RENEWAL OF BASIC LAWS AND PRINCIPLES FOR POLAR CONTINUUM THEORIES (Ⅵ)—CONSERVATION LAWS OF MASS AND INERTIA

The purpose is to reestablish the coupled conservation laws, the local conservation equations and the jump conditions of mass and inertia for polar continuum theories. In this connection the new material derivatives of the deformation gradient, the line element, the surface element and the volume element were derived and the generalized Reynolds transport theorem was presented. Combining, these conservation laws of mass and inertia with the balance laws of momentum, angular momentum and energy derived in our previous papers of this series, a rather complete system of coupled basic laws and principles for polar continuum theories is constituted on the whole. From this system the coupled nonlocal balance equations of mass, inertia, momentum, angular momentum and energy may be obtained by the usual localization. Contributed by DAI Tian-min, Original Member of Editorial Committee, AMM Foundation items: the National Natural Science Foundation of China (10072024); the Research Foundation of Liaoning Education Committee (990111001) Biography: DAI Tian-min (1931≈)     

链状柔性多体机器人系统动力学研究

本文基于Ｊｏｕｒｄａｉｎ变分原理建立了具有链状拓扑结构柔性多体机器人系统动力学通用模型，用在一致质量有限单元法及正则模态分析基础上引入的模态坐标描述构件的弹性形，用独立坐标描述相邻板件间的大位移运动，每个铰容许１－６个自由度，组强非线性惯性耦合的封闭形式的系统动力学微分方程组，文末对单弹性臂和双弹性臂机器人操作手进行动力学仿真。     

Flexural-gravity wave resistances due to a surface-moving line source on a fluid covered by a thin elastic plate

Analytical solutions for the flexural-gravity wave resistances due to a line source steadily moving on the surface of an infinitely deep fluid are investigated within the framework of the linear potential theory. The homogenous fluid, covered by a thin elastic plate, is assumed to be incompressible and inviscid, and the motion to be irrotational. The solution in integral form for the wave resistance is obtained by means of the Fourier transform and the explicitly analytical solutions are derived with the aid of the residue theorem. The dispersion relation shows that there is a minimal phase speed c_min, a threshold for the existence of the wave resistance. No wave is generated when the moving speed of the source V is less than c_min while the wave resistances firstly increase to their peak values and then decrease when V ? c_min. The effects of the flexural rigidity and the inertia of the plate are studied.     

3-PRS并联机器人惯量耦合特性研究

惯量是影响机器人动态性能的主要因素,并联机器人因其多支链耦合的结构特点,关节空间各驱动轴出现惯量耦合的动力学特性,在高速、高加速度运动时易引起控制超调、振动等现象,破坏机器人的动态性能,因此研究并联机器人惯量耦合特性具有重要意义. 以3-PRS 并联机器人为例,通过虚功原理求得惯量矩阵,提出惯量耦合指标,该耦合指标表征了并联机器人在工作空间不同位姿时各驱动轴的耦合惯量大小,并给出了该耦合指标在机器人工作空间内的分布规律. 进一步在一台3-PRS 并联机器人样机上进行了实验验证,结果表明耦合惯量会改变驱动轴负载,负载的改变将最终影响动态性能. 同时各驱动轴的负载变化量随着惯量耦合指标的变大而变大,与理论分析有较好的一致性. 研究成果可帮助评价并联机器人的动力学耦合特性,并可用于并联机器人的结构参数优化及伺服参数调试以提高机器人的动态性能.      

Nonlinear Flexural-Flexural-Torsional Dynamics of Inextensional Beams. II. Forced Motions

Abstract

The nonplanar, nonlinear, resonant forced oscillations of a fixed-free beam are analyzed by a perturbation technique with the objective of determining quantitative and qualitative information about the response. The analysis is based on the differential equations of motion developed in Part I of this paper which retain not only the nonlinear inertia but also nonlinear curvature effects. It is shown that the latter play a significant role in the nonlinear flexural response of the beam.     

