力锤敲击作用下内嵌自主移动钢球欧拉梁碰撞减振性能研究

结合内嵌自主移动质量子系统梁／板实验平台实验结果,对力锤敲击作用下,内嵌自主移动钢球欧拉梁碰撞减振系统进行研究。采用线性弹簧-阻尼模型模拟钢球与梁之间的碰撞机制,通过分析建立了整个碰撞系统的分段线性动力学方程;运用无量纲化、假设模态法及高阶模态截断等方法导出系统的状态空间方程。数值计算结果表明,内嵌自主移动钢球对欧拉梁...     

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.     

作大范围回转运动柔性梁斜碰撞动力学研究

为正确估计由于碰撞引起的多柔体系统动力学特性的变化,针对作大范围回转运动的柔性梁与一固定斜面发生斜碰撞的情况,在考虑刚柔耦合效应的多柔体系统动力学建模理论的基础上,利用假设模态法建立起重力场作用下的柔性梁一致线性化动力法向碰撞过程中系统的动力行为。基于Ｈｅｒｔｚ接触理论和非线性阻尼项建立法向碰撞接触模型,基于线性切向接触刚度建立柔性梁切向碰撞接触模型,提出的数值算法保证了计算结果的合理性,给出的仿     

柔性铰柔性杆机器人动力学建模、仿真和控制

本文探究了铰柔性对机器人动力学响应和动力学控制的影响. 首先, 建立由$n$个柔性铰和$n$个柔性杆组成的空间机器人模型, 运用递推拉格朗日动力学方法, 得到柔性机器人系统的刚柔耦合动力学方程. 在动力学建模过程中, 除了考虑杆件的拉伸变形、弯曲变形、扭转变形以及非线性耦合变形对机器人系统动力学行为的影响, 还考虑了铰的柔性对机器人动力学响应和控制的影响. 其中, 柔性铰模型是基于Spong的柔性关节简化模型, 将柔性铰看成线性扭转弹簧, 不仅考虑了铰阻尼的存在, 还考虑了柔性铰的质量效应. 其次, 编写了空间柔性铰柔性杆机器人仿真程序, 研究铰的刚度系数和阻尼系数对系统动力学响应的影响. 研究表明: 随着柔性铰刚度系数的增大, 柔性机器人的动态响应幅值减小, 振动频率变大. 随着柔性铰阻尼系数的增大, 柔性机器人的动态响应幅值减小, 振动幅值的衰减速度变快. 可通过调节柔性铰的刚度和阻尼来减小柔性铰柔性杆机器人的振动, 因此铰阻尼的研究具有重要工程意义. 最后, 研究了铰柔性在机器人系统动力学控制中的影响. 在刚性铰机械臂和柔性铰机械臂完成相同圆周运动时, 通过逆动力学方法求解得到两种情况下的关节驱动力矩. 研究表明: 引入柔性铰会使控制所需的驱动力矩变小, 对机器人控制的影响显著.      

两柔性梁碰撞振动类型的实验研究

基于对两弹性部件碰撞振动的理论及数值研究,设计了两柔性梁碰撞实验来研究碰撞振动类型．在实验中观察到亚谐、超谐、概周期、混沌等多种碰撞振动类型．此外,发现系统存在类似“频率锁定”性质的碰撞振动,以及同时存在性质相异的碰撞行为,如谐碰撞与混沌振动共存现象     

DYNAMICS MODELING,SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS$^{\bf 1)}$

本文探究了铰柔性对机器人动力学响应和动力学控制的影响. 首先, 建立由$n$个柔性铰和$n$个柔性杆组成的空间机器人模型, 运用递推拉格朗日动力学方法, 得到柔性机器人系统的刚柔耦合动力学方程. 在动力学建模过程中, 除了考虑杆件的拉伸变形、弯曲变形、扭转变形以及非线性耦合变形对机器人系统动力学行为的影响, 还考虑了铰的柔性对机器人动力学响应和控制的影响. 其中, 柔性铰模型是基于Spong的柔性关节简化模型, 将柔性铰看成线性扭转弹簧, 不仅考虑了铰阻尼的存在, 还考虑了柔性铰的质量效应. 其次, 编写了空间柔性铰柔性杆机器人仿真程序, 研究铰的刚度系数和阻尼系数对系统动力学响应的影响. 研究表明: 随着柔性铰刚度系数的增大, 柔性机器人的动态响应幅值减小, 振动频率变大. 随着柔性铰阻尼系数的增大, 柔性机器人的动态响应幅值减小, 振动幅值的衰减速度变快. 可通过调节柔性铰的刚度和阻尼来减小柔性铰柔性杆机器人的振动, 因此铰阻尼的研究具有重要工程意义. 最后, 研究了铰柔性在机器人系统动力学控制中的影响. 在刚性铰机械臂和柔性铰机械臂完成相同圆周运动时, 通过逆动力学方法求解得到两种情况下的关节驱动力矩. 研究表明: 引入柔性铰会使控制所需的驱动力矩变小, 对机器人控制的影响显著.     

