刚柔耦合约束多体系统的动力分析

本文提出了描述柔性多体系统的牵连坐标系统。该系统由惯性参考系，牵连坐标系，物体坐标系及单元坐标系组成，实现了对刚体平动。刚体转动及弹性运动的连续分解，最大限度地消除了由于铡体大角度转动导致的非线性特性。以有限元法为基础，应用拉格朗日方程建立了在该坐标下的刚柔耦合约束多体系统的动力学控制方程，该方程具有耦合程度小，易于推导，编程及求解等优点，为大规模约束多体系统的动力分析提供了新的途径。本文还讨论了     

平动弹性梁的刚-柔耦合动力学

本文建立了作大范围平动弹性梁的刚-柔耦合动力学控制方程。分析了大范围平动对弹性梁变形运动动力学性质的影响，发现了大范围平动与变形运动之间的耦合动力学与大范围转动与变形运动之间的耦合动力学存在显著的差异。大范围平动使弹性梁的刚度降低，同时使系统阻尼增加；而大范围转动使弹性梁的刚度增加，同时使系统产生了能量转换的陀螺效应。因此，柔性多体系统刚-柔耦合动力建模中必须包括大范围平动与柔性体变形运动之间的耦合动力学效应。     

刚柔耦合约束多体系统的动力分析

本文提出了描述柔性多体系统的牵连坐标系统。该系统由惯性参考系,牵连坐标系,物体坐标系及单元坐标系组成,实现了对刚体平动,刚体转动及弹性运动的连续分解,最大限度地消除了由于刚体大角度转动导致的非线性特性。以有限元法为基础,应用拉格朗日方程建立了在该坐标下的刚柔耦合约束多体系统的动力学控制方程。该方程具有耦合程度小、易于推导、编程及求解等优点,为大规模约束多体系统的动力分析提供了新的途径。本文还讨论了平面铰链约束的约束形式及约束方程,最后给出了一个典型多体系统的数值算例。     

弹性杆-刚性体系统动力学分析的广义逆矩阵方法

将多刚体系统的广义逆矩阵方法推广到含弹性杆与刚性体的混合系统的动力学分析中,建立了以节点坐标表示的基于全局惯性坐标系的刚体-柔性体混合系统动力学方程.首先以两端节点坐标为变量推导了弹性杆的动力学方程,以刚性体节点坐标为变量推导了刚性体节点速度约束方程和刚性体动力学方程,最后得到弹性杆与刚性体混合系统的动力学方程和速度约束方程.本方法在同一个惯性坐标系对刚柔多体系统进行描述,具有方法简洁、便于计算建模的特点.论文最后给出两个数值算例,检验了方法的有效性.     

考虑剪切效应的旋转FGM楔形梁刚柔耦合动力学建模与仿真

本文对一类中心刚体-柔性梁系统在大范围转动下的刚柔耦合动力学问题进行了研究. 柔性梁为功能梯度材料(functionally graded materials, FGM)楔形变截面梁,材料体积分数在梁轴向呈幂律分布变化. 以弧长坐标来描述柔性FGM梁的几何位移关系,分别使用倾角和拉伸应变变量描述柔性梁的横向弯曲和纵向拉伸变形,并计及剪切效应. 采用假设模态法离散变形场,运用第二类拉格朗日方程进行方程推导,得到系统考虑剪切效应的刚柔耦合动力学模型. 基于全新的刚柔耦合动力学建模理论,研究不同轴向材料梯度分布的FGM楔形梁,通过数值仿真计算,分析讨论不同的转速、梯度分布规律以及变截面参数对系统动力学特性的影响. 结果表明,剪切效应对大高跨比的FGM楔形梁的变形影响较为明显,不容忽略;材料梯度分布规律和截面参数的选取均会对旋转FGM楔形梁的动力学响应和频率产生较大影响. 本文提出的考虑剪切效应的倾角刚柔耦合动力学模型是对以往非剪切模型的进一步完善,可应用于工程中的 Timoshenko梁结构的动力学问题求解.      

