机器人单足系统沙土跳跃刚?散耦合动力学分析

在行星探索过程中涉及探测器在星壤上着陆、运动以及收集、存储某些样本材料等问题, 因此需要建立探测机器人在沙土上运动的动力学模型, 从而优化其系统构型. 近年来, 对跳跃型探测机器人研究得到了越多越多的关注. 本文采用离散元法对颗粒场进行建模, 以及采用多体动力学方法对机械系统进行建模, 对机器人单足系统在沙土上的跳跃问题进行耦合动力学仿真分析. 基于经典土力学Prandtl-Reissne理论, 从颗粒场受压分层的形式和动量传递出发, 对描述颗粒侵入阻力的惯性力动阻力项进行了修正, 提出了一种修正的Poncelet公式. 通过与离散元仿真结果对比, 说明所提出修正公式比原始的Poncelet公式更准确地计算了机械足受到的沙土侵入阻力, 尤其在达到一定侵入深度表现出更好的收敛性. 最后分析了机械腿足部的不同尺寸和形状对沙土中跳跃效果的影响, 给出了锥形足部和柱形足部的体积对跳跃效果影响的近似计算公式. 本研究将拓展刚?散耦合动力学理论, 并且为新型探测器在行星土壤上运动的系统设计提供技术支撑.      

Experimental study of planar shock wave interactions with dense packed sand wall

A dense packed sand wall is impacted by a planar shock wave in a horizontal shock tube to study the shock-sand wall interaction. The incident shock Mach number ranges from 2.18 to 2.38. A novel device for actively rupturing diaphragm is designed for the driver section of the shock tube. An apparatus for loading particles is machined by the electrical discharge cutting technique to create a dense packed particle wall. High-speed schlieren imaging system and synchronized pressure measurement system are used together to capture the wave structures and particle cloud velocity. The dynamic evolution model from dense packed particles to dense gas–solid cloud at the initial driving stage is established. The blockage and permeation effects of the sand wall work together and influence each other. The high pressure gas behind the incident shock wave blocked by the sand wall pushes the upstream front of the wall forward like a piston. Meanwhile, the high speed gas permeating through the sand wall drags the sands of the most downstream layer forward. The incident shock strength, initial sand wall thickness and particle diameter are varied respectively to investigate the shock attenuation and the wall acceleration. Increasing the sands diameter or mixing in small diameter sands can significantly attenuate the incident shock. The smaller particles or the particles in thinner wall can be dispersed into a larger range in the process of transform from dense packed particles to dense gas–solid cloud. Moreover, the stronger incident shock can disperse the particles into a larger region.     

考虑颗粒形状和破碎的胶结钙质砂力学行为离散元模拟研究

质砂作为一种建筑材料,近年来广泛应用于我国南海岛礁工程建设中。本文通过建立考虑钙质砂真实颗粒形状和颗粒破碎的胶结钙质砂离散元模型,研究了二维剪切条件下试样的宏微观力学行为,包括应力-应变行为、颗粒破碎、胶结破坏、位移场和裂纹随剪应变的演化规律,讨论了颗粒形状、颗粒粒径范围、颗粒强度和水泥胶结强度对胶结钙质砂力学行为的影响规律。结果表明,钙质砂颗粒粒径区间越宽,胶结钙质砂的强度越高。同一级配条件下,考虑真实颗粒形状的胶结钙质砂试样比圆颗粒试样的强度更高,试样总体颗粒破碎率也更高。钙质砂颗粒的强度越高,胶结钙质砂的性能越好。但是提高水泥的强度对胶结钙质砂力学性能的影响并不显著。本文的研究结果可为实际工程中钙质砂的加固提供理论依据。     

Environmental Constraints on the Mechanics of Crawling and Burrowing Using Hydrostatic Skeletons

Mechanics, kinematics, and energetics of crawling and burrowing by limbless organisms using hydrostatic skeletons depend on the medium and mode in which the organism is moving. Whether the animal is moving over or through a solid has long been considered important enough to distinguish crawling and burrowing as different terms, and in fact the mechanics are very different. Crawlers use mechanisms to increase friction to generate thrust while reducing resistive friction. Burrowers in elastic muds extend their burrows by fracture, whereas sands are fluidized by burrowers much larger than grain sizes and smaller burrowers displace individual grains. Gravitational forces depend on how closely the density of the organism matches that of its fluid surroundings, therefore frictional forces depend on whether the organism is moving through air or water and fluidization on whether sands are saturated or unsaturated.     

