Characterization of the vibration transmitted in the human arm using selected recurrence quantification parameters

Nonlinear Dynamics - This paper deals with the analysis of the time series signals extracted from the vibration of a human arm. The data are extracted at the wrist, elbow and shoulder of three male...     

Collision, damage, smooth evolution of an articulation. The “tennis elbow”

We present a simple example of phenomenon where collision and damage take place together. We consider an arm with its forearm connected by the elbow: a plane system made of two rods, one of which is clamped and the other is hinged at its extremum and free to rotate about it. The rotation angle ? of the forearm is constrained to be neither larger than π nor lower than 0. The rods are connected through a hair spring, which represents the elbow articulation and whose damage is accounted for. The damage may be related to the tennis elbow pathology. We also take into account the discontinuity of the angular velocity of the forearm, due to collisions when ?=0 or ?=π, and provide some numerical results.     

柔性变截面滑移式机器人手臂的动力学与控制

本文研究柔性变截面滑移式机械手的动力学与控制。首先利用Ｋａｎｅ方法分析柔性机械手的振动特性；然后基于有限元法导出一种控制机械手振动的模型，将控制过发为“粗控”和“精控”两步进行；最进行了数值模拟。     

Flooding in an elbow between a vertical and a horizontal or near-horizontal pipe: Part II: Theory

This is the second of two papers on countercurrent gas-liquid flow flooding in an elbow of which the upper limb is vertical and the lower limb is horizontal or slightly inclined. In part I, experiments were described in which flooding limits were measured in air-water flow in various pipe elbows of this type; flooding was found to be caused by the onset of slugging at a hydraulic jump which formed in the lower limb of the elbow close to the bend. In the present paper a theoretical model is developed by which the flooding limits for this elbow geometry can be predicted. The model assumes that a smooth stratified flow exists in the lower limb of the elbow, with a free outfall at the exit. Flooding is assumed to coincide with slug formation just downstream of the bend where the liquid depth is greatest. The model gives a reasonable prediction of the observed effects on the flooding limit of the length-to-diameter ratio and angle of inclination of the lower leg of the elbow.     

Design optimization of guide vane for mitigating elbow erosion using computational fluid dynamics and response surface methodology

A 90° elbow equipped with guide vanes was developed with the intent of reducing elbow erosion.Numer-ical models were formed to predict the maximum erosion rate ...     

Friction and heat transfer in drag-reducing surfactant solution flow through curved pipes and elbows

A study of drag-reducing flow in curved pipes was conducted. In contrast to earlier studies we show that if we use a modified definition of drag reduction that includes only the turbulence effects, we observe indeed the same level of drag reduction in both coiled and straight pipes. More complex results showing reduced drag reduction compared to curved pipes were achieved with elbows. Two elbows of different size and type were tested in turbulent flow of both water and drag-reducing surfactant solution. A more elaborate analysis was conducted for a half-inch threaded elbow with a ratio of curvature radius to diameter of 1.2. The pressure drop and heat transfer were measured in a section downstream from the elbow over a distance of x/D = 130 in order to investigate the hydrodynamic and thermal developments of the flow. The pressure drop coefficient of the elbow was calculated for water and a surfactant solution, based on the total increase in pressure drop in the system due to the presence of the elbow. For a larger welded elbow of 6″ diameter some drag reduction was measured for the surfactant solution.     

基于虚拟力概念的柔性臂空间机器人模糊退步自适应控制算法设计

讨论了漂浮基柔性臂空间机器人系统的动力学模拟、运动轨迹跟踪控制算法设计及柔性振动主动抑制。采用多体动力学建模方法并结合假设模态法,建立了漂浮基柔性臂空间机器人的系统动力学模型。基于该模型,针对系统惯性参数未知情况,提出了刚性运动基于模糊基函数网络自适应调节的退步控制算法,以完成柔性臂空间机器人载体姿态及机械臂各关节铰的协调运动。然后,为了主动抑制系统柔性振动,运用虚拟力的概念,构造了同时反映柔性模态和刚性运动轨迹的混合期望轨迹,通过改造原有的控制算法,提出了基于虚拟力概念的模糊退步自适应控制算法;这样不但保证了之前刚性运动控制方案对模型不确定的鲁棒性,而且能主动抑制柔性振动,从而提高了轨迹跟踪性能。理论分析及数值仿真算例均表明了控制方法的可行性。     

Arm motion control model based on central pattern generator

According to the theory of Matsuoka neural oscillators and with the consideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator(CPG) neural network consisting of six neurons is proposed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established.By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.     

