大变形轴向运动梁的精确动力学模型

轴向运动梁的横向振动是具有实际工程背景的动力学问题.该文应用Cosserat弹性杆模型讨论圆截面轴向运动梁的动力学建模及其运动稳定性.以沿梁中心线的弧坐标代替方向固定的坐标轴,根据梁截面的姿态随弧坐标和时间的变化确定梁的变形过程.从欧拉的速度场概念出发,考虑梁截面转动的惯性效应和剪切变形,建立大变形轴向运动梁的动力学方程.其小变形特例为轴向运动的三维Timoshenko梁.基于该模型分析了轴向运动梁准稳态运动的静态和动态稳定性,导出可导致失稳的临界轴向速度.证明空间域内的欧拉稳定性条件是时间域内的Lyapunov稳定性的必要条件.      

旋转楔形-回形梁的高次动力学建模和末端变形分析

对四种不同结构中心刚体-柔性Euler Bernoulli梁系统进行刚柔耦合动力学分析．其中以等截面梁、变截面梁、等截面回形梁、变截面回形梁为对象,研究楔形梁及回形梁对系统的末端变形位移影响．变截面梁的宽高尺寸沿着轴向线性变化．梁的变形包含了轴向、横向、耦合变形项（横向弯曲引起的纵向缩短）．采用假设模态法和第二类Lagrange方程建立系统的动力学方程,并用C++编写软件进行动力学仿真．研究表明：在相同条件下,梁的截面尺寸及空心部分对梁末端变形位移影响十分明显,且当梁在较大变形情况下,该高次耦合模型依然能得到正确的结果,因此在针对实际结构建模时,建立符合实际截面的模型至关重要．     

轴线存在应变时弹性杆力学的两个概念

讨论Kirchhoff弹性杆力学向精确Cosserat弹性杆推广中的两个概念: 轴 线切向量对截面法向量是怎样偏离以及本构方程中应变矢和弯扭度的基准问题. 从单元体的 剪应变出发, 导出了截面法矢、轴线切矢以及剪应变矢三者关系, 即Cosserat弹性杆的变形 几何关系;从Hook定律出发, 论证了在一次近似下本构方程中的截面弯扭度和形心应变矢都 以原始弧坐标为基准.     

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     

考虑剪切效应的旋转FGM楔形梁刚柔耦合动力学建模与仿真

本文对一类中心刚体-柔性梁系统在大范围转动下的刚柔耦合动力学问题进行了研究. 柔性梁为功能梯度材料(functionally graded materials, FGM)楔形变截面梁,材料体积分数在梁轴向呈幂律分布变化. 以弧长坐标来描述柔性FGM梁的几何位移关系,分别使用倾角和拉伸应变变量描述柔性梁的横向弯曲和纵向拉伸变形,并计及剪切效应. 采用假设模态法离散变形场,运用第二类拉格朗日方程进行方程推导,得到系统考虑剪切效应的刚柔耦合动力学模型. 基于全新的刚柔耦合动力学建模理论,研究不同轴向材料梯度分布的FGM楔形梁,通过数值仿真计算,分析讨论不同的转速、梯度分布规律以及变截面参数对系统动力学特性的影响. 结果表明,剪切效应对大高跨比的FGM楔形梁的变形影响较为明显,不容忽略;材料梯度分布规律和截面参数的选取均会对旋转FGM楔形梁的动力学响应和频率产生较大影响. 本文提出的考虑剪切效应的倾角刚柔耦合动力学模型是对以往非剪切模型的进一步完善,可应用于工程中的 Timoshenko梁结构的动力学问题求解.      

