多体系统动力学Kane方法的改进

基于Kane方法, 针对约束多体系统, 建立了一种新型的自动组集系统动力学方程的方法. 首先提出偏速度矩阵和偏角速度矩阵的概念, 将各体对系统广义惯性力的贡献用简洁、统一的数学形式表达. 然后引入各个运动学变量的递推关系以提高建模效率.最后对新型的Kane方程进行扩展, 用于处理多体系统中的运动约束. 该算法适用于任意多体系统, 建立的动力学模型不含待定乘子, 维数与系统广义速率相同, 利于控制系统设计.对带有闭环约束的空间多机械臂系统的数值仿真验证了方法的正确性.      

On introduction of inertial forces in the generalized Euler equations

The generalized Euler equations for accelerated systems are obtained. The equations have all inertial forces and their moments in the general form. It is shown that for the case of separable generalized Euler equations, they can be treated using the torsors (wrench) theory. Published in Prikladnaya Mekhanika, Vol. 34, No. 12, pp. 93–104, December, 1998.     

A finite-deformation,gradient theory of single-crystal plasticity with free energy dependent on densities of geometrically necessary dislocations

This paper develops a finite-deformation, gradient theory of single crystal plasticity. The theory is based on a system of microscopic force balances, one balance for each slip system, derived from the principle of virtual power, and a mechanical version of the second law that includes, via the microscopic forces, work performed during plastic flow. When combined with thermodynamically consistent constitutive relations the microscopic force balances become flow rules for the individual slip systems. Because these flow rules are in the form of partial differential equations requiring boundary conditions, they are nonlocal. The chief new ingredient in the theory is a free energy dependent on (geometrically necessary) edge and screw dislocation-densities as introduced in Gurtin [Gurtin, 2006. The Burgers vector and the flow of screw and edge dislocations in finite-deformation plasticity. Journal of Mechanics and Physics of Solids 54, 1882].     

Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T)

For a hip joint simulator with a 3SPS+1PS spatial parallel manipulator as the core module, a formulation based on the Kane equation was derived for the dynamic characteristics of the simulator from the kinematics analysis of the model. The relationships of the velocities and accelerations between the moving platform and active branched-chains were deduced. The velocity and angular velocity components of the moving platform were served as the generalized velocities. And the dynamic model was established by obtaining the generalized active forces and inertial forces. Then the driving forces and powers of the active branched-chains and the constraint reaction forces of the intermediate branched-chain were simulated in the numerical method. The results showed that the active driving forces of the branched-chains reached their respective maximum when the moving platform rotated into 0.13^° around X-axis, 2^° around Y-axis, and 18^° around Z-axis. And the intermediate branched-chain needed to balance the driving and inertia forces, as well as support the moving platform and load the force of hydraulic cylinder. Therefore, the maximum constraint reaction force of the intermediate branched-chain is along the Z-axis. The research works provided a theoretical basis for the design of the active branched-chains driving system and the structural parameters of the intermediate branched-chain, as well as for the control system.     

Electroelastic interaction between a piezoelectric screw dislocation and a confocal elliptic blunt crack with elliptical inhomogeneity

The electroelastic interaction between a piezoelectric screw dislocation and an elliptical inhomogeneity containing a confocal blunt crack under infinite longitudinal shear and in-plane electric field is investigated. Using the sectionally holomorphic function theory, Cauchy singular integral, singularity analysis of complex functions and theory of Rieman boundary problem, the explicit series solution of stress field is obtained when the screw dislocation is located in inhomogeneity. The intervention law of the interaction between blunt crack and screw dislocation in inhomogeneity is discussed. The analytical expressions of generalized stress and strain field of inhomogeneity are calculated, while the image force, field intensity factors of blunt crack are also presented. Moreover, a new matrix expression of the energy release rate and generalized strain energy density (SED) are deduced. With the size variation of blunt crack, the results can be reduced to the case of the interaction between a piezoelectric screw dislocation and a line crack in inhomogeneity. Numerical analysis are then conducted to reveal the effects of the dislocation location, the size of inhomogeneity and blunt crack and the applied load on the image force, energy release rate and strain energy density. The influence of dislocation on energy release rate and strain energy density is also revealed.     

Migration of settling particles in a horizontal viscous flow through a vertical slot with porous walls

Particle migration in a horizontal flow of dilute suspension through a vertical slot with porous walls is studied using the two-continua approach. The lateral migration is induced by two opposite effects: an inertial lift force due to particle settling and directed toward the slot centre-line, and a drag due to leak-off entraining particles toward the walls. An expression for the inertial lift on a settling particle in a horizontal channel flow found recently is generalized to the case of a low leak-off velocity. The evolution of an initial uniform particle concentration profile is studied within the full Lagrangian approach. Four migration regimes are found differing by the direction of particle migration and numbers of equilibrium positions. Conditions of the regime change and a critical value of dimensionless leak-off velocity for particle deposition on the walls are obtained analytically. Suspension flows with zones where the particle concentration is zero or increases infinitely, are studied numerically.     