机械臂臂杆刚度主动控制下的末端振动特性研究

机械臂在运动过程中会因臂杆柔性引发结构变形和弹性振动,降低机械臂末端的定位精度和运动稳定性,将结构振动控制方法用于机械臂的振动抑制研究具有重要意义. 基于变刚度主动控制的设计思想,提出了臂杆刚度主动控制方法,通过改变机械臂臂杆的轴向受力状况来主动改变机械臂的刚度. 采用变形耦合法描述了机械臂的非线性变形,进而结合假设模态法和拉格朗日方程建立了臂杆的变刚度动力学模型,并进行了数值仿真. 在此基础上,设计了基于臂杆刚度主动控制方法的单自由度实验台,分析了不同预紧力下机械臂末端的振动特性. 数值仿真和实验结果表明,随着预紧力的增加,机械臂末端的振动幅值得到衰减,验证了臂杆刚度主动控制方法的有效性. 通过采用响应面法建立了机械臂末端的振动响应与预紧力的关系,并基于内部映射牛顿法的子空间置信域法优化算法对预紧力进行了优化分析,得到了最优预紧力. 该研究可为机械臂的精细动力学建模和振动抑制提供一定的理论依据,并为研究经济型低刚度材料的刚化问题提供了方向,以利用廉价低刚度材料取代目前所应用的昂贵高刚度材料.      

RESEARCH ON VIBRATION CHARACTERISTICS OF THE MANIPULATOR END UNDER ACTIVE CONTROL OF ARM STIFFNESS$^{\bf 1)}$

机械臂在运动过程中会因臂杆柔性引发结构变形和弹性振动,降低机械臂末端的定位精度和运动稳定性,将结构振动控制方法用于机械臂的振动抑制研究具有重要意义. 基于变刚度主动控制的设计思想,提出了臂杆刚度主动控制方法,通过改变机械臂臂杆的轴向受力状况来主动改变机械臂的刚度. 采用变形耦合法描述了机械臂的非线性变形,进而结合假设模态法和拉格朗日方程建立了臂杆的变刚度动力学模型,并进行了数值仿真. 在此基础上,设计了基于臂杆刚度主动控制方法的单自由度实验台,分析了不同预紧力下机械臂末端的振动特性. 数值仿真和实验结果表明,随着预紧力的增加,机械臂末端的振动幅值得到衰减,验证了臂杆刚度主动控制方法的有效性. 通过采用响应面法建立了机械臂末端的振动响应与预紧力的关系,并基于内部映射牛顿法的子空间置信域法优化算法对预紧力进行了优化分析,得到了最优预紧力. 该研究可为机械臂的精细动力学建模和振动抑制提供一定的理论依据,并为研究经济型低刚度材料的刚化问题提供了方向,以利用廉价低刚度材料取代目前所应用的昂贵高刚度材料.     

Design optimization of guide vane for mitigating elbow erosion using computational fluid dynamics and response surface methodology

A 90° elbow equipped with guide vanes was developed with the intent of reducing elbow erosion. Numerical models were formed to predict the maximum erosion rate of elbow and Face-1, and the response surface methodology was used to study the relationship between the erosion rate and structural parameters of guide vane. A second-order response surface model was established to determine the relationship between R₁ and variables, and a reduced cubic (RC) polynomial model was obtained to reveal the relationship between R₂ and the three factors. The numerical results show that the low-speed region is expended and the maximum discrete particle matter (DPM) concentration is reduced after installing the guide vane. This internal component provides a shelter for the elbow from the direct impact of high-speed solids.     

Structure- and fluid-borne acoustic power sources induced by turbulent flow in 90° piping elbows

The structure- and fluid-borne vibro-acoustic power spectra induced by turbulent fluid flow over the walls of a continuous 90° piping elbow are computed. Although the actual power input to the piping by the wall pressure fluctuations is distributed throughout the elbow, equivalent total power inputs to various structural wavetypes (bending, torsion, axial) and fluid (plane-waves) at the inlet and discharge of the elbow are computed. The powers at the elbow “ports” are suitable inputs to wave- and statistically-based models of larger piping systems that include the elbow. Calculations for several flow and structural parameters, including pipe wall thickness, flow speed, and flow Reynolds number are shown. The power spectra are scaled on flow and structural–acoustic parameters so that levels for conditions other than those considered in the paper may be estimated, subject to geometric similarity constraints (elbow radius/pipe diameter). The approach for computing the powers (called CHAMP – combined hydroacoustic modeling programs), which links computational fluid dynamics, finite element and boundary element modeling, and efficient random analysis techniques, is general, and may be applied to other piping system components excited by turbulent fluid flow, such as U-bends and T-sections.     