基于剪切变形的矩形梁剪力滞求解方法

Timoshenko梁通过假设截面的剪切刚度和附加平均剪切转角变形的方式来近似修正初等梁中未考虑剪切变形能的问题,这与梁剪应力沿梁高变化的实际不符。本文基于材料力学剪应力计算式和相应的剪切变形理论,从剪切变形与梁的位移关系入手,导出矩形梁考虑剪切变形时的纵向位移沿梁高方向的函数关系式,证明该位移可分解为纯弯曲引起的位移和剪力引起的剪力滞翘曲位移之和。应用剪力滞广义坐标与广义力的概念,基于能量变分原理得到等截面梁剪力滞控制微分方程组及其通解形式。对均布荷载作用下矩形简支梁的算例分析表明,本文算法与弹性力学精确解对比,两者的应力和挠度剪力滞系数求解结果非常接近,本文算法有足够的精度,且比弹性力学简单。     

考虑变形耦合的几何非线性空间梁单元

以"精确几何模型梁单元"为代表的很多几何非线性梁单元,在构造过程中分别对描述截面转动的转角和描述截面形心位置的位移进行了独立插值,由此引起了诸如运动学描述冗余和剪切闭锁等困难。其根本原因在于单元形函数没能体现细长梁中的变形耦合关系。本文对这类传统单元进行了改造,通过深入研究单元变形之间的内在联系,提出了一种变形场完全满足Bernoulli梁变形耦合关系的新单元,避免了构造过程中对转动矢量的插值,并通过数值算例检验了单元的有效性。     

考虑曲率纵向变形效应的大变形柔性梁刚柔耦合动力学建模与仿真

对在平面内做大范围转动的中心刚体柔性梁系统的动力学进行了研究,建立了考虑大变形效应的系统刚柔耦合动力学模型,并进行了动力学仿真.该动力学模型不但考虑了柔性梁横向弯曲变形和纵向变形(包含轴向拉伸变形和横向弯曲变形而引起的纵向缩短项),还考虑了纵向变形对曲率的影响,称为曲率纵向变形效应.在以往的研究中,柔性梁的横向弯曲变形能往往直接使用柔性梁横向弯曲变形来表达,并没有考虑纵向变形的影响.为了考虑柔性梁纵向变形对横向弯曲变形能的影响,在浮动坐标系下使用柔性梁参数方程形式的精确曲率公式来计算柔性梁的弯曲变形能.在此基础上建立了基于浮动坐标系的考虑曲率纵向变形效应的刚耦合动力学模型.论文给出了数值仿真算例,验证了本文所建的动力学模型既能适用于柔性梁的小变形问题,又能适用于大变形问题,且较现有高次刚柔耦合动力学模型更加适用于大变形问题的处理.论文还通过与能处理柔性梁大变形问题的绝对节点坐标法的比较,验证了模型的正确性.      

旋转中心刚体-FGM梁刚柔热耦合动力学特性研究

对旋转中心刚体-功能梯度材料(functionally graded material,FGM)梁刚柔热耦合动力学特性进行研究.FGM梁为物理性能参数沿厚度方向呈幂律分布的欧拉伯努利梁.考虑柔性梁的横向弯曲变形和轴向拉伸变形, 并计入横向弯曲变形引起的纵向缩短,即非线性耦合变形量.考虑变截面空心梁在外部高温、内冷通道冷却情况下的热力耦合对系统动力学特性的影响,求解得到FGM梁沿厚度方向分布的温度场, 进而在本构关系中计入热应变.采用假设模态法对柔性梁变形场进行离散,运用第二类拉格朗日方程推导得到系统的刚柔热耦合动力学方程,并编制动力学仿真软件, 然后通过仿真算例对系统的动力学问题进行研究.结果表明:不同截面梁动力学响应差异较大, 因此需对实际系统合理建模;大范围运动已知时, 考虑热冲击载荷的FGM梁将有效抑制横向弯曲变形,而大范围运动恒定时随热冲击的叠加会出现高频振荡; 大范围运动未知时,外力矩和热冲击载荷相互作用产生热力耦合效应, 导致系统呈现高频振荡,同时与中心刚体大范围旋转运动产生刚柔热耦合效应.      

