacement sensors are connected with the port of data collector；It adjusts very heavy
Top applies normal direction surface pressure to upper and lower test specimen；Using LMS Test.Lab spectrum analysis modules, TCH test channel is set, defines sensor
Sensitivity and measurement type, select source signal type for sine wave, and the amplitude and frequency of source output signal are set, selection from
By triggering pattern；Power amplifier is reset, the size of exciting force is controlled；Start to test, and records each biography under normal direction pretightning force
The gathered data of sensor；
4.2) contact damping is calculated：
Pass throughFaying face normal direction contact damping on unit area is calculated；Wherein, S connects for faying face
Contacting surface is accumulated, FnFor faying face dynamic excitation power fnAmplitude, XnFor faying face Relative Vibration displacement xnAmplitude, xn=x1-x2,
For f and xnBetween phase angle, ω be vibration angular frequency；Pass throughAcquire faying face dynamic excitation power, wherein m1
For the quality of upper test specimen；It for the acceleration of upper test specimen, is measured with acceleration transducer, f is harmonic excitation power, by pressure sensing
Device is measured.
Compared with prior art, the invention has the advantages that：
Experimental provision of the present invention is built simply, easy to operate feasible；Calculation amount can be reduced to a certain extent, weakened
Measuring signal depended on unduly；Faying face normal direction contact damping high-precision detection device proposed by the present invention and method may be used also
For the detection that typical combination face normal direction in mechanical structure damps, for example, inclined-plane, spherical surface, ball-and-socket and circular conical surface etc..Pass through experiment
The displacement of test specimen and acceleration frequency spectrum in detection, and analysis and identification phase difference obtain faying face normal direction contact damping with faying face
The changing rule of face pressure.
Description of the drawings
Fig. 1 is fitted to each other face contact damping high precision testing device；
Fig. 2 is fitted to each other face contact damping high precision testing device data collecting system；
Roughness Ra=6.3 Fig. 3 are fitted to each other relational graph of the face normal direction contact damping with normal load.
Wherein：1- upper backup pads；2- columns；3- lower supporting plates；4- jack；5- first pressure sensors；Test specimen under 6-；
The upper test specimens of 7-；8- second pressure sensors；The first displacement sensors of 9-；10- second displacement sensors；11- acceleration transducers；
12- exciting rods；13- vibrators.
Specific implementation mode
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-3, the present invention is fitted to each other face normal direction contact damping high-precision detection device, including 1 He of upper backup pad
Lower supporting plate 3, upper backup pad 1 and lower supporting plate 3 are connected by column 2；Upper test specimen 7 and lower test specimen 6 are set to 1 He of upper backup pad
Between lower supporting plate 3；Jack 4 is installed on lower supporting plate 3, pretightning force is applied to lower test specimen 6 by jack 4；Upper support
Through-hole is offered on plate 1, the lower end of vibrator 13 connects exciting rod 12, and vibrator 13 applies upper test specimen 7 by exciting rod 12
Exciting force；Pretightning force is detected in real time by first pressure sensor 5, is passed through second pressure sensor 8 and is detected exciting force, lower test specimen
It is provided with the first displacement sensor 9 for measuring lower test specimen vibration displacement on 6, is provided on upper test specimen 7 for measuring upper examination
The second displacement sensor 10 of part vibration displacement and acceleration transducer 11 for detecting 7 vibration acceleration of upper test specimen.
The T-slot for installing jack 4 is offered on lower supporting plate 3.Pass through between upper backup pad 1 and lower supporting plate 3
Four columns are connected.First pressure sensor 5 is mounted on the end of jack 4；Second pressure sensor 8 is mounted on exciting rod 12
End, and be bonded in the upper surface of test specimen 7；Acceleration transducer 11 is pasted onto the surface of upper test specimen 7 with paraffin；Pass through table
Eddy current displacement sensor is fixed on test specimen up and down by seat.First pressure sensor 5, the first displacement sensor 9 and second displacement
Collected data are sent to industrial personal computer by sensor 10 by data collecting card, and industrial personal computer interacts with data collecting card, work
Control machine sends control signals to power amplifier by data collecting card, drives vibrator to upper test specimen by power amplifier
Apply exciting force.
The invention also discloses one kind being fitted to each other face normal direction contact damping high-precision detecting method, includes the following steps：
1) it is detected test block installation：As shown in Figure 1, installing jack 4, upper and lower test specimen successively from bottom to top, adjustment is very heavy
Top 4 makes test specimen faying face be in initial contact state, and using the level of test specimen above and below level measurement and adjustment；
2) sensor installation and correction：
Vibrator 13 is hung on rack vertically, exciting rod 12 is connect with pressure sensor, and pressure sensor is sticked to
7 upper surface of test specimen adjusts the length of exciting rod 12；Acceleration transducer 11 is pasted onto the surface of upper test specimen 7 with paraffin, passes through table
Eddy current displacement sensor is fixed on test specimen up and down by seat, and is calibrated.