Microscale Numerical Simulation of the Permeability Reduction due to Trapping of Suspended Fine Particles Within Sand Sediments

The reduction in permeability of sediments due to blockages caused by the trapping of suspended particles is a common concern for the extraction processes of oil or natural gas. In this study, the effect of trapped fine particles in sand sediments is studied numerically using a three-dimensional lattice Boltzmann method. The geometrical properties of larger, immobile, sand grains are digitally extracted by the spherical harmonics series expansions of CT scans of real sand grains. The migrating fine particles are assumed to be spherical in shape with their volumes following a log-normal distribution. These fine particles, together with larger frame sands, are positioned, without overlapping, within a microscopic, cubic, domain with periodic boundaries. The remaining empty volume is filled with water and imposing a pressure gradient simulates the flow of fluid through the sediment. As a result of fine particles becoming trapped by the frame sand, the initial porosity of which is 0.589, the absolute permeability of the system is reduced by approximately 60?C90?%, corresponding to fine particle saturations of 0.15?C0.29, respectively. The permeability change due to the trapping of fine particles is also modelled theoretically using not only volume saturations but also specific surface areas of both the frame sands and the fine particles with a coefficient of proportionality.     

Characterization of artificial spherical particles for DEM validation studies

This paper describes a study in which advanced particle-scale characterization was carried out on spherical particles that can be used in experimental tests to validate discrete element method (DEM) simulations. Two types of particle, alkaline and borosilicate glass beads, made from two different materials, were considered. The particle shape, stiffness, contact friction properties and surface roughness were measured. The influences of hardness and roughness on the mechanical response of the particles were carefully considered. Compared to the alkaline beads, the borosilicate beads were more spherical and more uniform in size, and they exhibited mechanical characteristics closer to natural quartz sand. While only two material types were studied, the work has the broader implication as a methodology for selecting particles suitable for use in DEM studies and the key parameters that should be considered in the selection process are highlighted.     

MEASUREMENT OF ADHESION FORCES IN AIR WITH THE VIBRATION METHOD

The vibration method represents a practical method for the measurement of adhesion forces and adhesion force distributions. This method causes sinusoidally altemating stresses and yields detachment and contact forces between particles and substrate of the same order of magnitude. Alternating contact forces of the vibration method can cause an adhesion force intensification through flattening of asperities. The measuring principle of the vibration method and the analysis of experimental results are described in the article. Normal adhesion forces (pull-off forces) are measured using the vibration method and the colloidal probe technique. The results of both methods show good agreement for small particle sizes. The influence of the detachment force direction is shown by comparing tangential and normal adhesion forces measured using particle reentrainment in a turbulent air flow and the vibration method, respectively. The surface roughness of the substrate and the relative humidity are shown to significantly influence the measured adhesion forces. For the calculation of the adhesion forces, an approach by Rabinovich was combined with approximations of plastic micro asperity flattening. The Rabinovich approach accounts for roughness effects on the van der Waals force by incorporating the rms roughness of the interacting surfaces. rms-values of the particles and substrates were measured with atomic force microscopy at different scanning areas.     

Endurance study of bionic wheels for Mars rovers

Four kinds of bionic non-smooth surfaces were designed to improve the durability of wheels designed for Mars rovers. A durability test bed was developed, and the wheels were tested over different terrain conditions. Their performance was evaluated based on abrasion mass, energy consumption, and wear morphology. Convex domes exhibited optimal abrasive mass and energy consumption 46% and 16%, respectively, lower than with original wheels under coarse quartz sand conditions. When bedrock was added to the abrasive material, the abrasive mass and energy consumption of the convex dome and scale-like unit forms were reduced by 60% and 67.5%, respectively. These two non-smooth surfaces exhibited increased wear resistance and drag reduction. These results indicate that the durability of wheels can be improved using bionic optimization methods.     

Crushing of particles in idealised granular assemblies

Four idealised assemblies of equally sized spherical particles are subjected to a range of macroscopic compressive principal stresses and the contact forces on individual particles are determined. For each set of contact forces the stress fields within individual particles are studied. A failure criterion for brittle materials is imposed and indicates that crushing (or rupture) occurs when the maximum contact force reaches a threshold particle strength value, irrespective of the presence and magnitude of other lesser contact forces acting on the particle and the material properties of the particle. Combining the crushing mechanism with an assembly instability mechanism enables failure surfaces to be drawn in the three-dimensional stress space. A simple spatial averaging technique has been applied to the failure surfaces to remove the effects of assembly anisotropies. Sections of the failure surfaces on π planes have similarities to those commonly used in sand modelling.     