等截面梁有限变形的传递函数解法

本文应用传递函数方法对等截面梁的有限变形进行了分析,对于等截面梁的有限变形问题,该方法从变分方程出发把问题表述为状态空间的形式,然后利用Gauss积分对轴力进行加速迭代求解,不需要进行增量迭代即可取得具有良好计算精度的数值结果,对简单受力的等截面梁情况该解可以看作是所讨论问题的精确解。对于受力比较复杂或者阶梯变截面梁情况,为减少运算量,可以和有限元法类似,采用多个单元进行拼接,从而得到问题的解。数值算例表明,本方法具有半解析、精度高、收敛快等特点。     

Stability analysis of helical rod based on exact Cosserat model

Helical equilibrium of a thin elastic rod has practical backgrounds, such as DNA, fiber, sub-ocean cable, and oil-well drill string. Kirchhoff's kinetic analogy is an effective approach to the stability analysis of equilibrium of a thin elastic rod. The main hypotheses of Kirchhoff's theory without the extension of the centerline and the shear deformation of the cross section are not adoptable to real soft materials of biological fibers. In this paper, the dynamic equations of a rod with a circular cross section are established on the basis of the exact Cosserat model by considering the tension and the shear deformations. Euler's angles are applied as the attitude representation of the cross section. The deviation of the normal axis of the cross section from the tangent of the centerline is considered as the result of the shear deformation. Lyapunov's stability of the helical equilibrium is discussed in static category. Euler's critical values of axial force and torque are obtained. Lyapunov's and Euler's stability conditions in the space domain are the necessary conditions of Lyapunov's stability of the helical rod in the time domain.     

Paradoxical Bending Behavior of Shearable Nonlinearly Elastic Rods

In nonlinear elasticity the exact geometry of deformation is combined with general constitutive relations. This allows a very sophisticated interaction of deformations in different material directions. Based on the Cosserat theory for planar deformations of nonlinearly elastic rods we demonstrate some paradoxical bending effects caused by a nontrivial interaction of extension, flexure, and shear. The analytical results are illustrated by numerical examples.     

Determination of hourglass coefficients in the theory of a Cosserat point for nonlinear elastic beams

The theory of a Cosserat point has recently been used [Int. J. Solids Struct. 38 (2001) 4395] to formulate the numerical solution of problems of nonlinear elastic beams. In that theory the constitutive equations for inhomogeneous elastic deformations included undetermined constants associated with hourglass modes which can occur due to nonuniform cross-sectional extension and nonuniform torsion. The objective of this paper is to determine these hourglass coefficients by matching exact solutions of pure bending and pure torsion applied in different directions on each of the surfaces of the element. It is shown that the resulting constitutive equations in the Cosserat theory do not exhibit unphysical stiffness increases due to thinness of the beam, mesh refinement or incompressibility that are present in the associated Bubnov–Galerkin formulation. Also, example problems of a bar hanging under its own weight and a bar attached to a spinning rigid hub are analyzed.     

A geometrically exact approach to the overall dynamics of elastic rotating blades—part 1: linear modal properties

A geometrically exact mechanical model for the overall dynamics of elastic isotropic rotating blades is proposed. The mechanical formulation is based on the special Cosserat theory of rods which includes all geometric terms in the kinematics and in the balance laws without any restriction on the geometry of deformation besides the enforcement of the local rigidity of the blade cross sections. All apparent forces acting on the blade moving in a rotating frame are accounted for in exact form. The role of internal kinematic constraints such as the unshearability of the slender blades is discussed. The Taylor expansion of the governing equations obtained via an Updated Lagrangian formulation is then employed to obtain the linearized perturbed form about the prestressed configuration under the centrifugal forces. By applying the Galerkin approach to the linearized equations of motion, the linear eigenvalue problem is solved to yield the frequencies and mode shapes. In particular, the natural frequencies of unshearable blades including coupling between flapping, lagging, axial and torsional components are investigated. The angular speeds at which internal resonances may arise due to specific ratios between the frequencies of different modes are determined thus shedding light onto the overall modal couplings in rotating beam structures depending on the angular speed regime. The companion paper (part?2) discusses the nonlinear modes of vibration away from internal resonances.     