3) exciting force applies and data acquire：Data are distributed and are acquired using LMS Test.Lab tests system；
Data collector is set, so that it is triggered the sine excitation signal of a unit amplitude, exciting can be adjusted by power amplifier
The amplitude size F of powern, vibrator 13 is made to generate exciting force fn, which is applied to the upper surface of upper test specimen 7 by exciting rod 12,
And act on the exciting force on upper test specimen 7 with the pressure sensor measurement that exciting rod 12 carries；Pass through acceleration transducer 11
The normal acceleration of test specimen 7 in measurementWith the normal direction dynamic displacement x of test specimen above and below displacement sensor1、x2；Each sensing
The test signal of device passes through defeated time computer of LMS data collectors.
4) contact damping calculates
4.1) signal is acquired：LMS softwares are connect with data collector by cable, power amplification is then sequentially connected
Device, vibrator 13, and pressure sensor, acceleration transducer 11 and displacement sensor are connected with the port of data collector；
It adjusts jack 4 and normal direction surface pressure is applied to upper and lower test specimen；Using LMS Test.Lab spectrum analysis modules, TCH test channel is set,
Sensitivity and the measurement type for defining sensor, selects source signal type for sine wave, and be arranged the amplitude of source output signal with
Frequency, selection freely trigger pattern；Power amplifier is reset, adjusts to certain multiple and controls the size of exciting force；Start to test,
And record the gathered data of each sensor under certain normal direction pretightning force.
4.2) contact damping is calculated：Pass throughFaying face normal direction on unit area can be calculated to contact
Damping；Wherein, S is faying face contact area, FnFor faying face dynamic excitation power fnAmplitude, XnFor faying face Relative Vibration position
Move xnAmplitude, xn=x1-x2,For f and xnBetween phase angle, ω be vibration angular frequency；Pass throughIt can be in the hope of
Obtain faying face dynamic excitation power, wherein m1For the quality of upper test specimen 7；For the acceleration of upper test specimen 7, usable acceleration sensor
11 measure, and f is harmonic excitation power, can be measured by pressure sensor.
Embodiment：
It is 100mm*100mm*20mm, examination that the present embodiment test specimen, which selects 2A12 aluminium, surface roughness 6.3, test specimen size,
Part can be considered rigid body in scope of experiment, and edge effect does not occur.Wherein, excited frequency 500Hz, exciting force 200N, tool
Body is as follows：
As shown in Figure 1, the main frame structure of the present embodiment：It is fitted to each other the master of face contact damping high-precision detection device
Body frame structure has 1, four column 2 of the upper backup pad with circular hole and the lower supporting plate 3 with T-slot；Apply and examine in pretightning force
When survey：Pretightning force is applied to upper and lower test specimen with jack 4；Pretightning force is detected in real time with pressure sensor；Again exciting force apply and
When detection：Apply exciting force with vibrator 13 and exciting rod 12, exciting force is detected with pressure sensor；It is detected in exciting feature
When：The vibration displacement for measuring upper and lower support plate respectively with displacement sensor detects shaking for upper backup pad with acceleration transducer 11
Dynamic acceleration.
Detecting step is specific as follows：
1) it is detected test block installation：As shown in Figure 1, installing jack 4, upper and lower test specimen successively from bottom to top, adjustment is very heavy
Top 4 makes test specimen faying face be in initial contact state, and uses the level of level measurement and adjustment or more test specimen,
2) sensor installation and correction：
Vibrator 13 is hung on rack vertically, exciting rod 12 is connect with pressure sensor, and pressure sensor is sticked to
7 upper surface of test specimen adjusts the length of exciting rod 12；Acceleration transducer 11 is pasted onto the surface of upper test specimen 7 with paraffin, passes through table
Eddy current displacement sensor is fixed on test specimen up and down by seat, and is calibrated.
3) exciting force applies and data acquire：Data are distributed and are acquired using LMS Test.Lab tests system；
Data collector is set, so that it is triggered the sine excitation signal of a unit amplitude, exciting can be adjusted by power amplifier
The amplitude size F of powern, vibrator 13 is made to generate exciting force fn, which is applied to the upper surface of upper test specimen 7 by exciting rod 12,
And act on the exciting force on upper test specimen 7 with the pressure sensor measurement that exciting rod 12 carries；Pass through acceleration transducer 11
The normal acceleration of test specimen 7 in measurementWith the normal direction dynamic displacement x of test specimen above and below displacement sensor1、x2；Each sensor
Test signal pass through defeated time computer of LMS data collectors.
