纯滚动圆轮静摩擦力方向的确定

给出了匀质圆轮受力偶或水平力作用在水平地面上作纯滚动时, 其静摩擦力方向的确定方 法. 只受力偶作用作纯滚动的圆轮, 其摩擦力的方向仅取决于外力偶矩的转向, 判断依据为 摩擦力在该圆轮的平面运动中起阻碍圆轮的转动和为圆轮的平移提供主动力两相对的作用. 当圆轮只受水平力作用作纯滚动时, 用刚体平面运动微分方程和动能定理两种方法对摩擦力 方向进行了推导判定, 摩擦力的方向不仅与水平力的作用位置相关, 还与圆轮的大小和相对 质心的惯性半径等因素相关.     

THE METHOD OF THE RECIPROCAL THEOREM OF FORCED VIBRATION FOR THE ELASTIC THIN RECTANGULAR PLATES (III)—CANTILEVER RECTANGULAR PLATES

In this paper, applying the method of the reciprocal theorem, we give the stationary solutions of the forced vibration of cantilever rectangular plates under uniformly distributed harmonic load and concentrated harmonic load acting at any point of the plates, the figures and tables of number value of bending moment and the deflection amplitudes as well.     

THE METHOD OF THE RECIPROCAL THEOREM OF FORCED VIBRATION FOR THE ELASTIC THIN RECTANGULAR PLATES(Ⅲ)—CANTILEVER RECTANGULAR PLATES

In this paper,applying the method of the reciprocal theorem,we give the stationarysolutions of the forced vibration of cantilever rectangular plates under uniformly distributedharmonic load and concentrated harmonic load acting at any point of the plates,the figuresand tables of number value of bending moment and the deflection amplitudes as well.     

The characteristics of soil reaction forces on a single movable lug

In order to understand clearly the characteristics of the soil reaction forces on a single movable lug, the resultant of measured soil reaction forces was determined and presented along with its position on the lug plate. The resultant of soil reaction forces acting on the movable lug increased gradually and reached the maximum value when the lug was on about its lowest position in the soil, then it decreased without offering any downward resistance to the lug till the lug left the soil. The maximum resultant force of the movable lug was higher than that of a fixed lug. The point of action of the resultant force on the movable lug shifted in a similar way in all test cases, that is, it moves to the center of the lug from the outer tip until it reaches the position where it becomes the maximum, then it moves to the outer tip till the lug leaves the soil. The inclination angle of the resultant force increased with the decrease of lug inclination angle. The bigger lug sinkage of the movable lug produced bigger soil reaction forces and shifted the point of action of the resultant force from the tip part to the central part of the lug. However, there was no significant effect of the lug sinkage on the direction of the resultant force. The increase in lug slippage from 25% to 50% brought bigger soil reaction forces on the movable lug, but did not influence the direction and point of action of the resultant force.     

Dynamic point sources in laminated media via the thin-layer method

This paper presents closed-form expressions for the Greens functions associated with harmonic point sources acting within horizontally layered media. These expressions are intended for use with the highly efficient Thin-Layer Method (TLM) described elsewhere, which is now being used widely for diverse engineering purposes. Among the dynamic sources considered are point forces, force dipoles (cracks and moments) , blast loads, seismic double couples with no net resultant, and bimoments (moment dipoles) . Comparisons with known analytical solutionsfor homogenous media demonstrate the accuracy of the formulation. However, the main field ofapplication is laminated media, for which no analytical solutions can be obtained. On the otherhand, it should be noted that the computational effort in this method does not depend on whetherthe system is layered. The resulting Greens functions could be used to efficiently model elasticwaves in complex media by means of the Boundary Integral Method.     

