人体上肢运动的Kane动力学模型

建立了人体上肢3刚体7自由度的多刚体模型，并应用Kane方法建立了上肢鞭打动作的物理模型，计算出上肢各环节在鞭打动作过程中的肌肉力矩和关节反作用力．实践证明，Kane方法在描述和计算上肢运动的形式和力矩时具有列解方程规范简洁、编程计算方便高效的特点，计算结果能够反映动作实际．通过对棒球投掷动作上肢三个环节力和力矩进行计算与分析，初步了解了上肢各环节在运动过程中肌肉力矩和关节反作用力与动作技术的关系．     

智能柔性悬臂梁的动力学建模研究

对带有压电陶瓷作动器和传感器的平面智能柔性梁进行了有限元动力学建模。采用Euler-Bernoulli梁模型,在考虑平面梁压电效应的基础上,考虑了大变形和非线性变形,进行了有限元离散;基于Lagrange方程建立了带压电元件的智能柔性悬臂梁的电-结构耦合动力学有限元精确模型,并将本文模型和一般不考虑压电元件质量和电势能模型的仿真结果进行了对比,结果表明:两种模型得到的一阶固有频率最大相差31.8%,响应振幅也有较大的差异。因此,在工程动力学建模中,不能忽略压电元件的质量和电势能。本文所建立的电-结构耦合动力学模型能更加精确地反映实际应用中智能柔性悬臂梁的动力学特性。     

柔性机械臂动力学建模和控制研究

综述了柔性机械臂动力学建模和动力学控制等相关问题,介绍了柔性机械臂动力学建模中的旋转代数法、基于Lagrange方程的方法及基于模型辩识的方法;介绍了柔性机械臂动力学控制中的PD控制、反馈控制、自适应控制、鲁棒控制、预测控制、非线性控制和智能控 制,最后详细介绍了柔性机械臂动力学控制中的混合控制及智能结构;指出在柔性机械臂动力学建模和动力学控制应解决的问题。这对包括柔性机械臂在内的多柔体系统动力学建模与控制问题的研究有一定的促进作用。      

应用真三维岩体建模仿真技术推进岩石力学教学改革

随着计算机技术的发展和研究项目最新成果的取得, 把岩体真三维建模仿真技术引入到岩石力学教学改革与实践中, 挖掘教学资源潜力; 开展岩体结构、岩石变形与破坏过程的数值试验, 再现许多物理实验所不能观察到的力学现象, 例如岩体的空间真三维结构、岩石破坏过程块体滑落等, 从而使学生对岩石的变形与破坏过程有更加清晰的认识, 提高岩石力学实验的教学质量.     

星形胶质细胞的动力学建模分析研究进展

越来越多的研究表明,星形胶质细胞作为神经系统中不可缺少的重要组成部分,和神经元之间有着密切的信息交流,对维持正常生命活动起着至关重要的作用.本文主要对目前星形胶质细胞动力学建模分析的相关研究进行综述.第1和第2部分阐述了星形胶质细胞的生理意义及在相关疾病中的作用;第3部分总结了星形胶质细胞的相关模型及动力学研究;第4部分总结了星形胶质细胞与神经元共建网络的相关模型及星形胶质细胞发挥作用的动力学研究;最后,第5部分对可进一步开展的工作进行了展望,指出对星形胶质细胞进行理论研究的下一步可能方向.     

基于辅助起立机器人的人体起立动力学建模与试验研究

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.      

基于谐振器激励的轴承故障动力学建模研究

考虑轴承故障动力学中的高频共振以及故障激励特点,提出一种模拟系统高频共振和过渡式故障激励的轴承故障动力学建模方法。基于赫兹接触理论,将轴承部件之间的连接简化为弹簧-阻尼结构,并加入谐振器以模拟故障的宽频激励所引起的系统高频共振,从而建立轴承六自由度动力学模型。另外,传统的故障瞬变激励方法难以反映滚动体经过滚道故障的过程,考虑到滚动体与故障接触的实际情况,给出一种过渡式的故障激励方法。以传动链平台上的6304深沟球轴承为例,对轴承外圈故障下的振动响应特性进行仿真和数据处理,其仿真结果与轴承故障实测信号对比相符,仿真信号故障一阶特征阶次与理论值误差约为0.016 7%,表明模型具有一定的准确性和可靠性。     