Some considerations on the experimental determination of moments of inertia

The experimental determination of the moments of inertia of rigid bodies, which is a common practice in many fields of technology, is usually performed using torsional or multifilar pendula. Different experimental techniques, based on the study of the periodic or non-periodic motion of the test object on which known forces act, are described and critically analysed. In particular, the effect of damping and, in the case of devices which can be assimilated to a pendulum, that of the non-linearity due to the finite amplitude of the motion, are studied in detail.The equations of motion of the multifilar pendulum are studied in detail to assess how the assumptions usually considered affect the accuracy of the results. An example of experimental determination of the moment of inertia of a flywheel, employing the trifilar pendulum currently used at the Laboratory of the Mechanics Department of Politecnico di Torino, shows how the theoretical considerations apply to a practical case.

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Sommario La determinazione sperimentale dei momenti d'inerzia di corpi rigidi, prassi consueta in molti settori della tecnologia, si avvale normalmente dell'utilizzo di pendoli di torsione o di pendoli multifilari. Nel presente lavoro vengono descritti ed esaminati criticamente vari metodi, basati sullo studio di moti periodici o non periodici dell'oggetto in prova sottoposto a forze note. Viene studiato in particolare l'effetto dello smorzamento e, nel caso di metodi basati su dispositivi assimilabili ad un pendolo, quello delle nonlinearità dovute all'ampiezza delle oscillazioni sui risultati della misura.Vengono studiate in dettaglio le equazioni del moto del pendolo multifilare allo scopo di valutare in quale misura le ipotesi semplificative normalmente accettate influiscano sulla precisione dei risultati. Un esempio di misura sperimentale effettuata mediante il pendolo trifilare correntemente utilizzato presso il laboratorio del Dipartimento di Meccanica del Politecnico di Torino conclude il lavoro e permette di verificare le conclusioni teoriche in un caso concreto.

     

Non-Darcy Free Convection Along a Horizontal Heated Surface

In this paper we analyse how the presence of inertia (Forchheimerform-drag) affects the steady free convective boundary layer flow over anupward-facing horizontal surface embedded in a porous medium. The surfacetemperature is assumed to display a power-law variation,x ⁿ with distance from the leading edge, x. It is shown thatthere are three distinct cases to consider: n<0.5, n=0.5 and0.5相似文献   

A second strain gradient elasticity theory with second velocity gradient inertia – Part II: Dynamic behavior

This paper is the sequel of a companion Part I paper devoted to the constitutive equations and to the quasi-static behavior of a second strain gradient material model with second velocity gradient inertia. In the present Part II paper, a multi-cell homogenization procedure (developed in the Part I paper) is applied to a nonhomogeneous body modelled as a simple material cell system, in conjunction with the principle of virtual work (PVW) for inertial actions (i.e. momenta and inertia forces), which at the macro-scale level takes on the typical format as for a second velocity gradient inertia material model. The latter (macro-scale) PVW is used to determine the equilibrium equations relating the (ordinary, double and triple) generalized momenta to the inertia forces. As a consequence of the surface effects, the latter inertia forces include (ordinary) inertia body forces within the bulk material, as well as (ordinary and double) inertia surface tractions on the boundary layer and (ordinary) inertia line tractions on the edge line rod; they all depend on the acceleration in a nonstandard way, but the classical laws are recovered in the case of no higher order inertia. The classical linear and angular momentum theorems are extended to the present context of second velocity gradient inertia, showing that the extended theorems—used in conjunction with the Cauchy traction theorem—lead to the local force and moment (stress symmetry) motion equations, just like for a classical continuum. A gradient elasticity theory is proposed, whereby the dynamic evolution problem for assigned initial and boundary conditions is shown to admit a Hamilton-type variational principle; the uniqueness of the solution is also discussed. A few simple applications to wave propagation and dispersion problems are presented. The paper indicates the correct way to describe the inertia forces in the presence of higher order inertia; it extends and improves previous findings by the author [Polizzotto, C., 2012. A gradient elasticity theory for second-grade materials and higher order inertia. Int. J. Solids Struct. 49, 2121–2137]. Overall conclusions are drawn at the end of the paper.     