各向异性半平面问题的复应力函数基本解

应用复变函数Ｃａｕｃｈｙ积分的方法，对于各向异性半平面边界为自由或固定两种情形，分别导出了其在任意集中力或集中力偶作用下的复应力函数基本解，其特例与前人结果一致     

STUDY ON THE EQUILIBRIUM ATTITUDE AND STABILITY OF BUOYANT CYLINDERS

浮心相当于浮体的支承点,其位置随物体的姿态而变化;物体稳定平衡时重心与浮心的距离达到极小。圆柱浮体有2~5个平衡位置,其中相间的1~2个稳定,其姿态与比重和长径比相关,在系统参数变化时可能突变。     

THE ANALYSIS OF THE ENTIRE ELASTO-PLASTIC PROCESS OF A BEAM WITH ONE DEGREE OF INDETERMINACY UNDER A CONCENTRATED LOAD

对跨中集中载荷作用下一次超静定梁的弹塑性加载和变形全过程进行了分析。根据受力变形特点,集中载荷作用下一次超静定梁的加载过程可分为4 个阶段,分别是弹性阶段、固支端附近塑性变形区扩展阶段、固支端和集中载荷作用点附近塑性变形区双扩展阶段、固支端保持为塑性铰同时附近卸载而集中载荷作用点附近塑性变形区继续扩展直至形成第2 个塑性铰阶段。在弹性阶段,弯矩内力和挠度与外载荷是线性比例关系,在第2,3 两个阶段,弯矩和挠度与外载荷是复杂的非线性关系,在第4 阶段,弯矩与外载荷是线性关系但不是比例关系而挠度与外载荷是更为复杂的非线性关系。给出了全过程任意点的弯矩和挠度计算公式,可供结构设计参考应用。     

Dimensional Reduction for Nonlinear Time-Delayed Systems Composed of Stiff and Soft Substructures

This paper presents a new approach, based on the center manifoldtheorem, to reducing the dimension of nonlinear time-delay systemscomposed of both stiff and soft substructures. To complete the reductionprocess, the dynamic equation of a delayed system is first formulated asa set of singular perturbed equations that exhibit dynamic behaviorevolving in two different time scales. In terms of the fast time scale,the dynamic equation of system can be converted into the standard formof a functional differential equation in critical cases, namely, to aform that can be treated by means of the center manifold theorem. Then,the approximated center manifold is determined by solving a series ofboundary-value problems. The center manifold theorem ensures that thedominant dynamics of the system is described by a set of ordinarydifferential equations of low order, the dimension of which is identicalto that of the phase space of slowly variable states. As an applicationof the proposed approach, a detailed stability analysis is made for aquarter car model equipped with an active suspension with a time delaycaused by a hydraulic actuator. The analysis shows that the dimensionalreduction is surprisingly effective within a wide range of the systemparameters.     

MATHEMATICAL MODELING AND EXPERIMENTAL STUDY ON SIT-TO-STAND PROCESS BASED ON ASSISTIVE STANDING-UP ROBOT

设计了一种符合人体起立运动的辅助起立机器人,通过牛顿欧拉方程对人体起立过程动力学进行分析与建模,推导机器人辅助起立、上肢辅助起立和肌力不足下肢辅助起立3种情况下,人体力与力矩平衡方程,依据方程在Simulink中建立仿真模型,并使用传感器系统对起立机器人辅助人体起立过程中力与力矩进行测量分析.结果表明：不论采取何种辅助起立方法,辅助起立机器人都可有效辅助起立,特别是对起立初始阶段辅助效果尤为明显.上肢辅助起立时,既可保持身体平衡与稳定,又可补偿起立时所需力与力矩,在接近完全站立时这种效果尤为明显,仿真模型可预测站立过程的关节力与力矩.肌力不足下肢参与辅助起立时,所提供辅助力有限但也起到一定作用.     

砂土地基中开挖过程对立柱桩的影响分析简

立柱桩对基坑工程的稳定性有重要影响. 基于快速拉格朗日法（fast Lagrangian analysis of continua-3D, FLAC3D）,考虑桩土之间的相对滑移作用,深入分析了砂土地基中开挖条件下不同布桩方式对立柱桩桩身拉力、最大拉力位置及桩顶回弹量等的影响. 结果表明：开挖对立柱桩的影响有明显的空间效应,开挖对中心桩的影响最大,角桩最小;开挖使立柱桩桩身内产生了拉力,群桩基础内的中心桩最大拉力值大于 单桩的最大拉力值,且最大拉力值位置随桩数的增加而上移,并最终稳定在0.5倍的有效桩长;中心桩桩顶回弹量先随着桩数的增加而增大,然后当桩数增加到一定的数量后减小.     

