基于力封闭的虚拟手稳定抓持力生成方法

为解决虚拟训练中抓持力反馈生成的问题,研究了满足软指点接触模型的力封闭条件。基于力封闭求解中的操作力和内力的摩擦锥条件,通过非线性规划方程求解内力平衡和内力满足摩擦锥条件,并获取最稳定抓持的标准;提出需求压力和可提供压力的概念,建立了稳定静力抓持模型,实验实现了抓持力的生成。本文方法为虚拟手交互中的力觉生成提供了一种新方法。     

人手指腹与光滑物体间的静摩擦力与湿度和抓持力的关系

为了研究人手指抓持表面光滑物体时静摩擦力与湿度和抓持力的关系，在本研究中设计并制作了一种可在被抓持物体的重量连续变化的条件下测量指腹变形、抓持力及摩擦力的装置. 在不同湿度和被抓持物体重量的条件下测量并分析了指腹变形及其与表面光滑物体之间的最大静摩擦系数，通过指腹变形量度量指腹与被抓持物体之间的黏着力，以此分析湿度对最大静摩擦系数的影响机理. 结果表明:最大静摩擦系数依存于抓持力，随抓持力的增加先呈负幂函数变化，然后稳定为一定值；湿度会影响指腹与被抓持物体之间的黏着力，从而影响抓持的最大静摩擦力；潮湿时黏着力最大，抓取表面光滑物体最省力且不易打滑；湿度对最大静摩擦系数的影响是非线性的，最大静摩擦系数随湿度的增加而增加，到达峰值后逐渐减小.      

解三维摩擦接触问题的一个二阶锥线性互补法

针对三维摩擦接触问题的求解,给出了一种基于参变量变分原理的二阶锥线性互补法. 首先,基于三维Coulomb摩擦锥在数学表述上属于二阶锥的事实,利用二阶锥规划对偶理论,建立了三维Coulomb摩擦接触条件的参变量二阶锥线性互补模型,它是二维Coulomb摩擦接触条件参变量线性互补模型在三维情形下的自然推广;随后,利用参变量变分原理与有限元方法,建立了求解三维摩擦接触问题的二阶锥线性互补法. 较之于将三维Coulomb摩擦锥进行显式线性化的线性互补法,该方法无需对三维Coulomb摩擦锥进行线性化,因而在保证精度的前提下所解问题的规模要小很多. 最后通过算例展示了该方法的特点.      

一种考虑虚拟质量力的两相压力波速经验模型

前人建立的两相压力波速经验模型未考虑虚拟质量力,本文考虑虚拟质量力、管壁弹性、管壁粗糙度等因素,通过求解双流体模型的小扰动,提出了一种新的气液两相压力波速经验模型．以一个具体的工程实例为背景,运用数值方法对其求解,得到的计算结果与前人实测的实验数据一致．结果表明,当空隙率较小时(0＜Φ＜15%)时,虚拟质量力对压力波速的影响不大,当空隙率较大时(Φ≥15%),考虑虚拟质量力计算的压力波速远大于不考虑虚拟质量力计算的压力波速．经验公式也可达到准确求解压力波速的目的．     

虚拟质量力对酸性气体-钻井液两相流波速的影响

基于两流体模型、酸性气体和钻井液状态方程,考虑酸性气体与钻井液相间虚拟质量力、粘性剪切力、相间动量交换及狭义相间阻力等条件,建立酸性气体与钻井液两相中压力波传播速度的数学模型,依据小扰动原理,对波速模型求解,得到关于波数K的波速方程。结果表明,在一定范围内,随空隙率、频率的增大,虚拟质量力对波速的影响显著增强;在高空隙率下,压强增大,虚拟质量力对波速的影响减弱;增大流体的密度或不可压缩性,均可使两相压力波速增大;延长气液交换时间或减小波动频率使相间有足够时间进行动量交换,两相压力波波速随之减小。     

多工况作用下空间桁架结构拓扑优化的修正单纯形方法

本文以内力为设计变量，构造了多工况作用下空间桁架结构拓扑优化的凸二次规划模型，利用其Ｋ－Ｔ条件形成了关于内力，松弛和Ｋ－Ｔ乘子的线性互补问题。用修正单纯形方法求解。     

一种考虑虚拟质量力的井筒气液两相压力波色散经验模型

考虑虚拟质量力、管道特性、频率、空隙率等因素，建立气液双流体压力波速模型，结合小扰动理论，提出了一种新的考虑虚拟质量力的两相压力波色散经验模型，与前人气液两相流（12.5%空隙率）中波色散实验测试数据对比是一致的，且经验公式也可达到准确求解压力衰减系数的目的．对控压钻井两相压力波进行计算，结果表明：(1)随系统压力的增大，压力波衰减系数呈现减小趋势，随节流阀动作频率增大、温度增大，压力波衰减系数呈现增大趋势；(2)随空隙率增大，压力衰减呈现先增大后减小趋势，空隙率在8%≤φ≤40%区间，两相压力衰减系数存在最大峰值，当压力为0.2 MPa时，空隙率在19.5%时达到峰值2.78 dB/m;(3)在低频下，波色散主要受相间机械及热力学平衡机制的制约，波色散现象明显；在高频下，相间来不及进行动量及能量交换，气液状态达不到有序的状态，因而波色散现象不明显；(4)不考虑虚拟质量力，两相压力衰减系数呈现增大趋势，波色散现象显著性下降．     

