Reissner板弯曲的复变函数分析方法

本文建立了Reissner板弯曲问题的复变函数分析方法,它可以有效地用于分析含一般孔洞板弯曲的应力集中问题。作为应用,文中还给出了一些计算实例。     

Winkler地基上变厚度圆板的轴对称弯曲

本文提出了Winkler地基上变厚度圆板轴对称弯曲的传递矩阵算法。首先，根据贝塞尔函数理论获得了等厚度圆板和环板单元在任意荷载作用下轴对称弯曲的解析解，这些解均由通解和特解两部分组成。基于这些解析解，导出了等厚度圆板和环板单元的传递矩阵。然后沿径向将变厚度圆板划分成一个等厚度圆板单元和一系列等厚度环板单元，应用传递矩阵算法原理获得了变厚度圆板的整体传递矩阵。引入圆板的边界条件，给出了该板每条节线上的挠度、径向转角、径向弯矩和径向剪力。最后，讨论了受均布荷载作用的简支线性变厚度圆板的弯曲，将本文数值解与解析解进行比较，证实了本文方法的有效性，并简要地讨论了地基参数对板挠度和径向弯矩的影响。     

求解弹性梁的普遍化方法

介绍了一种求解弹性梁的新方法．该方法利用奇异函数与拉普拉斯变换相结合的方法导出弹性梁弯曲变形的普遍表达式，并利用边界条件确定约束力，对具有任意支承形式、受力状况和阶梯形状的静定或超静定梁具有普适性．     

Effects of boundary conditions and anisotropy on elastically bent silicon

In four-point bending, the rollers that are used for load application impose additional constraints on the specimen that affect the anticlastic specimen curvature and cause the specimen displacement and stress profiles to deviate from the pure beam bending case. In this study, x-ray microdiffraction is used to map both the principal and anticlastic curvatures of elastically bent, rectangular (100)-type Si strips possessing width:thickness ratios of 40:1. We quantify the amount of roller constraint and show that the region over which the anticlastic specimen curvature is affected away from the roller is approximately five times the roller diameter. Consequently, for bending tests used to determine Poisson's ratio, if a region on the sample that is free from roller effects is not chosen, measurement errors as high as 46% can occur. Furthermore, we show that, due to the anisotropy of single crystal Si, this roller-constraining effect depends on crystallographic orientation and is more pronounced when the principal bending axis lies along the <100> direction as compared with the <100> direction.     

Bifurcation and universal unfolding for a rotating shaft with unsymmetrical stiffness

The 1/2 subharmonic resonance bifurcation and universal unfolding are studied for a rotating shaft with unsymmetrical stiffness. The bifurcation behavior of the response amplitude with respect to the detuning parameter was studied for this class of problems by Xiao et al. Obviously, it is highly important to research the bifurcation behavior of the response amplitude with respect to the unsymmetry of stiffness for this problem. Here, by means of the singularity theory, the bifurcation and universal unfolding of amplitude with respect to the unsymmetrical stiffness parameter are discussed. The results indicate that it is a high codimensional bifurcation problem with codimension 5, and the universal unfolding is given. From the mechanical background, we study four forms of two parameter unfoldings contained in the universal unfolding. The transition sets in the parameter plane and the bifurcation diagrams are plotted. The results obtained in this paper show rich bifurcation phenomena and provide some guidance for the analysis and design of dynamic buckling experiments of this class of system, especially, for the choice of system parameters. The project supported by the National Natural Science Foundation of China (19990510), the National Key Basic Research Special Foundation (G1998020316) and Liuhui Center for Applied Mathematics, Nankai University and Tianjin University     

一种提高薄板稳定分析精度的方法

在薄板稳定分析中，九参数三角形薄板单元因其形状简单，使用方便，在实际工程中得到了广泛应用。本文基于参数调正的几何刚度矩阵，对九参数三角形薄板单元的一致刚度矩阵进行了修正，为提高计算精度提供了一种有效方法。     

The problems of nonlinear bending for orthotropic rectangular plate with four clamped edges

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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.     

用多色染色理论实现有限元刚度矩阵并行组集

根据多色染色理论，在同一节点有任意多个单元邻接的情况下，对有限元的单元进行了分类；在刚度矩阵组集时，同类单元可以并行计算，从而提高了组集效率．该并行算法在PVM(并行虚拟机器)并行平台上进行了具体实现，取得了较好的并行效率．     

点支撑预应力中厚矩形板的弯曲

基于Reissner-Mindlin一阶剪切变形板理论，讨论在预加面内机械荷载或温度场作用下，点支撑中厚矩形板的弯曲问题。温度场假定沿板表面为均布，沿板厚方向为线性分布的。利用考虑剪切变形影响的Timoshenko梁函数，采用Rayleigh-Ritz法给出不同边界条件下点支撑中厚板在横向荷载作用下的挠度和弯矩分布。结果表明，均匀温度场与预加面内压力将使板的挠度和弯矩增加。支撑点位置的变化、边界约束条件和横向剪切变形效应都对板的内力大小和分布有显著影响。