多柔体系统动力学建模与优化研究进展

多柔体系统是由柔性部件和运动副组成的力学系统,在航空、航天、车辆、机械与兵器等众多工程领域具有广泛的应用前景, 其典型的代表包括柔性机械臂、直升机旋翼、卫星的可展开天线、太阳帆航天器等. 近年来,随着工程技术的发展,多柔体系统动力学问题日益突出,尤其是含变长度柔性部件的多柔体系统,不仅涉及其动力学 建模与计算,还涉及其动力学优化设计. 事实上,部件柔性对多柔体系统的动力学行为影响很大,直接影响到优化结果,因此需要发展基于多柔体系统动力学的优化设计方法. 本文首先阐述了多柔体系统动力学优化的研究背景及意义,简要回顾了多柔体系统动力学建模的3类方法:浮动坐标方法、几何 精确方法和绝对节点坐标方法,并介绍了含变长度柔性部件的多柔体系统动力学建模方法. 系统概述了多柔体系统动力学响应优化、动力学特性优化和动力学灵敏度分析3个方面的研究进展,并从尺寸优化、形状优化和 拓扑优化 3 个方面综述了多柔体系统部件优化的研究进展. 本文最后提出了在多柔体系统动力学优化研究中值得关注的若干问题.      

多关节人体上肢运动的优化轨迹预测

研究了手端无约束条件下,多关节人体上肢点到点运动优化轨迹的预测. 首先建立了多关节上肢平面运动的动力学模型,根据最小功准则提出优化目标函数,将上肢点到点运动的优化轨迹求解问题转化为两点边值问题,设计了寻优的迭代算法,求得了上肢运动的优化轨迹与相应的速度变化曲线. 仿真结果表明: 平衡点位置或关节力矩平滑地变化,避免了肢体出现急加速-急减速的运动形式,减少了肢体运动时的能量消耗;手端的运动轨迹为近似直线,速度为单峰的钟形曲线,这与上肢优化运动的特征相吻合,也表明最小功准则可以有效预测多关节上肢运动的优化轨迹.      

大型空间结构的动力学建模与控制

综述了近年来关于大型空间结构的动力学建模和控制的研究成果.介绍与评论了化简分布参数系统的3种方法,最后提出了如何有效地控制大型空间结构的一些看法.      

Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms

The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 - 4 homogenous transformation matrices, and the Lagrangian equations are used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics is adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link are taken into account. Based on the present method a general-purpose software package for dynamic simulation is developed. Dynamic simulation of a spatial flexible manipulator arm is given as an example to validate the algorithm.     

流固耦合作用下真实人体上呼吸道呼吸流涡结构演化的数值仿真

通过构建真实人体上呼吸道三维规范模型,运用大涡模拟数值方法,对考虑流固耦合作用的低强度循环呼吸模式下人体上呼吸道内的呼吸流进行了数值仿真,研究分析了人体口喉模型及气管支气管内的气流涡结构及其演化过程。结果表明,循环吸气过程中,气流在口腔中部以及舌苔上部形成多个涡管,在声门部位形成强烈的射流,在气管前壁出现马蹄涡,到气管中部大尺度涡结构逐步消失,支气管中只剩下一系列小尺度涡结构;循环呼气过程中,气流在气管底部产生较为复杂的涡结构,随着气流在气管内的融合,涡强度逐步减弱,在咽喉后壁形成拱状涡,气流进入口腔后,涡结构破裂,涡量扩散,没有较大的涡结构产生。     

人体上呼吸道内气流运动特性的数值模拟分析

运用计算流体动力学(CFD)方法对人体上呼吸道内的气流运动特性进行了数值模拟,通过PIV实验对数值模拟结果进行了验证。研究结果表明:气流在咽部外壁、气管外壁发生分离现象,气流在气管内壁形成局部高速区,支气管内的气流在分叉处发生分离,靠近支气管内壁速度较高,并且在支气管边界层的外缘速度达到最大值。气管和支气管内的二次涡流运动和轴向速度的分布使得气管支气管内壁受到的剪应力较大,内壁粘膜更容易受到损伤。     

Finite element modeling of contact conditions in multibody system dynamics

In this paper a new method is developed for the dynamic analysis of contact conditions in flexible multibody systems undergoing a rolling type of motion. The relative motion between the two contacting bodies is treated as a constraint condition describing their kinematic and geometric relations. Equations of motion of the system are presented in a matrix form making use of Kane's equations and finite element method. The method developed has been implemented in a general purpose program called DARS and applied to the simulation and analysis of a rotating wheel on a track. Both the bodies are assumed flexible and discretized using a three dimensional 8-noded isoparametric elements. The time variant constraint conditions are imposed on the nodal points located at the peripheral surfaces of the bodies under consideration. The simulation is carried out under two different boundary conditions describing the support of the track. The subsequent constraint forces associated with the generalized coordinates of the system are computed and plotted. The effects of friction are also discussed.     