Identification of the Ten Inertia Parameters of a Rigid Body

Standard experiments for identifying inertia parameters of a rigid body only provide a subset of the inertia parameters of the body [1–10]. In addition, they do not use in the estimation process the complete information included in the equations of motion of the rigid test body. The objective of the work described in this paper is the simultaneous, automatic experimental identification of the ten inertia parameters of a rigid body using the complete information hidden in the nonlinear model equations of the test body. This task has been solved in several steps:– mathematical modelling of the special motions of a rigid body in space. These model equations have been mapped into a form suitable for identification purposes (identification hypothesis)– design of a special measurement robot for performing the identification experiments– laboratory experiments providing test data used for the identification experiments– identification of the inertia parameters and accuracy tests.The accuracy of the identified parameters is satisfactory.     

Dynamic analysis of geometrically nonlinear robot manipulators

In this paper, a method for the dynamic analysis of geometrically nonlinear elastic robot manipulators is presented. Robot arm elasticity is introduced using a finite element method which allows for the gross arm rotations. A shape function which accounts for the combined effects of rotary inertia and shear deformation is employed to describe the arm deformation relative to a selected component reference. Geometric elastic nonlinearities are introduced into the formulation by retaining the quadratic terms in the strain-displacement relationships. This has lead to a new stiffness matrix that depends on the rotary inertia and shear deformation and which has to be iteratively updated during the dynamic simulation. Mechanical joints are introduced into the formulation using a set of nonlinear algebraic constraint equations. A set of independent coordinates is identified over each subinterval and is employed to define the system state equations. In order to exemplify the analysis, a two-armed robot manipulator is solved. In this example, the effect of introducing geometric elastic nonlinearities and inertia nonlinearities on the robot arm kinematics, deformations, joint reaction forces and end-effector trajectory are investigated.     

Structural Responses of Underground Pipelines to Dynamic Loadings

ABSTRACT

This study develops a simple analytical model to assess the dynamic response of a pipeline under ground shaking. Since many observed failures of buried pipes are attributable to pullout or crushing at joints and breaks along the pipeline itself, the present model is proposed to estimate the maximum relative joint displacement and the maximum structural strain, under various soil conditions and material properties. Outcomes from both the quasi-static approach and dynamic analysis are compared, to examine the effect of inertia and damping, which are generally neglected in dealing with such a structure. The effect of excitation frequency, joint stiffness, pipe size, and pipe length on structural response is studied. Numerical results may serve as a guide for design, as well as for reliability analysis.     

Numerical study of the noninertial systems: application to train coupler systems

Car coupler forces have a significant effect on the longitudinal train dynamics and stability. Because the coupler inertia is relatively small in comparison with the car inertia; the high stiffness associated with the coupler components can lead to high frequencies that adversely impact the computational efficiency of train models. The objective of this investigation is to study the effect of the coupler inertia on the train dynamics and on the computational efficiency as measured by the simulation time. To this end, two different models are developed for the car couplers; one model, called the inertial coupler model, includes the effect of the coupler inertia, while in the other model, called the noninertial model, the effect of the coupler inertia is neglected. Both inertial and noninertial coupler models used in this investigation are assumed to have the same coupler kinematic degrees of freedom that capture geometric nonlinearities and allow for the relative translation of the draft gears and end of car cushioning (EOC) devices as well as the relative rotation of the coupler shank. In both models, the coupler kinematic equations are expressed in terms of the car body and coupler coordinates. Both the inertial and noninertial models used in this study lead to a system of differential and algebraic equations that are solved simultaneously in order to determine the coordinates of the cars and couplers. In the case of the inertial model, the coupler kinematics is described using the absolute Cartesian coordinates, and the algebraic equations describe the kinematic constraints imposed on the motion of the system. In this case of the inertial model, the constraint equations are satisfied at the position, velocity, and acceleration levels. In the case of the noninertial model, the equations of motion are developed using the relative joint coordinates, thereby eliminating systematically the algebraic equations that represent the kinematic constraints. A quasistatic force analysis is used to determine a set of coupler nonlinear force algebraic equations for a given car configuration. These nonlinear force algebraic equations are solved iteratively to determine the coupler noninertial coordinates which enter into the formulation of the equations of motion of the train cars. The results obtained in this study showed that the neglect of the coupler inertia eliminates high frequency oscillations that can negatively impact the computational efficiency. The effect of these high frequencies that are attributed to the coupler inertia on the simulation time is examined using frequency and eigenvalue analyses. While the neglect of the coupler inertia leads, as demonstrated in this investigation, to a much more efficient model, the results obtained using the inertial and noninertial coupler models show good agreement, demonstrating that the coupler inertia can be neglected without having an adverse effect on the accuracy of the solution.     