Statics and kinematics of discrete Cosserat-type granular materials

A theoretical framework is presented for the statics and kinematics of discrete Cosserat-type granular materials. In analogy to the force and moment equilibrium equations for particles, compatibility equations for closed loops are formulated in the two-dimensional case for relative displacements and relative rotations at contacts. By taking moments of the equilibrium equations, micromechanical expressions are obtained for the static quantities average Cauchy stress tensor and average couple stress tensor. In analogy, by taking moments of the compatibility equations, micromechanical expressions are obtained for the (infinitesimal) kinematic quantities average rotation gradient tensor and average Cosserat strain tensor in the two-dimensional case. Alternatively, these expressions for the average Cauchy stress tensor and the average couple stress tensor are obtained from considerations of the equivalence of the continuum force and couple traction vectors acting on a plane and the resultant of the discrete forces and couples acting on this plane. In analogy, the expressions for the average rotation gradient tensor and the average Cosserat strain tensor are obtained from considerations of the change of length and change of rotation of a line element in the two-dimensional case. It is shown that the average particle stress tensor is always symmetrical, contrary to the average stress tensor of an equivalent homogenized continuum. Finally, discrete analogues of the virtual work and complementary virtual work principles from continuum mechanics are derived.     

用三线摆测定物体对非质心轴的转动惯量

对三线摆的线性近似模型和转动惯量计算公式的由来作了简要说明. 分析了三线摆扭振系统 质心偏移对转动惯量测试的影响，给出了扭振系统质心与三线摆中心轴对齐的判别准则和用 三线摆测定物体对非质心轴转动惯量的工程实用方法. 通过工程实例说明了该方法的有效性 与可靠性. 最后讨论了提高转动惯量实测精度的几项具体措施.     

静电加速度计悬浮质量块质心偏移量在轨标定

高精度静电加速度计已广泛地应用于航天任务中,用于测量作用于航天器的非引力加速度。如果静电加速度计悬浮质量块的质心与航天器的质心安装有偏差时,重力梯度力、姿态耦合产生的干扰加速度,静电加速度计控制系统引入的干扰加速度等干扰力会夹杂在测量数据中。针对这一问题,研究了航天器小质量特性变化情况下,当静电加速度计处于动态设计良好并进入稳态后,利用静电加速度计、陀螺仪和磁强计作为敏感元件,基于非线性卡尔曼滤波理论的静电加速度计悬浮质量块质心偏移量的在轨标定。仿真结果表明,该方案的精度J向可以达到0．1mm,Y和Z向能达到0．04mm。     

A precision six-load-component transducer: A design incorporating finite-length measurement paths

The design of an instrument is described that measures three resultant force components and three resultant moment components acting on a surface. Within the framework of linear elastostatics of an isotropic homogeneous material the device separates to a given precision the six resultant load components. Sensor paths of finite length are employed. Moreover if fiber-optic differential displacement sensors are used rather than traditional electrical resistance strain gages, the range and sensitivity of the instrument can in principle be improved without sacrificing the device stiffness. The primary reason for these improvements is that a complete solution to the equations of elasticity allows certain displacements to be measured over large distances and be combined to yield all of the resultant load components. These displacement measurements over a long distance accommodates the use of fiber-optic interferometric sensors. The use of optical sensors in contrast with electrical-resistance gages, has the potential to allow the measurement precision and range to scale with the geometry of the device rather than the maximum strain in the instrument. It becomes possible by virtue of these features to produce a better instrument.     