钙质砂介质中爆炸波传播规律的试验研究

开展了一系列钙质砂和石英砂的地面爆炸试验，主要对比分析了两种砂土介质中爆炸波的传播规律，包括峰值压力、弹塑性波速及升压时间、爆坑尺寸等。试验结果表明，爆炸波在钙质砂中的传播与在石英砂中存在较大差异：地面爆炸作用下钙质砂爆坑较石英砂爆坑的直径和深度更小，且成坑形状为两阶同心圆；钙质砂中弹性波速为236～300 m/s，石英砂中弹性波速为218～337 m/s，弹性波速和塑性波速均随炸药质量增加而增大；爆炸波在钙质砂中的升压时间随比例距离的增加而增加，而在石英砂中升压时间随比例距离变化不明显，且较钙质砂中升压更迅速；在地面爆炸作用下，低含水率钙质砂的衰减系数为2.86，石英砂为2.79。     

石英砂粒径对水合物沉积物力学性质的影响

利用自主研发的水合物沉积物原位合成与力学性质测试的高压低温三轴仪,通过多级加荷的试验方法,以不同粒径的砂粒作为沉积物骨架进行三轴压缩试验,得到了剪切过程的应力-应变关系曲线,以及不同粒径尺寸沉积物的强度,还有剪切过程中的体积变化关系。结果表明:含水合物沉积物强度随着沉积物粒径尺寸的增大而增强;在降压剪切过程中,所有粒径的水合物沉积物式样均有明显的剪缩现象。     

Clustering under the influence of electrostatic forces

Using the approach of Jackson and Grace & Tuot to analyze the ability of a gas-solid transport to form clusters of particles, an electrostatic force was incorporated into the analysis. The analysis does not include any frictional forces due to particle-particle and particle-wall interactions. Electrostatic forces are shown to decrease the distance in which clusters will form. The effect is strongly influenced by the particle size, with smaller particles having shorter growth distances. The effect of the parameters gas velocity, voidage and charge are explored.     

Validation of fluid–particle interaction force relationships in binary-solid suspensions

In this work several relationships governing solid–fluid dynamic interaction forces were validated against experimental data for a single particle settling in a suspension of other smaller particles. It was observed that force relationships based on Lattice-Boltzmann simulations did not perform as well as other interaction types tested. Nonetheless, it is apparent that, in the case of a suspension of different particle types, it is important that the correct choice is made as to how the contribution to the overall fluid–particle interaction force is split between buoyancy and drag. Experimental evidence clearly suggests that the “generalized” Archimedes’ principle (where the foreign particle is considered to displace the whole suspension and not just the fluid) provides the best result.     

饱和砂土的三剪弹塑性边界面模型研究(一)——模型理论

基于边界面模型方法研究了不同密实度和含泥量的饱和砂土在静、动荷载作用下的力学和变形特性。其中,初始边界面方程是通过改进修正剑桥模型椭圆形屈服方程得到的,后继边界面方程则是在前次边界面方程的基础上采用中心点映射法获得。针对原模型破坏应力比为定值,不能反映全应力状态和黏聚力在土体受力过程中的作用这一问题,基于三剪统一强度准则,通过等量代换法、坐标平移法对破坏应力比、相变应力比进行了修正,使修正后的椭圆形边界面适用于不同密实度和含泥量的饱和砂土。在此基础上应用边界面理论,研究了饱和砂土的三剪弹塑性边界面本构模型及有限元算式。该模型能够描述密实砂土在受力时表现的剪胀特性,同时可以反映中间主应力效应、应力区间效应、拉压差效应和黏聚力对应力-应变特性的影响。     

颗粒物质中的多尺度问题

颗粒物质是大量离散的固体颗粒相互作用而组成的复杂体系. 依据颗粒排布的稀疏程度, 体系可分为颗粒气体、颗粒流体和颗粒固体,它们有不同本质的动量传递和能量耗散机制. 后两者属于密集颗粒物质体系,内部形成了颗粒$\to $力链$ \to$体系的多尺度结 构,并涉及多个特征时间尺度,是典型的多尺度体系. 合理分割体系结构层 次、正确理解不同层次的物理过程、并确定它们之间的关联是密集颗粒物质研究的核心任务. 本文依次分析了密集颗粒物质的内在物理图像、多尺度结构层次和特征时间等,并介绍了多 尺度研究框架.     