The X-structure/mechanism approach to beneficial nonlinear design in engineering

Nonlinearity can take an important and critical role in engineering systems, and thus cannot be simply ignored in structural design, dynamic response analysis, and parameter selection. A key issue is how to analyze and design potential nonlinearities introduced to or inherent in a system under study. This is a must-do task in many practical applications involving vibration control, energy harvesting, sensor systems, robotic technology, etc. This paper presents an up-to-date review on a cutting-edge method for nonlinearity manipulation and employment developed in recent several years, named as the X-structure/mechanism approach. The method is inspired from animal leg/limb skeletons, and can provide passive low-cost high-efficiency adjustable and beneficial nonlinear stiffness (high static & ultra-low dynamic), nonlinear damping (dependent on resonant frequency and/or relative vibration displacement), and nonlinear inertia (low static & high dynamic) individually or simultaneously. The X-structure/mechanism is a generic and basic structure/mechanism, representing a class of structures/mechanisms which can achieve beneficial geometric nonlinearity during structural deflection or mechanism motion, can be flexibly realized through commonly-used mechanical components, and have many different forms (with a basic unit taking a shape like X/K/Z/S/V, quadrilateral, diamond, polygon, etc.). Importantly, all variant structures/mechanisms may share similar geometric nonlinearities and thus exhibit similar nonlinear stiffness/damping properties in vibration. Moreover, they are generally flexible in design and easy to implement. This paper systematically reviews the research background, motivation, essential bio-inspired ideas, advantages of this novel method, the beneficial nonlinear properties in stiffness, damping, and inertia, and the potential applications, and ends with some remarks and conclusions.

     

INFLUENCE OF FRICTION ON THE MOTION OF BASE WITH AN ECCENTRIC ROTOR

偏心转子惯性力引起的底座运动受到地面摩擦的影响,与光滑情形的理论结果存在定性差异。转子逆时针匀速旋转的惯性力若小于构件总重,则底座随摩擦因子增加而出现连续、一次停顿和两次停顿的振动及完全静止的4种状态。因惯性力对正压力及摩擦力的影响,底座在连续及一次停顿的振动时右向位移较大;而底座跳起时如``蛤蟆夯'则整体向左移动。     

Influence of inertia,topography and gravity on transient axisymmetric thin‐film flow

This study examines theoretically the development of early transients for axisymmetric flow of a thin film over a stationary cylindrical substrate of arbitrary shape. The fluid is assumed to emerge from an annular tube as it is driven by a pressure gradient maintained inside the annulus, and/or by gravity in the axial direction. The interplay between inertia, annulus aspect ratio, substrate topography and gravity is particularly emphasized. Initial conditions are found to have a drastic effect on the ensuing flow. The flow is governed by the thin‐film equations of the ‘boundary‐layer’ type, which are solved by expanding the flow field in terms of orthonormal modes in the radial direction. The formulation is validated upon comparison with the similarity solution of Watson (J. Fluid Mech 1964; 20 :481) leading to an excellent agreement when only 2–3 modes are included. The wave and flow structure are examined for high and low inertia. It is found that low‐inertia fluids tend to accumulate near the annulus exit, exhibiting a standing wave that grows with time. This behaviour clearly illustrates the difficulty faced with coating high‐viscosity fluids. The annulus aspect is found to be influential only when inertia is significant; there is less flow resistance for a film over a cylinder of smaller diameter. For high inertia, the free surface evolves similarly to two‐dimensional flow. The substrate topography is found to have a significant effect on transient behaviour, but this effect depends strongly on inertia. It is observed that the flow of a high‐inertia fluid over a step‐down exhibits the formation of a secondary wave that moves upstream of the primary wave. Gravity is found to help the film (coating) flow by halting or prohibiting the wave growth. The initial film profile and velocity distribution dictate whether the fluid will flow downstream or accumulate near the annulus exit. Copyright © 2004 John Wiley & Sons, Ltd.     