Force and flow characteristics of an intruder immersed in 3D dense granular matter

The motion of a projectile impact onto a granular target results in both the resistance force exerted on the projectile and rheology of granular media. A horizontal arrangement of cylinder quasistatically and dynamically intruding into granular media under different velocities and angles is simulated using discrete element method. Three distinguished drag force regimes are exhibited, including hydrostatic-like force independent of velocity, viscous force related to velocity, and inertial drag force proportional to the square of velocity. Meanwhile, the influence of penetration angles on drag force is examined for these three regimes, and a force model, which is related to penetration depth and angle, is proposed for quasi-static penetration. Then, flow characteristics of the granular media, such as velocity field, pressure field, packing fraction etc., are traced, and a rheology model of packing fraction and inertial number is established.     

Lateral migration mechanisms in capillary hydrodynamic chromatography

In all chromatographic systems that achieve separation of colloidal particles based on the particles' hydrodynamic behavior, there are partitioning mechanisms that promote lateral migration of particles across solvent streamlines. In this work, solvent inertia and particle electrostatics are incorporated in Brenner & Gaydos' general diffusive transport theory for particles and solvent flowing in a capillary, yielding the mean axial velocity of particles as a function of particle size. A comparison is made with capillary hydrodynamic chromatography results. The lateral migration of small particles is primarily due to diffusion, while large particles are focused by the inertial force at one equilibrium radial position, as observed in “tubular pinch” experiments. The transition from diffusion- to inertia-controlled lateral migration can be tuned to specific particle size ranges through variation of solvent ionic strength, flowrate and capillary radius. Poor prediction of the separation behavior of large particles is attributed to inaccuracy in the calculation of the inertial radial velocity, suggesting the need for further theoretical analysis and experimental study of inertial migration.     

Spectral barriers and inertial manifolds for dissipative partial differential equations

In recent years, the theory of inertial manifolds for dissipative partial differential equations has emerged as an active area of research. An inertial manifold is an invariant manifold that is finite dimensional, Lipschitz, and attracts exponentially all trajectories. In this paper, we introduce the notion of a spectral barrier for a nonlinear dissipative partial differential equation. Using this notion, we present a proof of existence of inertial manifolds that requires easily verifiable conditions, namely, the existence of large enough spectral barriers.     

Electro-elastic interaction between a piezoelectric screw dislocation and circular interfacial rigid lines

The electro-elastic interaction between a piezoelectric screw dislocation located either outside or inside inhomogeneity and circular interfacial rigid lines under anti-plane mechanical and in-plane electrical loads in linear piezoelectric materials is dealt with in the framework of linear elastic theory. Using Riemann–Schwarz’s symmetry principle integrated with the analysis of singularity of complex functions, the general solution of this problem is presented in this paper. For a special example, the closed form solutions for electro-elastic fields in matrix and inhomogeneity regions are derived explicitly when interface containing single rigid line. Applying perturbation technique, perturbation stress and electric displacement fields are obtained. The image force acting on piezoelectric screw dislocation is calculated by using the generalized Peach–Koehler formula. As a result, numerical analysis and discussion show that soft inhomogeneity can repel screw dislocation in piezoelectric material due to their intrinsic electro-mechanical coupling behavior and the influence of interfacial rigid line upon the image force is profound. When the radian of circular rigid line reaches extensive magnitude, the presence of interfacial rigid line can change the interaction mechanism.     

一维六方准晶中平行螺型位错与有限长裂纹的相互作用

本文采用解析函数理论,利用Muskhelishvili著名的复变函数方法,给出了无限大一维六方准晶中多条平行螺型位错与有限长直裂纹相互作用的解析解,并得到了裂纹尖端的场强度因子和作用在位错上的像力.数值算例讨论了镜像力、场强度因子随位错位置的变化，及位错的位置与分布对广义应力场的影响．     

Dynamic torsional response of pre-strained end bearing pile embedded in pre-strained isotropic saturated soil medium

The influence of initial strain state on the dynamic response of an end bearing pile embedded in isotropic saturated soil is investigated through the linearized theory of small elastic perturbation superposed on largely stressed bodies. The governing equations for soil, based on Blot＇s poroelasticity theory, are derived in the cylindrical coordinates, and the pile is modeled by using the one-dimensional elastic theory. The analytical solutions of pile impedance, frequency response of both twist angle and time history of velocity response are obtained by using of separation of variables technique. Finally, a parametric study of the influence of initial strains on the torsional impedance, twist angle, and velocity response at the top of the pile is carried out.     

Dynamic shakedown theory of elastoplastic work-hardening structures allowing for second-order geometric effects

This paper is based on piecewise linear yield surface and discretization of structure. By allowing for inertial force, damping force and second-order geometric effects, the two generalized dynamic shakedown theorems are given for shakedown analysis of structure.The project is supported by National Natural Science Foundation of China and Jilin Provincial Applying-Basic Research Projects.     