考虑剪切效应的旋转FGM楔形梁刚柔耦合动力学建模与仿真

本文对一类中心刚体-柔性梁系统在大范围转动下的刚柔耦合动力学问题进行了研究.柔性梁为功能梯度材料(functionally graded materials,FGM)楔形变截面梁,材料体积分数在梁轴向呈幂律分布变化.以弧长坐标来描述柔性FGM梁的几何位移关系,分别使用倾角和拉伸应变变量描述柔性梁的横向弯曲和纵向拉伸变形,并计及剪切效应.采用假设模态法离散变形场,运用第二类拉格朗日方程进行方程推导,得到系统考虑剪切效应的刚柔耦合动力学模型.基于全新的刚柔耦合动力学建模理论,研究不同轴向材料梯度分布的FGM楔形梁,通过数值仿真计算,分析讨论不同的转速、梯度分布规律以及变截面参数对系统动力学特性的影响.结果表明,剪切效应对大高跨比的FGM楔形梁的变形影响较为明显,不容忽略;材料梯度分布规律和截面参数的选取均会对旋转FGM楔形梁的动力学响应和频率产生较大影响.本文提出的考虑剪切效应的倾角刚柔耦合动力学模型是对以往非剪切模型的进一步完善,可应用于工程中的Timoshenko梁结构的动力学问题求解.     

柔性梁刚柔耦合碰撞动力学及变形传播研究

运用柔性多体系统刚柔耦合动力学理论,研究了作大范围回转运动柔性梁的碰撞动力学问题.考虑柔性梁的横向变形,以及横向变形引起的纵向缩短项即非线性耦合变形项.采用基于Hertz接触理论及非线性阻尼理论的非线性弹簧阻尼模型来求解碰撞过程中产生的碰撞力,运用第二类拉格朗日方程建立了系统的刚柔耦合碰撞动力学方程.编制仿真软件进行动力学仿真计算,得到了碰撞力和系统动力学响应,对比分析了不同动力学模型对系统动力学响应的影响.同时研究了碰撞导致的柔性梁横向变形传播的波动特性.     

考虑曲率纵向变形效应的大变形柔性梁刚柔耦合动力学建模与仿真

对在平面内做大范围转动的中心刚体柔性梁系统的动力学进行了研究,建立了考虑大变形效应的系统刚柔耦合动力学模型,并进行了动力学仿真.该动力学模型不但考虑了柔性梁横向弯曲变形和纵向变形(包含轴向拉伸变形和横向弯曲变形而引起的纵向缩短项),还考虑了纵向变形对曲率的影响,称为曲率纵向变形效应.在以往的研究中,柔性梁的横向弯曲变形能往往直接使用柔性梁横向弯曲变形来表达,并没有考虑纵向变形的影响.为了考虑柔性梁纵向变形对横向弯曲变形能的影响,在浮动坐标系下使用柔性梁参数方程形式的精确曲率公式来计算柔性梁的弯曲变形能.在此基础上建立了基于浮动坐标系的考虑曲率纵向变形效应的刚耦合动力学模型.论文给出了数值仿真算例,验证了本文所建的动力学模型既能适用于柔性梁的小变形问题,又能适用于大变形问题,且较现有高次刚柔耦合动力学模型更加适用于大变形问题的处理.论文还通过与能处理柔性梁大变形问题的绝对节点坐标法的比较,验证了模型的正确性.      

基于绝对节点坐标法的弹性线方法研究

相比于浮动坐标系法, 绝对节点坐标法(absolute nodal coordinateformulation, ANCF)在处理柔性体非线性大变形问题上具有显著优势,ANCF将单元节点坐标定义在全局坐标系下,采用斜率矢量代替节点转角坐标, 具有常数质量阵,不存在科氏离心力等优点, 然而弹性力阵为非线性项,其求解将比较耗时且占用资源. 据此, 在弹性力求解方法中,引入弹性线方法(elastic line method, ELM),该方法将格林--拉格朗日应变张量定义在中心线上,采用曲率公式来定义弯曲应变, 转角公式来定义扭转应变.同时采用有限元法对三维柔性梁位移场进行离散,求解梁单元常数质量阵、广义刚度阵、广义力阵,进而得到单元的动力学方程, 通过转换矩阵得到三维梁的动力学方程.接着从理论上指出连续介质力学方法(continuum mechanics method,CMM)和弹性线方法在求解弹性力上的不同点, 并编制动力学仿真软件.最后分别采用连续介质力学方法和弹性线方法对柔性单摆以及履带式车辆的动力学问题进行仿真分析,结果表明:弹性线方法能在保证精度的前提下有效提高计算效率.      