Uniaxial extension of an isothermal fluid cylinder in the presence of inertia,surface tension and gravity

Effects of inertia, surface tension and gravity in the constant force stretching of isothermal cylindrical filaments of Newtonian, power-law and Maxwell-type fluids were analysed in Lagrangian coordinates. Solution for the purely gravitational extension of Newtonian fluid cylinder was found to be as simple as = 1 – C ₃ (1 – ) where designates the cross sectional area, the Lagrangian distance and the time. Analytical solutions were also available for the case of inertialess Newtonian and power-law fluids.A first-order backward differencing scheme and minimal computer time were sufficient to numerically analyse the constant force extension of Maxwell-type fluids in the presence of inertia, gravity and surface tension. Effects of inertia, surface tension and gravity on the severity of neck down occurring at either end of the filament are summarized in diagrams. The present approach is valid on any other constitutive model as far as there is a numerical scheme to analyse thehomogeneous extension of a cylinder of that particular fluid.     

漂浮基柔性两杆空间机械臂的关节运动鲁棒控制与柔性振动最优控制Robust joint motion control and vibration optimal control for a free-floating two-flexible-link space manipulator

讨论了载体位置、姿态均不受控情况下,具有有界干扰及有界未知参数的漂浮基柔性两杆空间机械臂的具有鲁棒性的关节运动控制与柔性振动最优控制算法设计问题。首先选择合理的联体坐标系,利用拉格朗日方程并结合动量守恒原理得到漂浮基柔性两杆空间机械臂系统的动力学方程。通过合理选择联体坐标系与利用奇异摄动理论,实现了两个柔性杆柔性振动之间、关节运动与两柔性杆柔性振动的解耦,得到了柔性两杆空间机械臂的慢变子系统与柔性臂快变子系统。针对两个子系统设计相应的控制规律,即增广鲁棒慢变子系统控制律与柔性臂快变子系统最优控制律,这两个相应的子系统控制规律综合到一起构成飘浮基柔性两杆空间机械臂总的关节运动与臂柔性振动控制的组合控制律。系统的数值仿真证实了方法的有效性。该控制方案不需要直接测量漂浮基的位置、移动速度和移动加速度。     

Effect of inertia on the hydrodynamic interaction between two liquid capsules in simple shear flow

Three-dimensional numerical simulations using front-tracking method are performed to study the hydrodynamic interaction between two liquid capsules suspended in simple shear flow in presence of inertia. Capsules are modeled as liquid drops surrounded by neo-Hookean elastic membranes. In the limit of zero inertia, it has been known from past research that the hydrodynamic interaction between two deformable particles (drops/capsules) suspended in shear flow results in an irreversible shift in the trajectories of the particles as one particle rolls over the other. In this article, we show that the presence of inertia can significantly alter the capsule trajectories. When inertia is small but finite, the capsules do undergo an irreversible displacement, but the lateral separation between them first decreases before they roll over each other, unlike in Re ? 1. For moderate to high inertia, the capsules reverse their directions of motion before coming close to each other. The reversal of motion occurs progressively earlier in time (that is, the capsules come less closer to each other) with increasing inertia. The long-time behavior of the capsule–capsule interaction at finite inertia showed that the capsules engage in spiraling motions. Based on our simulations, four different regimes of capsule–capsule interaction at finite inertia are identified: (i) a self-diffusive type interaction, (ii) an outwardly spiraling motion, (iii) a fixed-orbit spiraling motion, and (iv) an inwardly spiraling motion in which the capsules settle with zero relative velocity. The reversal of motion, and the spiraling trajectories at finite inertia have no analogy in the limit of zero inertia. Such motions are explained by analyzing the flow field around a deformed capsule which shows reverse flow regions and off-surface stagnation points, similar to those previously reported in case of rigid spheres and cylinders under torque-free condition.     

三线摆摆线质量对转动惯量精确测量的影响

三线摆法是测量转动惯量的常用方法, 理论上通常都是把摆线作理想处理(即摆线质量趋于0), 但在工程测量中, 被测工件往往较重, 摆线不再是轻质细线, 摆线质量势必会对空载悬盘的转动惯量测量产生影响. 本文应用哈密顿原理和变量替换, 导出三线摆摆线的变张力弦振动方程, 通过对摆线与悬盘连接点(x=0)的运动状态讨论, 推得摆线质量不能忽略情形下的对称式三线摆的转动惯量计算式, 并借助于MATLAB 软件快速便利地进行计算.