单层平面索网幕墙结构的几何非线性问题研究

单层平面索网支承式玻璃幕墙结构是近年来在国内外应用较为广泛的一种新型幕墙结构形式,由于单层平面索网不具有负高斯曲面形式,结构在平面外方向的刚度偏柔,表现出较明显的几何非线性特征.本文采用连续化方法建立了单层平面索网结构考虑几何非线性影响的静力平衡方程和振动方程,得到了结构刚度的解析表达式,并采用谐波平衡法求得非线性频率的简化解析表达式,以此为基础研究了单层平面索网结构的静力非线性和动力非线性问题.研究结果表明:结构的非线性和结构的初始位置密切相关;结构的非线性频率主要取决于索的初始应变、结构振动幅值与跨度的比值,几何非线性对于结构动力性能的影响要小于对结构静力性能的影响;本文得到的结构在地震荷载和平均风荷载作用下的非线性振动方程和非线性频率为结构在地震荷载和脉动风荷载作用下动力响应的求解奠定了基础.     

并联机器人刚度与静力学研究现状与进展

并联机器人的刚度与静力学分析, 对于机构力学性能研究具有重要的理论价值和意义. 本文围绕杆支撑、绳牵引和钢带传动 3 种结构形式, 详细阐述了国内外并联机构刚度和静力学分析的研究现状. 着重从有限元、解析模型和性能分析 3 方面分析了杆支撑并联机构的刚度研究进展. 讨论了有关绳牵引并联机构中绳拉力、动载荷频率、绳牵引预紧力与刚度、静力学之间关系的研究成果. 根据钢带并联机器人结构的特殊性, 对钢带并联机构的刚度与静力学分析中可能遇到的失稳与振动问题进行了探讨. 最后, 对并联机器人技术发展情况进行总结与展望, 指出随着刚度分析与静力学分析的不断深入, 并联机器人的力学理论将会日趋成熟和完善, 为并联机器人机构优化设计提供更深入、系统的理论依据.      

Nonlinear dynamic phenomena in a SDOF model of cable net

The dynamic behavior of the simplest possible cable net is studied in this paper, consisting of two crossing cables in perpendicular vertical planes, having the same span and opposite sags. A concentrated mass is attached at the central node, and only the vertical translational degree of freedom is assumed as active. First, the static behavior is explored up to the load level that causes tensile cable failure. Then, the dynamic response is investigated for different resonant conditions and is found to give significantly larger amplitudes with respect to the static ones, even for loading frequencies away from the eigenfrequency of the system. In order to derive analytical solutions, the equation of motion is simplified and the cable net is proved to be a Duffing oscillator. For the simplified problem, the occurrence of nonlinear phenomena is verified analytically, such as bending of the response curve, jump phenomena, instability regions, dependence on the initial conditions, and superharmonic and subharmonic resonances. These phenomena are also detected by means of numerical analyses. A comparison between the exact model and the simplified one shows that the analytical solution of the Duffing equation describes the dynamic behavior of the cable net with satisfactory accuracy.     

一种具有强耦合作用的有限元单元刚度矩阵组装策略

讨论了对起重机械结构进行有限元静、动力分析时的一种特殊单元——钢丝绳单元的强耦合特性,研究了将钢丝绳单元刚度矩阵往总刚度矩阵组装时的策略,以方便地在现有的有限元分析程序中引进该单元。     

基于动态松弛法的柔索驱动并联机器人位置正解分析

根据悬链线解析表达式推导出悬索两端固定时索端拉力与索长之间的关系,用于求解特定长度的驱动柔索对处于某一位姿的动平台的作用力.动态松弛法可以从任意的初始状态开始,通过简单迭代而使系统达到静平衡状态.将该方法应用到柔索驱动并联机器人的位置正解分析中,可以得到与特定索长对应的动平台位姿.以舱索系统为例验证了方法的正确性.     

斜拉桥拉索-阻尼器系统非线性响应分析

考虑索的抗弯刚度、垂度及几何非线性的影响，得出了索一阻尼器系统的空间非线性振动偏微分方程，用中心差分法将微分方程在空间内离散，导出了系统的非线性振动常微分方程组。结合Newmark法及虚拟力法提出了一种用于求解非线性振动瞬态响应的杂交分析算法。并以典型的斜拉桥拉索为研究对象，给出了数值算例，并与Runge—Kutta直接积分法进行了比较，说明了杂交算法的准确性及有效性。     

Dynamic stiffness matrix of a general cable element

Summary A computational scheme for determining the dynamic stiffness coefficients of a linear, inclined, translating and viscously/hysteretically damped cable element is outlined. Also taken into account is the coupling between inplane transverse and longitudinal forms of cable vibration. The scheme is based on conversion of the governing set of quasistatic boundary value problems into a larger equivalent set of initial value problems, which are subsequently numerically integrated in a spatial domain using marching algorithms. Numerical results which bring out the nature of the dynamic stiffness coefficients are presented. A specific example of random vibration analysis of a long span cable subjected to earthquake support motions modeled as vector gaussian random processes is also discussed. The approach presented is versatile and capable of handling many complicating effects in cable dynamics in a unified manner.The work reported in this paper has been carried out as a part of a research project on dynamics of extensible cables funded by the Department of Science and Technology, Government of India. The financial support received is gratefully acknowledged.     