基于绝对节点坐标法的弹性线方法研究

相比于浮动坐标系法,绝对节点坐标法(absolute nodal coordinate formulation, ANCF)在处理柔性体非线性大变形问题上具有显著优势, ANCF将单元节点坐标定义在全局坐标系下,采用斜率矢量代替节点转角坐标,具有常数质量阵,不存在科氏离心力等优点,然而弹性力阵为非线性项,其求解将比较耗时且占用资源.据此,在弹性力求解方法中,引入弹性线方法 (elastic line method, ELM),该方法将格林–拉格朗日应变张量定义在中心线上,采用曲率公式来定义弯曲应变,转角公式来定义扭转应变.同时采用有限元法对三维柔性梁位移场进行离散,求解梁单元常数质量阵、广义刚度阵、广义力阵,进而得到单元的动力学方程,通过转换矩阵得到三维梁的动力学方程.接着从理论上指出连续介质力学方法 (continuum mechanics method, CMM)和弹性线方法在求解弹性力上的不同点,并编制动力学仿真软件.最后分别采用连续介质力学方法和弹性线方法对柔性单摆以及履带式车辆的动力学问题进行仿真分析,结果表明:弹性线方法能在保证精度的前提下有效提高计算效率.     

从一个怪例看细长梁理论的基本假定

分别采用欧拉和铁木辛柯梁理论分析了均匀分布力偶作用下的两端固支等截面匀质细长 梁, 并通过ABAQUS有限元分析了一个实例, 验证了铁木辛柯梁理论分析的结果. 对比证明在 这种载荷及边界条件下即使细长梁, 也必须考虑剪切效应的影响.     

论半无限长杆对有限长梁的横向弹性冲击问题

研究了半无限长弹性杆对有限长弹性梁的横向冲击问题，采用小高——中原对受冲击接触面的准静态处理方法，给出了描述这一问题的基本方程，并用Ｌａｐｌａｃｅ变换方法对它进行了求解，文中通过数值的Ｄｕｒｂｉｎ反演结果展示了杆梁间冲击问题的一些特点     

Three-dimensional equilibria of nonlinear pre-curved beams using an intrinsic formulation and shooting

This article describes a shooting method for computing three-dimensional equilibria of pre-curved nonlinear beams with axial and shear flexibility using the intrinsic beam formulation. For distributed and concentrated follower loads acting on a cantilevered beam, the method amounts to a direct solution approach requiring only a single shot (zero iterations) to compute the equilibria. This is possible since the system equations are defined in a local coordinate system that rotates and translates with the beam, akin to the follower loads themselves. A general procedure employing nonconservative follower loads, which invokes the Picard–Lindelöf theorem on uniqueness and existence of solutions, is also introduced for finding all solutions for three-dimensional pre-curved beam problems with conservative loading. This is particularly useful in beam buckling problems where multiple stable and unstable solutions exist. Three-dimensional equilibrium solutions are generated for many loading cases and boundary conditions, including three-dimensional helical beams, and are compared to similar solutions where available in the literature. Excellent agreement is documented in all comparison cases. For buckling examples, the stability of the computed solutions is assessed using a dynamic finite element code based on the same intrinsic beam equations. Due to the ability to avoid iteration, the presented approach may find application in model-based control for practical three-dimensional problems such as the control of manipulators utilized in endoscopic surgeries and the control of spacecraft with robotic arms and long cables.     

基于空间光调制器获得空心光束的数值模拟和实验研究

光镊技术中,会聚的空心光束形成的能量光阱可用来捕获吸光性颗粒或操纵吸光性颗粒沿光轴方向运动。采用Gerchberg-Saxton(GS)算法计算所需相位,并将相位载入相位型空间光调制器来获得空心光束。为了提高会聚的空心光束能量,对空间光调制器相位屏进行预处理,叠加数字闪耀光栅位相,实现了将四个一级衍射谱闪耀至零级干涉极大位置,空心光束能量提高到原来的4.7倍。为了消除空间光调制器二维光栅结构所形成的零级谱亮斑以及高级谱的影响,在相位屏上加入球面波相位,使得空心光束衍射谱平面与零级谱平面的空间位置分离,并采用带通滤波器将空间光调制器的零级谱亮斑和高级谱滤掉。采用高度会聚透镜将所得空心光束会聚为微米尺寸,可应用于捕获吸光性颗粒。另外,利用离散傅立叶变换的平移原理实现空心光束实时平移,该方法可应用于实时操纵吸光性颗粒移动。     