移动柔性梁作用下简支梁的动力响应

对移动结构作用下梁的响应问题进行了推广,采用柔性梁作为移动结构模型,在考虑结构柔性和悬挂连接的前提下对系统的耦合振动进行了分析.根据一般边界条件梁建立振动方程,通过量纲一参数以及模态叠加法处理系统动力学方程.以简支边界条件为例,得到了梁响应的数值结果,对系统主要参数即移动结构频率、移动速度及连接刚度对简支梁振动的影响进行了讨论.结果表明:考虑移动体的柔性频率对简支梁的振动会产生一定的影响.     

接触非线性对声黑洞梁减振效果的影响

声黑洞(acoustic black hole, ABH)效应是基于弯曲波在变厚度薄壁结构中的传播性质发展起来的一种被动减振技术. 本文针对传统的线性声黑洞在高频段具有显著减振效果,而在低频段减振性能欠佳的问题,利用接触非线性提出了将能量从低频段传递到高频段的想法,旨在提升声黑洞的总体性能. 考虑声黑洞梁和位于其下方的接触挡板的碰撞振动问题,首先,通过实验验证了引入接触碰撞后系统的非线性机制及能量传递效应. 随后,基于欧拉-伯努利梁理论建立了声黑洞梁和挡板碰撞振动的数值模型,并分析了模型的收敛性. 该模型遵循模态法的求解过程,并利用有限差分法处理变厚度梁的特征值问题. 接触作用力借鉴于Hertzian接触定律来刻画,阻尼层的影响则通过Ross-Kerwin-Ungard模型求解. 基于数值模型,着重分析了含接触非线性时,声黑洞梁的能量传递与衰减特性及其对声黑洞减振性能的提升,并考察了接触刚度、接触点位置和初始间隙等接触参数的影响. 结果表明引入接触非线性后,振动能量可以从声黑洞性能欠佳的低频段传递到声黑洞效果显著的高频区域,梁的能量衰减速度显著加快,声黑洞的整体减振性能得到了有效地提高.      

真空中GCr15钢球／CVD Cr7C3镀层钢盘摩擦副摩擦振动的研究

作者在对GCr15钢球/CVDCr_7C_3镀层钢盘摩擦副于大气中滑动干摩擦引起的摩擦振动进行考察分析的基础上,本文又对这种摩擦副在真空(6.67×10~(-3)Pa)中的摩擦振动特性进行了试验研究。试件系统为低刚度和小阻尼的弹性系统。试验信号由微机采集、处理并进行频谱分析。结果表明,真空中摩擦力振动的类型呈准谐波周期性自持振动,其与正压力及拖动速度无关,振动频率接近于系统在水平方向上的固有频率;摩擦副运动的平稳性与平均滑动摩擦系数接近反比例关系;真空中摩擦力的粘着分量是使摩擦振动加剧的主要原因;钢球的磨损体积与摩擦振动特性无关。     

一种评价旋转态内嵌流体欧拉梁自适应减振效果的新方法

为了评价内嵌式粘性流体单元自适应减振方法(IVFUM)消减运动柔性结构残余振动的效果,进行了旋转态内嵌粘性流体欧拉梁自适应减振试验,对残余振动信号进行了处理。针对旋转态下的内嵌粘性流体欧拉梁残余振动信号具有刚体衰减转动的慢变信号与柔性结构残余振动快变信号相耦合的非平稳特征以及模态参数随时间变化的特点,提出了结合小波包、经验模式分解(EMD)、随机减量技术(RDT)、希尔伯特变换(HT)的综合信号处理方法。提取了内嵌粘性流体欧拉梁的一阶主振动响应信号,识别了梁的一阶模态参数(无阻尼固有频率和等效模态阻尼比)。与SDOF模型处理的数据结果进行比较,欧拉梁残余振动衰减的变化趋势基本一致,表明本文提出的方法在实际应用中是有效可行的。可以推断欧拉梁内嵌1/3左右空腔容积的水在2～5 Hz的旋转频率时,由于流动性较好,可以有效地消减运动柔性结构的残余振动。为半定量评价内嵌粘性流体方式对运动的工程柔性结构残余振动衰减效果提供了有效的依据。     

Electrogas- and electrohydrodynamic control of gas and liquid jets and flows

The physical and mathematical principles of the method of electrogas-and electrohydrodynamic conversion of electrical signals to pneumatic (hydraulic) signals and vice versa for control of gas and liquid jets and flows in electropneumohydraulic systems are considered. St. Petersburg State Technical University, St. Petersburg 195251. Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 41, No. 2, pp. 25–31, March–April, 2000.     