Soliton-like solutions based on geometrically nonlinear Cosserat micropolar elasticity

The Cosserat model generalises an elastic material taking into account the possible microstructure of the elements of the material continuum. In particular, within the Cosserat model the structured material point is rigid and can only experience microrotations, which is also known as micropolar elasticity. We present the geometrically nonlinear theory taking into account all possible interaction terms between the elastic and microelastic structures. This is achieved by considering the irreducible pieces of the deformation gradient and of the dislocation curvature tensor. In addition we also consider the so-called Cosserat coupling term. In this setting we seek soliton type solutions assuming small elastic displacements, however, we allow the material points to experience full rotations which are not assumed to be small. By choosing a particular ansatz we are able to reduce the system of equations to a sine–Gordon type equation which is known to have soliton solutions.     

Three kinematic representations for modeling of highly flexible beams and their applications

Presented here are three kinematic representations of large rotations for accurate modeling of highly flexible beam-like structures undergoing arbitrarily large three-dimensional elastic deformation and/or rigid-body motion. Different methods of modeling torsional deformation result in different beam theories with different mathematical characteristics. Each of these three geometrically exact beam theories fully accounts for geometric nonlinearities and initial curvatures by using Jaumann strains, exact coordinate transformations, and orthogonal virtual rotations. The derivations are presented in detail, a finite element formulation is included, fully nonlinear governing equations and boundary conditions are presented, and the corresponding form for numerically exact analysis using multiple shooting methods is also derived. These theories are compared in terms of their appropriate application areas, possible singular problems, and easiness for use in modeling and analysis of multibody systems. Nonlinear finite element analysis of a rotating beam and nonlinear multiple shooting analysis of a torsional bar are performed to demonstrate the capability and accuracy of these beam theories.     

Analysis of an elastic ring tourniquet (ERT) using the theory of a Cosserat curve and finite elements

A-TT™ and S-MART™ are novel elastic ring tourniquets (ERTs) used for the control of hemodynamic shock and for bloodless surgical procedures on limbs. The ERT device is essentially a silicone ring surrounded by a stockinette sterile gauze. Since the contact pressure applied by the ERT is determined by its geometric and mechanical properties and cannot be adjusted, it is important to develop a mechanical model that can be used to ensure that the contact pressure remains low enough not to cause local tissue damage. Although the calculation of the contact pressure applied by a silicone ring seems to be a simple classical problem, it is shown that the accurate prediction of this contact pressure requires analysis of a number of complicating features, which are related to nonlinear geometric and material influences. This paper presents a hierarchy of mechanical models which include: a simple strength of materials model; models based on the theory of a Cosserat curve and a generalized string (which includes deformation of the cross-section); exact axisymmetric plane strain nonlinear elasticity; and axisymmetric nonlinear finite element analysis. It is shown that the Cosserat model provides reasonable predictions of the response of the silicone ring. Since numerical simulations with the Cosserat model are much faster than those with the finite element model, the Cosserat analysis is more suitable for optimization of the thickness of the stockinette, which can significantly reduce both the maximum and average contact pressures applied by the ERT on the skin.     

耦合变形对大范围运动柔性梁动力学建模的影响

柔性梁在作大范围空间运动时,产生弯曲和扭转变形,这些变形的相互耦合形成了梁在纵向以及横向位移的二次耦合变量。本文考虑了变形产生的几何非线性效应对运动柔性梁的影响,在其三个方向的变形中均考虑了二次耦合变量,利用弹性旋转矩阵建立了准确的几何非线性变形方程,通过Lagrange方程导出系统的动力学方程。仿真结果表明,在大范围运动情况下,仅在纵向变形中计及了变形二次耦合量的一次动力学模型,与考虑了完全几何非线性变形的模型具有一定的差异。