作大范围运动弹性梁刚—柔耦合动力学建模

利用弹性梁的变形理论和 Hamilton力学原理对作大范围运动弹性梁的刚 -柔耦合动力学建模理论进行了研究。分析了大范围运动对弹性梁的横向振动和纵向振动的影响 ,得到了大范围运动与弹性梁的中线耦合变形之间的耦合作用对该系统动力学性质有显著的影响 ,从而提出了作大范围运动弹性梁的刚柔耦合动力学模型     

Numerical study of spherical blast-wave propagation and reflection

The objective of this study is to understand the flow structures of weak and strong spherical blast waves either propagating in a free field or interacting with a flat plate. A 5th-order weighted essentially non-oscillatory scheme with a 4th-order Runge-Kutta method is employed to solve the compressible Euler/Navier-Stokes equations in a finite volume approach. The real-gas effects are taken into account when high temperature occurs. A shock-tube problem with the real-gas effect is first tested in order to verify the solver accuracy. Moreover, unsteady shock waves moving over a stationary wedge with various wedge angles, resulting in different types of shock wave reflections, are also tested. It is found that the computed results agreed well with the existing data. Second, the propagation of a weak spherical blast wave, created by rupture of a high-pressure isothermal sphere, in a free field is studied. It is found that there are three minor shock waves moving behind the main shock. Third, the problem of a strong blast wave interacting with a flat plate is investigated. The flow structures associated with single and double Mach reflections are reported in detail. It is found that there are at least three local high-pressure regions near the flat plate. Received 27 July 2000 / Accepted 25 January 2002 – Published online 17 June 2002     

GREEN＇S FUNCTIONS OF TWO－DIMENSIONAL ANISOTROPIC BODY WITH A PARABOLIC BOUNDARY

ＧＲＥＥＮ＇ＳＦＵＮＣＴＩＯＮＳＯＦＴＷＯ－ＤＩＭＥＮＳＩＯＮＡＬＡＮＩＳＯＴＲＯＰＩＣ ＢＯＤＹ ＷＩＴＨ Ａ ＰＡＲＡＢＯＬＩＣ ＢＯＵＮＤＡＲＹ（胡元太）（赵兴华）ＧＲＥＥＮ＇ＳＦＵＮＣＴＩＯＮＳＯＦＴＷＯ－ＤＩＭＥＮＳＩＯＮＡＬＡＮＩＳＯＴＲＯＰ?..     

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.     

炸药爆炸作用下地下结构的动力响应分析

基于显式有限元计算程序LS-DYNA3D和粘弹性人工边界条件，建立了爆腔-地下结构-软回填隔震层-岩土介质系统三维弹粘塑性动力响应分析模型，其中爆腔的模拟采用了经验关系式。通过与美陆军技术手册TM5-855-1经验公式的计算结果比较，表明该分析模型与方法是合理的。还进一步讨论了软回填层的隔震效果。     

The BEM for solving the nonhomogeneous Helmholtz equation with variable coefficients

Considering the fundamental solution of the Laplace equation as the weight function, we give the iterative format for solving the nonhomogeneous Helmholtz equation with variable coefficients. Furthermore, the iteration method of BEM for solving the equation mentioned above is obtained. The numerical example is given in this paper. Finally, the iteration method of BEM mentioned above is compared with the coupled method of BEM that was presented before then by authors.     

超低间隙钛合金低温动态力学性能

本文利用实验应变模态分析方法，在低温条件下（液氦到室温）研究了航天材料超低间隙钛合金ＴＡ７－Ｄ试样的动态力学性能，使用时域系统识别技术分析了材料在不同温度点的模态参数，并根据基频给出了其动态模量随温度的变化。     

大雷诺数线性剪切流绕圆柱的分离流动

本文采用离散涡方法计算了大雷诺数下线性剪切流绕圆柱的分离流动,计算结果给出阻力系数、横向力系数、边界层分离点、斯特罗哈数及尾流中旋涡的分布图案,计算数据与已有的实验数据相吻合。     

钛合金TC-4在高应变率下的动态本构关系

利用分离式Hopkinson扭杆对钛合金TC-4进行了高应变率下动态剪切本构关系的实验研究。结果表明TC-4对应变率高度敏感,对应变率的敏感性随应变率的提高而增加。其动态应力应变关系呈线性强化形式。但动态强化模量随应变率的提高而略有减少。采用Malvern给出的过应力模式_p={exp[(1/)(-f())]-1}/b可以较好地描述TC-4的动态剪切本构关系。     

腐蚀磨损协同作用率的研究

提出了腐蚀与磨损“协同作用”的概念，并用于判断腐蚀与磨损协同作用的性质及大小和确定腐蚀磨损过程中材料损失的主要形式。介绍了协同作用率的测定方法，并以Ｇ１０５钢及化学镀Ｎｉ－Ｐ合金在５．０％ＮａＣｌ溶液中的腐蚀腐损作为研究对象，研究了载荷、滑动速度对腐蚀磨损协同作用的影响。结果表明：协同作用率随载荷增大而增大，随滑动速度增大而减小。