Off-road tire modeling and the multi-pass effect for vehicle dynamics simulation

Off-road operations are critical in many fields and the complexity of the tire-terrain interaction deeply affects vehicle performance. In this paper, a semi-empirical off-road tire model is discussed. The efforts of several researchers are brought together into a single model able to predict the main features of a tire operating in off-road scenarios by computing drawbar pull, driving torque, lateral force, slip-sinkage phenomenon and the multi-pass behavior. The approach is principally based on works by Wong, Reece, Chan, and Sandu and it is extended in order to catch into a single model the fundamental features of a tire running on soft soil. A thorough discussion of the methodology is conducted in order to highlight strengths and weakness of different implementations. The study considers rigid wheels and flexible tires and analyzes the longitudinal and the lateral dynamics. Being computationally inexpensive a semi-empirical model is attractive for real time vehicle dynamics simulations. To the best knowledge of the authors, current vehicle dynamics codes poorly account for off-road operations where tire-terrain interaction dominates vehicle performance. In this paper two soils are considered: a loose sandy terrain and a firmer loam. Results show that the model realistically predicts longitudinal and lateral forces providing at the same time good estimates of the slip-sinkage behavior and tire parameters sensitivity.     

Molecular dynamics simulation of the role of dislocations in microcrack healing

The molecular dynamics method is used to simulate microcrack healing during heating or/and under compressive stress. A centre microcrack in Cu crystal would be sealed under compressive stress or by heating. The role of compressive stress and heating in crack healing was additive. During microcrack healing, dislocation generation and motion occurred. When there were pre-existing dislocations around the microcrack, the critical temperature or compressive stress necessary for microcrack healing would decrease, and, the higher the number of dislocations, the lower the critical temperature or compressive stress. The critical temperature necessary for microcrack healing depended upon the orientation of the crack plane. For example, the critical temperature for the crack along the (001) plane was the lowest, i.e. 770K. The project supported by the Special Fund for the Major State Basic Research Projects (No. G19990650) and by the National Natural Science Foundation of China (No. 19891180, 59871010)     

Molecular simulation guided constitutive modeling on finite strain viscoelasticity of elastomers

Viscoelasticity characterizes the most important mechanical behavior of elastomers. Understanding the viscoelasticity, especially finite strain viscoelasticity, of elastomers is the key for continuation of their dedicated use in industrial applications. In this work, we present a mechanistic and physics-based constitutive model to describe and design the finite strain viscoelastic behavior of elastomers. Mathematically, the viscoelasticity of elastomers has been decomposed into hyperelastic and viscous parts, which are attributed to the nonlinear deformation of the cross-linked polymer network and the diffusion of free chains, respectively. The hyperelastic deformation of a cross-linked polymer network is governed by the cross-linking density, the molecular weight of the polymer strands between cross-linkages, and the amount of entanglements between different chains, which we observe through large scale molecular dynamics (MD) simulations. Moreover, a recently developed non-affine network model (Davidson and Goulbourne, 2013) is confirmed in the current work to be able to capture these key physical mechanisms using MD simulation. The energy dissipation during a loading and unloading process of elastomers is governed by the diffusion of free chains, which can be understood through their reptation dynamics. The viscous stress can be formulated using the classical tube model (Doi and Edwards, 1986); however, it cannot be used to capture the energy dissipation during finite deformation. By considering the tube deformation during this process, as observed from the MD simulations, we propose a modified tube model to account for the finite deformation behavior of free chains. Combing the non-affine network model for hyperelasticity and modified tube model for viscosity, both understood by molecular simulations, we develop a mechanism-based constitutive model for finite strain viscoelasticity of elastomers. All the parameters in the proposed constitutive model have physical meanings, which are signatures of polymer chemistry, physics or dynamics. Therefore, parametric materials design concepts can be easily gleaned from the model, which is also demonstrated in this study. The finite strain viscoelasticity obtained from our simulations agrees qualitatively with experimental data on both un-vulcanized and vulcanized rubbers, which captures the effects of cross-linking density, the molecular weight of the polymer chain and the strain rate.     

Molecular dynamics simulation of peeling a DNA molecule on substrate

Molecular dynamics (MD) simulations are performed to study adhesion and peeling of a short fragment of single strand DNA (ssDNA) molecule from a graphite surface. The critical peel-off force is found to depend on both the peeling angle and the elasticity of ssDNA. For the short ssDNA strand under investigation, we show that the simulation results can be explained by a continuum model of an adhesive elastic band on substrate. The analysis suggests that it is often the peak value, rather than the mean value, of adhesion energy which determines the peeling of a nanoscale material.The project supported by the Distinguished Young Scholar Fund of NSFC (10225209) and key project from the Chinese Academy of Sciences (KJCX2-SW-L2)     

Fast simulation of flexible multibody dynamics with electric-hydraulic drive system

Hardware in the loop simulation (HILS) has been investigated in the field of the multibody dynamics (MBD), which combined the MBD simulation with the actual mechanical system. The fast simulation is necessary for the HILS system in order to require the real time simulation. This paper presents a fast simulation technique using the domain decomposition method with the iteration in the flexible multibody system in which flexible linkage system and electro-hydraulic drive system are coupled with each other.     

Dynamic modeling and simulation of flexible cable with large sag

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