Liquid bridge force between two unequal-sized spheres or a sphere and a plane

Liquid bridge force acting between wet particles is an important property in particle characterization. This paper deals with liquid bridge force between either two unequal-sized spherical particles or a sphere and a flat plate under conditions where gravitational effect arising from bridge distortion is negligible. In order to calculate the force of the liquid bridge efficiently and accurately, expressions of liquid configuration and liquid bridge force were derived by building a mechanical model, which assumes the liquid bridge to be circular in shape between either two unequal-sized spheres or a sphere and a plane. To assess the accuracy of the numerical results of the calculated liquid bridge forces, they were compared to the published experimental data.     

An analysis of the chaotic motion of particles of different sizes in a gas fluidized bed

The dynamic behavior of individual particles during the mixing/segregation process of particle mixtures in a gas fluidized bed is analyzed. The analysis is based on the results generated from discrete particle simulation, with the focus on the trajectory of and forces acting on individual particles.Typical particles are selected representing three kinds of particle motion:a flotsam particle which is initially at the bottom part of the bed and finally fluidized at the top part of the bed; a jetsam particle which is initially at the top part of the bed and finally stays in the bottom de-fluidized layer of the bed; and a jetsam particle which is intermittently joining the top fluidized and bottom de-fluidized layers. The results show that the motion of a particle is chaotic at macroscopic or global scale, but can be well explained at a microscopic scale in terms of its interaction forces and contact conditions with other particles, particle-fluid interaction force, and local flow structure. They also highlight the need for establishing a suitable method to link the information generated and modeled at different time and length scales.     

An analysis of the chaotic motion of particles of different sizes in a gas fluidized bed

The dynamic behavior of individual particles during the mixing/segregation process of particle mixtures in a gas fluidized bed is analyzed. The analysis is based on the results generated from discrete particle simulation, with the focus on the trajectory of and forces acting on individual particles. Typical particles are selected representing three kinds of particle motion： a flotsam particle which is initially at the bottom part of the bed and finally fluidized at the top part of the bed; a jetsam particle which is initially at the top part of the bed and finally stays in the bottom de-fluidized layer of the bed; and a jetsam particle which is intermittently joining the top fluidized and bottom de-fluidized layers. The results show that the motion of a particle is chaotic at macroscopic or global scale, but can be well explained at a microscopic scale in terms of its interaction forces and contact conditions with other particles, particle-fluid interaction force, and local flow structure. They also highlight the need for establishing a suitable method to link the information generated and modeled at different time and length scales.     

Nonlinear dynamics of excited plate immersed in granular matter

The interaction between granular matter and the elastic body is a complex issue due to the complex properties of granular matter. An experiment involving a sinusoidally excited plate buried in glass bead particles contained in a box is conducted. The motion behavior of the plate is observed and recorded by the strain gauge. The amplitude–frequency and phase–frequency curves are recorded to study the natural property of the plate in granular matter. In this experiment, jump phenomena are found in both the amplitude–frequency and phase–frequency planes in circumstances with smaller particle sizes, lower buried depths, and larger amplitudes of the excitation force. Otherwise, the period-doubling bifurcation, especially 3T, is found with the increase in the excitation force. These bifurcations usually occur in specific buried depth and excitation frequency band and require smaller particle sizes. The experiments with random-shaped particles exhibit no-jump phenomenon, but period-doubling bifurcation and chaos. These phenomena are sensitive to parameters and closely related to the varying process of the excitation frequency and force. Reasonable mechanisms are summarized qualitatively through some of our recent researches in this paper.     

Sand particle dislodgement in windblown sand

The incipient motion of sand particle from sand bed plays a very important role in the prediction of windblown sand.In this paper,we proposed a new method for predicting the incipient motion of sand particle based on wind speed fluctuation as follows,when the wind speed is larger than the critical wind speed,if the total impulse on sand particle is larger than the critical impulse,incipient motion of sand particle would take place,otherwise if not.Furthermore,from the analysis of entrainment in the rolling and lifting modes,we come to the following conclusion.When the average wind speed is smaller than the critical wind speed,if the average wind speed is used to judge the incipient motion of sand particle,one will underestimate the number of sand particles jumping from the bed,if the instantaneous wind speed is used to judge incipient motion of sand particle,one will overestimate the number of sand particles jumping from the bed;When the average wind speed is larger than the critical wind speed,either the average or the instantaneous wind speeds is used to judge the incipientmotion of sand particles,one will overestimate the number of sand particles jumping from the bed.