Fatigue and static strength of notched and unnotched aluminum-alloy and steel specimens

This paper describes a method of presentation of fatigue data on three commonly used aircraft materials, 2024-T3 and 7075-T6 aluminum alloys and normalized SAE 4130 steel, such that variations in fatigue strength with stress-concentration factor can be shown. Comparisons of the fatigue strengths of 2024-T3 and 7075-T6 aluminum are made for the most useful range of stress-concentration factors. Static-strength results of notched and unnotched specimens of the three materials are presented to show how the strength varies with some parameters of the stress concentration. Comparison of the data with one theory for the strength of cracked specimens was made.     

STICTION AND ANTI—STICTION IN MEMS AND NEMS

Stiction in microelectromechanical systems (MEMS) has been a major failure mode ever since the advent of surface micromachining in the 80s of the last century due to large surfacearea-to-volume ratio. Even now when solutions to this problem are emerging, such as self-assembled monolayer (SAM) and other measures, stiction remains one of the most catastrophic failure modes in MEMS. A review is presented in this paper on stiction and anti-stiction in MEMS and nanoelectromechanical systems (NEMS). First, some new experimental observations of stiction in radio frequency (RF) MEMS switch and micromachined accelerometers are presented. Second, some criteria for stiction of microstructures in MEMS and NEMS due to surface forces (such as capillary, electrostatic, van der Waals, Casimir forces, etc.) are reviewed. The influence of surface roughness and environmental conditions (relative humidity and temperature) on stiction are also discussed. As hydrophobic films, the self-assembled monolayers (SAMs) turn out able to prevent release-related stiction effectively. The anti-stiction of SAMs in MEMS is reviewed in the last part. The project supported by the Distinguished Young Scholar Fund of NSFC (10225209), key project from the Chinese Academy of Sciences (KJCX2-SW-L2) and National “973” Project (G1999033103)     

水和水蒸汽热力学物性参数及导数的计算与应用

本文针对现代换热设备设计、两相流动与传热研究的需要,介绍了可供科研使用的水和水蒸汽物性计算方法,完善了计算程序。根据超临界锅炉设计中的超临界水的物性计算,两相流研究和换热设备动态特性研究中对物性导数计算的需要,提供了两个算例,并进行了定性分析。     

Data-driven modeling and learning in science and engineering

In the past, data in which science and engineering is based, was scarce and frequently obtained by experiments proposed to verify a given hypothesis. Each experiment was able to yield only very limited data. Today, data is abundant and abundantly collected in each single experiment at a very small cost. Data-driven modeling and scientific discovery is a change of paradigm on how many problems, both in science and engineering, are addressed. Some scientific fields have been using artificial intelligence for some time due to the inherent difficulty in obtaining laws and equations to describe some phenomena. However, today data-driven approaches are also flooding fields like mechanics and materials science, where the traditional approach seemed to be highly satisfactory. In this paper we review the application of data-driven modeling and model learning procedures to different fields in science and engineering.     

Microcanonical Entropy and Mesoscale Dislocation Mechanics and Plasticity

A methodology is devised to utilize the statistical mechanical entropy of an isolated, constrained atomistic system to define constitutive response functions for the dissipative driving-force and energetic fields in continuum thermomechanics. A thermodynamic model of dislocation mechanics is discussed as an example. Primary outcomes are constitutive relations for the back-stress tensor and the Cauchy stress tensor in terms of the elastic distortion, mass density, polar dislocation density, and the scalar statistical density.     

Sound and vorticity interactions: transmission and scattering

We review several aspects of the propagation of sound in vortical flows. We restrict ourselves to isothermal, humidity-free flows at low Mach number M. Since vorticity plays a major role in vortex-flow interactions we focus on vortical flows. We consider two main canonical situations. The first concerns the transmission of sound. We analyze the evolution of acoustic wavefronts as they propagate across a single vortex. The second situation addresses the scattering of sound waves by nonstationary vortices. We study the evolution of the acoustic pressure emitted in the far field, at an angle with the initial direction of propagation. In this geometry one performs direct spectroscopy of the flow vorticity field. In each case, we review theoretical results and compare with experimental measurements and numerical simulations when available. We also briefly report how the following new acoustic techniques have recently been used to study complex or turbulent flows: time-resolved acoustic spectroscopy, speckle interferometry and Lagrangian particle tracking. PACS 43.25, 43.28, 47.32, 67.40