4) contact damping calculates
4.1) signal is acquired：LMS softwares are connect with data collector by cable, power amplification is then sequentially connected
Device, vibrator 13, and pressure sensor, acceleration transducer 11 and displacement sensor are connected with the port of data collector；
Jack 4 is adjusted to test specimen above and below the 2A12 aluminium grinding skins of Ra=6.3, applies the normal direction surface pressure of 10~80MPa；Using
TCH test channel is arranged in LMS Test.Lab spectrum analysis modules, defines sensitivity and the measurement type of sensor, selects source signal class
Type is sine wave, and the amplitude and frequency of source output signal is arranged, and selection freely triggers pattern；Reset power amplifier, adjustment
The size of exciting force is controlled to certain multiple；Start to test, a normal plane is adjusted at interval of 10MPa within the scope of 10~80MPa
Pressure, and record the gathered data of each sensor under each face pressure.
4.2) contact damping is calculated：Pass throughFaying face normal direction on unit area can be calculated to contact
Damping；Wherein, S is faying face contact area, FnFor faying face dynamic excitation power fnAmplitude, XnFor faying face Relative Vibration position
Move xnAmplitude, xn=x1-x2,For f and xnBetween phase angle, ω be vibration angular frequency；Pass throughIt can be in the hope of
Obtain faying face dynamic excitation power, wherein m1For the quality of upper test specimen 7；For the acceleration of upper test specimen 7, usable acceleration sensor
11 measure, and f is harmonic excitation power, can be measured by pressure sensor.
It is final to calculate within the scope of 10~80MPa at interval of under 10MPa surface pressures, faying face normal direction contact damping, and paint
Preparation method to contact damping with the relational graph of normal load, as shown in Figure 3.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (6)
1. one kind being fitted to each other face normal direction contact damping high-precision detection device, which is characterized in that including upper backup pad (1) and under
Support plate (3), upper backup pad (1) and lower supporting plate (3) are connected by column (2)；Upper test specimen (7) and lower test specimen (6) are set to
Between upper backup pad (1) and lower supporting plate (3)；Jack (4) is installed, by jack (4) to lower examination on lower supporting plate (3)
Part (6) applies pretightning force；Through-hole, the lower end connection exciting rod (12) of vibrator (13), vibrator are offered on upper backup pad (1)
(13) exciting force is applied to upper test specimen (7) by exciting rod (12)；Pretightning force is detected in real time by first pressure sensor (5),
Exciting force is detected by second pressure sensor (8), first for measuring lower test specimen vibration displacement is provided on lower test specimen (6)
Displacement sensor (9) is provided with the second displacement sensor (10) for measuring upper test specimen vibration displacement on upper test specimen (7) and uses
In the acceleration transducer (11) of upper test specimen (7) vibration acceleration of detection.
2. according to claim 1 be fitted to each other face normal direction contact damping high-precision detection device, which is characterized in that lower
The T-slot for installing jack (4) is offered on fagging (3).
3. according to claim 1 be fitted to each other face normal direction contact damping high-precision detection device, which is characterized in that upper branch
It is connected by four columns between fagging (1) and lower supporting plate (3).
4. according to claim 1 be fitted to each other face normal direction contact damping high-precision detection device, which is characterized in that first
Pressure sensor (5) is mounted on the end of jack (4)；Second pressure sensor (8) is mounted on the end of exciting rod (12), and
It is bonded in the upper surface of test specimen (7)；Acceleration transducer (11) is pasted onto the surface of upper test specimen (7) with paraffin；Pass through gauge stand
Eddy current displacement sensor is fixed on test specimen up and down.
5. according to claim 1 or 4 be fitted to each other face normal direction contact damping high-precision detection device, which is characterized in that
First pressure sensor (5), the first displacement sensor (9) and second displacement sensor (10) will be collected by data collecting card
Data be sent to industrial personal computer, industrial personal computer interacts with data collecting card, industrial personal computer by data collecting card will control signal send out
Power amplifier is given, drives vibrator to apply exciting force to upper test specimen by power amplifier.