On the large amplitude oscillations of a thin elastic beam

This paper is concerned with the finite amplitude, free, planar oscillations of a thin elastic beam. By assuming the motion to be inextensional but at the same time recognizing the existence of a resultant normal force acting on each cross-section of the beam a system of governing equations is derived which is manageable but still meaningful. For the case of the simply-supported beam a finite difference, Galerkin, and (regular) perturbation solutions are explicitly obtained. The results are compared and discussed. In the course of obtaining the various solutions it is found that an additional simplification in the form of the governing equations is possible. This simplification turns out to be quite important from a general point of view of obtaining approximate analytical solutions.     

CRACK INTERACTING WITH AN INDIVIDUAL INCLUSION BY THE FRACTURE CRITERION OF CONFIGURATIONAL FORCE

基于构型力概念提出一种可判断裂纹起裂以及裂纹扩展方向的新断裂准则.该准则假设当构型合力值达到一个临界值时裂纹开始扩展,而裂纹扩展的方向则为构型合力的矢量方向.基于此断裂准则,本文开发构型力的有限元计算方法,实现对裂纹扩展的数值模拟,并着重对工程中常见的含孔洞/夹杂结构的裂纹扩展问题展开研究.研究结果表明,基于构型力的裂纹扩展准则可以很好地预测裂纹与孔/夹杂的干涉作用,其数值模拟结果与实验结果相符,从而验证了该裂纹扩展模拟方法的有效性.通过对裂纹和夹杂（圆孔、软夹杂、硬夹杂）干涉问题的数值模拟表明,裂纹前端夹杂对裂纹的扩展具有重要影响.裂纹的扩展方向与裂纹和夹杂的相对位置、以及夹杂类型密切相关.软夹杂和圆孔会吸引裂纹向其扩展,而硬夹杂会排斥裂纹扩展,裂纹在扩展过程中会绕开硬夹杂.当裂纹与夹杂夹角较小时,夹杂对裂纹扩展的影响作用明显,当夹角较大时,夹杂对裂纹扩展的影响较小;特别当裂纹与夹杂夹角为45°时,软夹杂和圆孔可能会抑制裂纹的扩展,使裂纹扩展发生止裂.研究结果有助于认清含孔洞/夹杂结构中的裂纹扩展或止裂问题,对于工程中的断裂问题具有重要指导意义.     

端部受斜冲击的刚塑性悬臂梁的双铰模型

斜冲击载荷作用在刚塑性悬臂梁的端部,引起作用在梁横截面处的弯矩以及轴力;在发生塑性变形截面处,弯矩及轴力满足交互作用屈服条件。广义应力在移行铰的邻域不违背屈服条件,屈服函数可在移行铰的背面取极大值,移行铰处的剪切力不必为零。如果悬臂梁足够长,在响应的初始阶段移行铰处非零的剪力会在梁上引起多铰变形。通过对双铰模型与单铰模型的比较发现,双铰模型计算的结果与单铰模型计算的结果很接近,单铰模型作为一个近似模型具有一定的合理性。     

Tilted guides with friction in web conveyance systems

One challenge in designing web conveyance systems is controlling the displacement and vibration of the webs by guides without introducing instabilities or higher frequency disturbances from flange impacts. A solution to this problem is to use an actively or passively tilted guide or roller to steer the web. In this paper, a model of tilted guides with friction is developed, and it is shown that tilted guides produce a change in the web’s displacement, slope, bending moment, and shear force. When the web is conceptually unwrapped from its path, the normal force between the web and a tilted guide has a component that acts in the direction of the web’s lateral displacement, resulting in an equivalent force and bending moment acting on the web. The model is validated by measurements, and is compared to a previously existing model of guide tilt. In the configurations studied, the displacement of the web near the guide is linearly dependent on the tilt angle and tension and it increases exponentially with the web’s span length. When the guide’s tilt is oriented towards the center of the web’s wrap around the guide, the equivalent bending moment is zero in the absence of friction, and there is good agreement between the model developed in this paper and the previously existing model. However, when the center of the web’s wrap is oriented 90° away from the guide’s tilt orientation, the equivalent force is zero in the absence of friction, and measurements demonstrate the necessity of the equivalent bending moment.