基于虚拟激励法的大跨桥梁抖振内力分析

桥梁抖振内力分析是大跨桥梁抗风设计中的一项重要课题。目前，通常采用等效静风荷载的方法来计算桥梁抖振内力。本文将虚拟激励法应用到桥梁抖振内力分析中来，考虑多模态耦合效应，建立了直接应用随机振动方法计算桥梁抖振内力的快速算法。最后，以主跨为628m的某大跨斜拉桥为例进行了多模态耦合抖振内力分析，结果表明：高阶模态的参与将使主梁抖振内力增大，主梁抖振内力的峰因子介于3．4至4．0之间。     

铝基复合材料高速干摩擦行为的遗传神经网络预测模型

对4种SiC颗粒增强铝基复合材料在5种速度和4种压力条件下进行了销-盘摩擦磨损试验,运用遗传神经网络技术建立了铝基复合材料在高速干滑动过程中的摩擦行为预报模型,并用该模型对铝基复合材料进行预报.结果表明,蓄热能力较大的铝基复合材料在服役条件下具有较高的摩擦系数,与实际情况相一致.用遗传神经网络建立的铝基复合材料摩擦行为预测模型为服役条件下提供了简便、可靠的优选材料方法.     

基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究

基于接触约束法和LuGre摩擦模型对在重力场作用下作大范围旋转运动的柔性梁系统和斜坡发生含摩擦斜碰撞的动力学问题进行研究. 首先运用刚柔耦合的多体系统动力学理论对大范围运动的柔性梁进行离散化和动力学建模, 在碰撞时采用冲量动量法求出跳跃速度, 其次在法向上引入接触约束求解出碰撞力, 在切向上采用LuGre摩擦模型分两种方式求解摩擦力, 第一种是在滑动时摩擦力由摩擦系数和碰撞力计算得出, 黏滞状态下引入切向约束计算拉格朗日乘子反应实际摩擦力, 根据黏滞/滑动切换判断计算出碰撞过程摩擦力(与Coulomb摩擦模型计算摩擦力一致); 第二种根据LuGre摩擦模型摩擦系数和法向碰撞力计算其摩擦力, 从而在碰撞时无需黏滞/滑动切换, 采用相同的摩擦力计算公式. 通过与Coulomb摩擦模型对比发现, LuGre摩擦模型描述碰撞切向摩擦过程更精确, LuGre摩擦模型黏滞时建立约束方程和碰撞采用统一的摩擦力公式这两种建模方式描述的斜碰撞动力学特性没有区别, 进而说明采用法向接触约束和LuGre摩擦模型具有满足碰撞非嵌入情况、避免黏滞/滑动切换、描述摩擦力相对准确的优势.      

When Heyman’s Safe Theorem of rigid block systems fails: Non-Heymanian collapse modes of masonry structures

Heyman’s Safe Theorem is the theoretical basis for several calculation methods in masonry analysis. According to the theorem, the existence of an internal force system which equilibrates the external loads guarantees that the masonry structure is in a stable equilibrium state, assuming that a few conditions on the material behaviour are satisfied: the stone blocks have infinite compressional resistance, and the contacts between them resist only compression and friction. This paper presents simple examples in which the Safe Theorem fails: collapse occurs in spite of the existence of an equilibrated force system. A theoretical analysis of the stability of assemblies of rigid blocks with frictional contacts is then introduced: the virtual work theorem is derived, and a refined formulation of the Safe Theorem is given.     

氟橡胶O型圈低压气体密封黏滞摩擦特性实验

开展了低气体密封压力条件下的氟橡胶O型圈低压黏滞摩擦特性实验研究.对氟橡胶O型圈与不锈钢2Cr13摩擦副的摩擦力的时变曲线进行测量,重点分析了密封压力、O型圈压缩率和滑动速度对O型圈黏滞摩擦力的影响规律.结果表明:随压缩率的增加,氟橡胶O型圈摩擦力增加,并呈现出明显的回弹特征,即滞后摩擦力增加且释放时间增加;随着密封压力的增加,其所受最大静摩擦力、滑动摩擦力与滞后摩擦力均呈现非线性变化,且存在一极大值;减小往复运动速度,摩擦力数值增大,但摩擦力极值对应的密封压力值变小.     