Vibration analysis of a stepped laminated composite Timoshenko beam

The goal of this study is to investigate the vibration characteristics of a stepped laminated composite Timoshenko beam. Based on the first order shear deformation theory, flexural rigidity and transverse shearing rigidity of a laminated beam are determined. In order to account for the effect of shear deformation and rotary inertia of the stepped beam, Timoshenko beam theory is then used to deduce the frequency function. Graphs of the natural frequencies and mode shapes of a T300/970 laminated stepped beam are given, in order to illustrate the influence of step location parameter exerts on the dynamic behavior of the beam.     

Modal analysis of cracked continuous Timoshenko beam made of functionally graded material

Abstract

The article addresses development of the Transfer Matrix Method (TMM) for free vibration of cracked continuous Timoshenko beam made of Functionally Graded Material (FGM). The governing equations of free vibration are established for the beam based on the power law of material grading, actual position of neutral plane and double spring model of crack. There is conducted frequency equation of the beam with intermediate rigid supports using the TMM after the transverse displacements at rigid supports have been disregarded. Therefore, the frequency equation is simplified and becomes more useful to compute natural frequencies of continuous FGM Timoshenko beam with a number of cracks. The obtained numerical results show the essential effect of cracks, material properties and also number of spans on natural frequencies of the beam.     

Dynamic response of elastic-plastic ideal sandwich beams

The dynamic response of elastic-plastic ideal sandwich beams is investigated. The plastic deformation is interpreted as a kind of general loads in the elastic beams, while the moving interfaces between elastic and plastic regions are treated as external restraint conditions. Particularly, the dynamic response of a cantilever beam is investigated using the classical method by means of the superposition of the vibration modes of elastic beams. The numerical results show that, compared with the rigid plastic solutions, the dynamic behavior of elastoplastic beam exhibits complex response modes. In some cases, elastic deformation has very important effects on the response mode of the beam, so it should not be ignored.     

Variational formulation of the static Levinson beam theory

In this communication, we provide a consistent variational formulation for the static Levinson beam theory. First, the beam equations according to the vectorial formulation by Levinson are reviewed briefly. By applying the Clapeyron's theorem, it is found that the stresses on the lateral end surfaces of the beam are an integral part of the theory. The variational formulation is carried out by employing the principle of virtual displacements. As a novel contribution, the formulation includes the external virtual work done by the stresses on the end surfaces of the beam. This external virtual work contributes to the boundary conditions in such a way that artificial end effects do not appear in the theory. The obtained beam equations are the same as the vectorially derived Levinson equations. Finally, the exact Levinson beam finite element is developed.     

Stability of curvilinear Euler-Bernoulli beams in temperature fields

In this work, stability of thin flexible Bernoulli-Euler beams is investigated taking into account the geometric non-linearity as well as a type and intensity of the temperature field. The applied temperature field T(x,z) is yielded by a solution to the 2D Laplace equation solved for five kinds of thermal boundary conditions, and there are no restrictions put on the temperature distribution along the beam thickness. Action of the temperature field on the beam dynamics is studied with the help of the Duhamel theory, whereas the motion of the beam subjected to the thermal load is yielded employing the variational principles.The heat transfer (Laplace equation) is solved with the use of the finite difference method (FDM) of the third-order accuracy, while the integrals along the beam thickness defining the thermal stress and moments are computed using Simpson's method. Partial differential equations governing the beam motion are reduced to the Cauchy problem by means of application of FDM of the second-order accuracy. The obtained ordinary differential equations are solved with the use of the fourth-order Runge-Kutta method.The problem of numerical results convergence versus a number of beam partitions is investigated. A static solution for a flexible Bernoulli-Euler beam is obtained using the dynamic approach based on employment of the relaxation/set-up method.Novel stability loss phenomena of a beam under the thermal field are reported for different beam geometric parameters, boundary conditions, and the temperature intensity. In particular, it has been shown that stability of the flexible beam during heating the beam surface essentially depends on the beam thickness.