6. a kind of being fitted to each other face normal direction contact damping high-precision detecting method using detection device described in claim 1,
It is characterized in that, includes the following steps：
1) it installs and is detected test block；
Installation jack (4), first pressure sensor (5), lower test specimen (6) and upper test specimen (7), adjustment are very heavy successively from bottom to top
Top (4) make up and down test specimen faying face be in initial contact state, and using the level of test specimen above and below level measurement and adjustment；
2) install and correct sensor；
Vibrator (13) is hung on rack vertically, exciting rod (12) is connect with second pressure sensor (8), and second pressure passes
Sensor (8) is sticked to test specimen (7) upper surface, adjusts the length of exciting rod (12)；Acceleration transducer (11) is pasted onto with paraffin
Eddy current displacement sensor is fixed on test specimen up and down by gauge stand, and is calibrated by the surface of upper test specimen (7)；
3) exciting force applies and data acquire：
Data are distributed and are acquired using LMS Test.Lab tests system；Data collector is set, it is made to trigger one
The sine excitation signal of unit amplitude adjusts the amplitude size F of exciting force by power amplifiern, vibrator (13) is made to generate
Exciting force fn, the upper surface of upper test specimen (7), and the pressure carried with exciting rod (12) are applied a force upon by exciting rod (12)
Sensor measurement acts on the exciting force on test specimen (7)；Added by the normal direction of test specimen (7) in acceleration transducer (11) measurement
SpeedThe normal direction dynamic displacement x of test specimen up and down is measured with the first displacement sensor (9) and second displacement sensor (10)1、x2；
The test signal of each sensor passes through defeated time computer of LMS data collectors；
4) contact damping calculates：
4.1) acquisition signal：
LMS softwares are connect with data collector by cable, are then sequentially connected power amplifier and vibrator (13), and will
Two pressure sensors, acceleration transducer (11) and two displacement sensors are connected with the port of data collector；Adjustment
Jack (4) applies normal direction surface pressure to upper and lower test specimen；Using LMSTest.Lab spectrum analysis modules, TCH test channel, definition are set
The sensitivity of sensor and measurement type select source signal type for sine wave, and the amplitude and frequency of source output signal is arranged,
Selection freely triggers pattern；Power amplifier is reset, the size of exciting force is controlled；Start to test, and records under normal direction pretightning force
The gathered data of each sensor；
4.2) contact damping is calculated：
Pass throughFaying face normal direction contact damping on unit area is calculated；Wherein, S is faying face contact surface
Product, FnFor faying face dynamic excitation power fnAmplitude, XnFor faying face Relative Vibration displacement xnAmplitude, xn=x1-x2,For f
With xnBetween phase angle, ω be vibration angular frequency；Pass throughAcquire faying face dynamic excitation power, wherein m1It is upper
The quality of test specimen (7)；It for the acceleration of upper test specimen (7), is measured with acceleration transducer (11), f is harmonic excitation power, by pressing
Force snesor is measured.
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| CN109164041A (en) * | 2018-10-17 | 2019-01-08 | 中国航发贵阳发动机设计研究所 | Damping measurement testpieces under a kind of hot environment |
| CN109164041B (en) * | 2018-10-17 | 2021-06-22 | 中国航发贵阳发动机设计研究所 | Damping measurement test piece under high temperature environment |
| CN109656149A (en) * | 2018-12-10 | 2019-04-19 | 上海卫星装备研究所 | Satellite and the rocket Coupled Multibody System dynamics calculation test method and system |
| CN109813513A (en) * | 2019-01-28 | 2019-05-28 | 沈阳建筑大学 | A kind of Machine Joint Surfaces dynamic characteristic parameter measuring device and method |
| CN110031164A (en) * | 2019-04-11 | 2019-07-19 | 辽宁工程技术大学 | Resin mineral composite engaging portion dynamic stiffness and damping measurement device and method |
| CN110031164B (en) * | 2019-04-11 | 2021-02-02 | 辽宁工程技术大学 | Method for measuring dynamic stiffness and damping of joint part of resin-mineral composite material |
| CN112720539A (en) * | 2021-01-26 | 2021-04-30 | 郑州轻工业大学 | Thin-wall fragile piece internal-supporting type grabbing manipulator operation impact and transfer process experiment system |
| CN112924281A (en) * | 2021-01-28 | 2021-06-08 | 中国科学院西安光学精密机械研究所 | Resonance type large-area metal joint surface contact rigidity testing device and method |
| CN113848179A (en) * | 2021-09-23 | 2021-12-28 | 北京理工大学 | Experimental device for measuring slippage or separation movement between contact surfaces |
| CN113848179B (en) * | 2021-09-23 | 2023-11-10 | 北京理工大学 | Experimental device for measuring sliding or separating movement between contact surfaces |
| CN114264329A (en) * | 2021-12-25 | 2022-04-01 | 西安交通大学 | System and method for testing vibration reliability of photoelectric encoder based on fuzzy control |
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