A finite-deformation,gradient theory of single-crystal plasticity with free energy dependent on the accumulation of geometrically necessary dislocations

This paper develops a gradient theory of single-crystal plasticity based on a system of microscopic force balances, one balance for each slip system, derived from the principle of virtual power, and a mechanical version of the second law that includes, via the microscopic forces, work performed during plastic flow. When combined with thermodynamically consistent constitutive relations the microscopic force balances become nonlocal flow rules for the individual slip systems in the form of partial differential equations requiring boundary conditions. Central ingredients in the theory are geometrically necessary edge and screw dislocations together with a free energy that accounts for work hardening through a dependence on the accumulation of geometrically necessary dislocations.     

On using generalized velocity components for manipulator dynamics and control

In this paper modified first-order decoupled equations of motion for rigid serial manipulators are presented. Motivated the results obtained by Loduha and Ravani [Loduha, T.A., Ravani, B., 1995. On first-order decoupling of equations of motion for constrained dynamical systems. Transactions of the ASME Journal of Applied Mechanics 62, 216.] slightly different inertial quasi-velocities are proposed. Instead of generalized velocity components (GVC) one useful form of GVC’s is introduced here. It is shown that the modified quantities (called here modified inertial generalized velocity components—MIGVC) lead to some interesting properties which give different look at manipulator dynamics. Some properties arising from MIGVC are also discussed. An example of 3 d.o.f. 3-D robot DDArm illustrates the results.     

考虑弹簧阻尼作动器解析雅可比矩阵的多刚体动力学分析

弹簧-阻尼-作动器(spring-damper-actuator,SDA)是多体系统中常见的力元,在工程领域中有着广泛的应用.采用绝对坐标方法建立的多体系统动力学控制方程通常是复杂的非线性微分-代数方程组.为了保证数值解的精度和稳定性,通常需要采用隐式算法求解动力学方程,而雅可比矩阵的计算在隐式数值求解过程中至关重要.对于含有SDA的多体系统,SDA造成的附加雅可比矩阵是与广义坐标和广义速度相关的高度非线性函数.目前的很多研究工作专注于广义力向量的计算,然而对附加雅克比矩阵的计算则少有关注.针对含SDA的多刚体系统进行动力学分析,首先基于Newmark算法研究其在动力学方程求解中的雅可比矩阵的构成形式;然后推导SDA的广义力向量对应的附加雅可比矩阵,其中包括广义力向量对广义坐标和对广义速度的偏导数矩阵.最后通过两个数值算例研究附加雅可比矩阵对动力学分析收敛性的影响;数值分析表明:当SDA的刚度、阻尼和作动力数值较大时,SDA导致的附加雅可比矩阵对数值解的收敛性有重要影响;当考虑SDA对应的附加雅可比矩阵时,动力学分析可以以较少的迭代步实现收敛,从而减少分析时间.     

Piezoelectric screw dislocations interacting with a circular inclusion with imperfect interface

The electroelastic coupling interaction between multiple screw dislocations and a circular inclusion with an imperfect interface in a piezoelectric solid is investigated. The appointed screw dislocation may be located either outside or inside the inclusion and is subjected to a line charge and a line force at the core. The analytic solutions of electroelastic fields are obtained by means of the complex-variable method. With the aid of the generalized Peach–Koehler formula, the explicit expressions of image forces exerted on the piezoelectric screw dislocations are derived. The motion and the equilibrium position of the appointed screw dislocation near the circular interface are discussed for variable parameters (interface imperfection, material electroelastic mismatch, and dislocation position), and the influence of the nearby parallel screw dislocations is also considered. It is found that the piezoelectric screw dislocation is always attracted by the electromechanical imperfect interface. When the interface imperfection is strong, the impact of material electroelastic mismatch on the image force and the equilibrium position of the dislocation becomes weak. Additionally, the effect of the nearby dislocations on the mobility of the appointed dislocation is very important.     

压电螺型位错和共线界面刚性线夹杂的干涉效应

研究了压电材料中压电螺型位错和共线界面导电刚性线夹杂的电弹干涉效应．运用复变函数解析延拓技术与奇性主部分析方法,获得了该问题的一般解答．作为算例,求出了界面含一条刚性线夹杂时两种压电介质区域广义应力函数的封闭形式解．导出了作用在位错上的像力和刚性线夹杂表面剪应力和电位移的解析表达式．讨论了界面刚性线长度,两种材料的剪切模量比和压电系数比对位错力和刚性线表面剪应力的影响规律．为进一步研究该类问题提供了一个基本解。     

作大范围空间运动柔性梁的刚-柔耦合动力学

研究带中心刚体的作大范围空间运动梁的刚-柔耦合动力学问题．从精确的应变-位移关系式出发，在动力学变分方程中，考虑了横截面转动的惯性力偶和与扭转变形有关的弹性力的虚功率，用速度变分原理建立了考虑几何非线性的空间梁的刚-柔耦合动力学方程，用有限元法进行离散．通过对空间梁系统的数值仿真研究扭转变形和截面转动惯量对系统动力学性态的影响．