Dynamics of cable truss via polynomial shape functions

A model for the in-plane dynamic behaviour of a biconcave cable structure, subject to large static deformations and potentially slack harnesses is proposed, based on polynomial shape functions, in line with the classical Ritz method. The model provides a semi-analytical approach to the calculation of natural frequencies and modal shapes of the structure. The proposed formulation leads to an eigenvalue problem, based on a reduced number of degrees of freedom compared with equivalent FEM solutions, providing the basis for fast and accurate sensitivity analysis. The behaviour of the deformed structure is analysed in detail to understand the non-linear effects of non-symmetric mass and load distribution and slack harnesses on natural frequencies and corresponding modal shapes. Results confirm the relevance of the non-linear effects, due to the statically loaded configuration, on the linear vibrations of the structure, in particular evidencing the influence of the slackening of harnesses on modal shapes. Results are compared to analytical models, where available (single sagged cable), and to FEM solutions (for cable trusses with non-uniform mass and load distribution and potentially slack harnesses), providing good agreement.

     

悬索桥主缆过三定点的精确线形数值解析计算方法

系统阐述了悬索桥分段悬链线理论及其基本方程,对变化刚度迭代法计算主缆线形进行了深入分析,发现了其不收敛的情况。对此,提出主缆过三定点的精确线形E-M解析计算方法,通过主缆平衡方程分别推导出末点和中间点标高与主缆左端水平和竖向分力H和V的解析关系式,得出综合考虑末点和中间点标高误差影响的H和V的修正迭代式。算例验证与有限元方法吻合较好,在吊索索力极不均匀的情况下,E-M计算方法仍能有效满足主缆线形过三定点的要求,收敛速度快精度高。     

Par2: a spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications

This paper introduces a new two-degree-of-freedom (dof) parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize these dof is their lack of transversal stiffness, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed parallel architecture is a spatial mechanism which guarantees a good transversal stiffness. It is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the two passive chains which are coupled to create a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2-dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 400 ms⁻¹ can be achieved while keeping a low tracking error.     

Application of the integral manifold method to the analysis of the spatial motion of a rigid body fixed to a cable

We analyze the spatial motion of a rigid body fixed to a cable about its center of mass when the orbital cable system is unrolling. The analysis is based on the integral manifold method, which permits separating the rigid body motion into the slow and fast components. The motion of the rigid body is studied in the case of slow variations in the cable tension force and under the action of various disturbances.We estimate the influence of the static and dynamic asymmetry of the rigid body on its spatial motion about the cable fixation point. An example of the analysis of the rigid body motion when the orbital cable system is unrolling is given for a special program of variations in the cable tension force. The conditions of applicability of the integral manifold method are analyzed.     

Transient vibrations of a tau inclined cable with a riding accelerating mass

The objective of this paper is a theoretical and numerical study of the dynamics of a taut inclined cable with a riding accolerating mass, which is suspended from two points of different elevation. The moving mass is a trolley that is accelerated by a solid fuel rocket down the inclined cable and is aerodynamically brought to a halt. The thrust of the rocket is tangential to the deformed configuration of the cable.Methods of analysis consist of the dynamics of small deformations superimposed on the static catenary state. The problem is nonlinear due to presence of friction and the convective acceleration interaction of the moving mass and the cable. Galerkin's procedure for removal of spatial dependence and numerical integration are used to obtain convergent solutions.Deceased     

索牵引并联机器人静态平衡位置的正解研究

研究了一种大跨度但运动缓慢的索牵引并联机器人的位置正解问题,此时可认为系统处于静平衡状态,但必须考虑柔索垂度的影响。索牵引并联机器人的静态平衡位置的正解就是确定机器人末端执行器的位置和姿态,使得系统能在给定的柔索长度下处于静平衡状态。这涉及到系统的非线性力学分析而不仅仅是一个几何问题。本文采用悬链线方程描述柔索的力学特性,结合索端位移与机器人末端执行器位移之间的关系推导出机器人的末端执行器位移与索长变化之间的增量关系,据此提出一种迭代策略完成正解计算。数值算例验证了本文方法的有效性。     

求解大柔度梁/绳索的ANCF单元及隐式迭代格式

为模拟大柔度梁/绳索结构的变形和大范围运动,基于绝对节点坐标方法ANCF(Absolute nodal coordi-nate formulation)和HHT(Hilber-Hughes-Taylor)积分方法,建立了ANCF单元的隐式动力学迭代格式.得到了简洁的节点等效力向量,且进一步导出了切线刚度矩阵的全部公式,...     