Contact force and mechanical loss of multistage cable under tension and bending

A theoretical model for calculating the stress and strain states of cabling structures with different loadings has been developed in this paper. We solve the problem for the first-and second-stage cable with tensile or bending strain. The contact and friction forces between the strands are presented by two-dimensional contact model. Several theo-retical models have been proposed to verify the results when the triplet subjected to the tensile strain, including contact force, contact stresses, and mechanical loss. It is found that loadings will affect the friction force and the mechanical loss of the triplet. The results show that the contact force and mechanical loss are dependent on the twist pitch. A shorter twist pitch can lead to higher contact force, while the trend of mechanical loss with twist pitch is compli-cated. The mechanical loss may be reduced by adjusting the twist pitch reasonably. The present model provides a simple analysis method to investigate the mechanical behaviors in multistage-structures under different loads.     

Time-optimal rendezvous transfer trajectory for restricted cone-angle range solar sails

The advantage of solar sails in deep space exploration is that no fuel consumption is required. The heliocentric distance is one factor influencing the solar radiation pressure force exerted on solar sails. In addition, the solar radiation pressure force is also related to the solar sail orientation with respect to the sunlight direction. For an ideal flat solar sail, the cone angle between the sail normal and the sunlight direction determines the magnitude and direction of solar radiation pressure force. In general, the cone angle can change from 0° to 90°. However, in practical applications, a large cone angle may reduce the efficiency of solar radiation pressure force and there is a strict requirement on the attitude control. Usually, the cone angle range is restricted less more than an acute angle （for example, not more than 40°） in engineering practice. In this paper, the time-optimal transfer trajectory is designed over a restricted range of the cone angle, and an indirect method is used to solve the two point boundary value problem associated to the optimal control problem. Relevant numerical examples are provided to compare with the case of an unrestricted case, and the effects of different maximum restricted cone angles are discussed. The results indicate that （1） for the condition of a restricted cone-angle range the transfer time is longer than that for the unrestricted case and （2） the optimal transfer time increases as the maximum restricted cone angle decreases.     

样品粗糙度对材料SHPB动态压缩性能的影响

有效消减样品端面摩擦力是保证分离式霍普金森压杆（split Hopkinson pressure bar, SHPB）实验结果有效性和准确性的必要条件。为了研究样品粗糙度和润滑效果对端面摩擦力和最终实验结果的影响,以应变率效应不敏感且性能稳定的紫铜为研究对象,通过机械加工配合酸蚀的方法制备了3种典型表面粗糙度的紫铜样品,分别在二硫化钼（MoS₂）充分润滑和完全不润滑的条件下各自开展高精度的SHPB重复动态压缩实验研究。结果表明,通常认为能够有效消减金属样品端面摩擦力的MoS₂仅能够在样品粗糙度不大于0.8 μm的情况下起到较好的润滑效果,随着紫铜样品粗糙度的增加,MoS₂的润滑效果不断降低,端面摩擦力不断增大,实验结果的分散性也显著增加。样品端面粗糙度为1.6 μm时,MoS₂已不能有效消减端面摩擦力;样品端面粗糙度达到3.2 μm时,MoS₂的润滑效果几乎为零。SHPB实验中使用MoS₂润滑金属样品时,压杆和样品实验端面的粗糙度需达到0.8 μm;腐蚀液处理后的金属样品外表面粗糙度难以达到0.8 μm,实验过程中需对样品端面进行比MoS₂润滑效果更好的润滑处理,或对实验结果进行扣除端面摩擦力的修正才能够保证实验结果的有效性和准确性。     

Adhesion and friction of an elastic half-space in contact with a slightly wavy rigid surface

The paper deals with the estimation of the pressure distribution, the shape of contact and the friction force at the interface of a flat soft elastic solid moving on a rigid half-space with a slightly wavy surface. In this case an unsymmetrical contact is considered and justified with the adhesion hysteresis. For soft solids as rubber and polymers the friction originates mainly from two different contributions: the internal friction due to the viscoelastic properties of the bulk and the adhesive processes at the interface of the two solids. In the paper the authors focus on the latter contribution to friction. It is known, indeed, that for soft solids, as rubber, the adhesion hysteresis is, at least qualitatively, related to friction: the larger the adhesion hysteresis the larger the friction. Several mechanisms may govern the adhesion hysteresis, such as the interdigitation process between the polymer chains, the local small-scale viscoelasticity or the local elastic instabilities. In the paper the authors propose a model to link, from the continuum mechanics point of view, the friction to the adhesion hysteresis. A simple one-length scale roughness model is considered having a sinusoidal profile. For partial contact conditions the detached zone is taken to be a mode I propagating crack. Due to the adhesion hysteresis, the crack is affected by two different values of the strain energy release rate at the advancing and receding edges respectively. As a result, an unsymmetrical contact and a friction force arise. Additionally, the stability of the equilibrium configurations is discussed and the adherence force for jumping out of contact and the critical load for snapping into full contact are estimated.