Nonlinear transient response of stay cable with viscoelasticity damper in cable-stayed bridge

Taking the bending stiffness, static sag, and geometric non-linearity into consideration, the space nonlinear vibration partial differential equations were derived. The partical differential equations were discretized in space by finite center difference approximation, then the nonlinear ordinal differential equations were obtained. A hybrid method involving the combination of the Newmark method and the pseudo-force strategy was proposed to analyze the nonlinear transient response of the inclined cable-dampers system subjected to arbitrary dynamic loading. As an example, two typical stay cables were calculated by the present method. The results reveal both the validity and the deficiency of the viscoelasticity damper for vibration control of stay cables. The efficiency and accuracy of the proposed method is also verified by comparing the results with those obtained by using Runge-Kutta direct integration technique. A new time history analysis method is provided for the research on the stay cable vibration control.     

大型结构特征值问题的Lanczos子结构并行算法

本文利用子结构和Lanczos方法,提出了大型结构固有频率与模态的并行解法。该方法在Lanczos方法的求解过程中,仅利用子结构刚度阵和质量阵并行进行凝聚,进而求得新的迭代矢量,最终求得三对角阵对应的特征值和特征向量。该算法在西安交通大学ELXSI-6400并行计算机上程序实现,计算结果表明能有效地节省计算时间和计算机的内存,为一种有效的大型工程结构动力问题的求解方法。     

Isogeometric cable elements based on B-spline curves

Meccanica - In this paper, the isogeometric cable elements based on B-spline curves are developed for the static analysis of cable structures under conservative static loads. For this, the...     

A study on the effect of structure parameters on the dynamic characteristics of a PRRRP parallel manipulator

This paper studies the effect of structure parameters on the dynamic characteristics of a planar PRRRP parallel manipulator. The stiffness model is derived by considering the effect of joint. Based on the stiffness matrix, the vibration equation of this parallel manipulator is investigated to study the dynamic characteristics. The natural frequency is computed, and the effect of Y and Z coordinate on the natural frequency is discussed. Moreover, the sensitivity model of the dynamic characteristic to critical structure parameters is proposed. The thickness of column and leg, the radial stiffness of bearing, and the lumped mass on the end-effector are determined based on the natural frequency and sensitivity index. The results are useful to the structure design of parallel manipulators.     

改进型XFEM进展

扩展有限元法(XFEM)在诞生后的十几年时间里,引起学术界和工业界的广泛关注,并已经成为目前裂纹分析的主流数值方法。然而,在实际应用中该法一直受到两方面的困扰,(1)总体方程高度病态;刚度阵条件数随网格尺寸呈h-6变化(普通有限元为h-2)。(2)裂尖强化插值由于能量一致性问题无法直接推广应用于动力学计算。前者表现在XFEM稳态问题的迭代求解收敛慢或难以收敛,后者长期以来导致XFEM裂纹扩展动力学计算实施困难。本文认为XFEM目前遇到的种种困难,均与单位分解引入的额外自由度相关。为此,提出了无额外自由度的单位分解插值格式,基于此格式,进一步构造出改进型扩展有限元方法。改进型XFEM具有如下特点,(1)可以消除原有XFEM的线性依赖性和总体方程病态的问题。(2)避免动力学问题中额外自由度引起的质量集中、零临界时间步长问题以及裂纹扩展过程中的能量一致性问题。本文结合静动力学测试问题综述上述改进。     

滑轮在索上滑行分析的索-轮单元法

为了分析索结构中滑轮在悬索上行走及连续长索从滑轮下绕行问题,创建了一种新的单 元. 被称为索-滑轮单元的三节点新单元模拟一段索支承滑轮,滑轮的中心取为中间节点, 索的两端点为另外两节点. 基于有限元分析的基本原理,并利用处于平衡状态时单元内力之间的关系,推导了单元的算法. 这种新单元可以通过自动调整滑轮两侧索段的长度使单元处于平衡状态,从而简化了计算. 算例证明了新单元的算法及所编制程序的正确性,同时说明了它在工程中的应用. 给出了构成刚度阵的各矩阵的显式表达式. 新单元可以直接用于常规的有限元分析中,分析处于工作状态或施工中的索结构.