Experimental measurements of gas–solid flow and splitting mechanisms of a coal pipe splitter with a perpendicularly arranged upstream elbow

The effect of the vertical pipe length on the performance of a coal pipe splitter with a perpendicularly arranged upstream elbow was investigated experimentally employing a fiber optic measuring system. The upstream elbow and coal pipe splitter were installed in two perpendicular planes. Contours of distributions of the particle concentration and size were obtained in different transverse sections. The experimental data show that the maximum/minimum concentration ratio in transverse sections A, B, and C decreased rapidly as the length of the vertical pipe increased. The left/right-leg average concentration ratio remained about 1, and a balanced split was thus achieved. With a perpendicularly arranged upstream elbow, the vertical pipe length had little effect on the splitter performance, which is beneficial for engineering design and convenient for industrial application.     

含砂流对弯管段冲蚀的机理分析

管道的弯管段、闸阀等处常常面临含砂流动的冲蚀磨损而导致管壁减薄或泄漏。为研究弯管段冲蚀磨损的主要机制,进行了加入5%石英砂的固液两相管流循环试验。试验按砂粒粒径分组,主要观测布置在弯管段的一组碳钢贴片在2~3小时后的壁面冲蚀特征。用失重法计算各贴片的冲蚀速率,基于扫描电镜(SEM)研究了贴片表面的损伤形貌。冲蚀后的贴片表面既有犁沟、挤压凹坑及划痕,亦有圆形蚀坑。能谱分析(EDS)显示有一定量的铁氧化物,且不同位置处的贴片失重率有正有负,由此可见导致贴片表面破坏的机制既包括切削、挤压和二次冲击等含沙流流动的机械作用,也伴随着腐蚀作用。这两种机制在弯管各区有不同的体现,且受砂粒粒径的影响。用数值模拟的两相流冲蚀弯管段流场压力和颗粒分布特征做了验证。结果表明弯管段的壁面损伤机制在外拱壁面以颗粒冲击和切削为主,在内拱璧面则以氧化腐蚀为主。     

Electro-hydraulic tillage depth control system for rotary implements mounted on agricultural tractor Design and response experiments of control system

A tillage depth control system for rotary implements mounted on an agricultural tractor was designed and constructed to improve accuracy of tillage depth. The control system was composed of five main units: (1) a detecting unit to measure the tilting angle (position) of the lift arm, the pitching angle of the tractor and heights of sensors from ground surface, (2) a controlling unit, (3) a hydraulic unit to operate a three-point hitch linkage by a lift arm cylinder, (4) a three-point hitch linkage and rotary implements, and (5) a setting unit to put the reference tillage depth and a dead zone into the control circuit. The tillage depth was controlled by an on/off operation of a solenoid valve, of which time was proportional to the controlling time. Experiments to evaluate the response characteristics of the control system were conducted under various engine speeds, i.e. various flow rates of hydraulic oil, various tillage depths and some input frequencies. The results of the response experiments of the control system are discussed in this paper.     

An open-loop control scheme for minimization of residual vibrations of a flexible robot

The aim of this study is to develop a practical control scheme, called the three-step input method, whereby a flexible robot arm is moved from one position to another with a minimum of residual vibration when the arm reaches its defined endpoint. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self-adjusting input command function that is obtained during real-time processing. The practicality of this control scheme is demonstrated by using an analog computer to simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method required little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.     

Precise control for vibration of rigid–flexible mechanical arm

In the present paper, based on the nonlinear dynamic equation of spacial flexible mechanical arm with dual-link bar, the method of linear quadratic control is used to eliminate the remain vibration of mechanical arm. In the process of computation, the traditional differential algorithm is replaced by the time integration method. Because of taking the more precise time-intervals in the given time-interval and avoiding a lot of computational difficulties, the method of this paper has the characteristics of high precision and unconditional stable. For a typical structure, the precise control law is obtained and the advantages of the algorithm in this paper are shown.     

非球形固体颗粒对弯管内壁的磨损机制

为研究弯管内固体颗粒在液相夹带条件下的运动特性及颗粒对弯管内壁的磨损,采用计算流体动力学与离散元耦合的方法,建立数值模型,考虑固液两相之间的作用,对弯管内的固液两相流动进行数值模拟;通过软件的应用程序编程接口嵌入自编译磨损模型;借助试验结果,验证数值模型的有效性.结果表明,所建立的数值模拟方案可以准确地模拟颗粒在管内的运动特征并能够预测弯管内壁的磨损位置以及磨损程度.弯管内的二次流对颗粒运动有重要影响,弯管外侧壁面中心线附近的磨损较严重,磨损的形式以小角度划擦切削为主.弯管磨损主要与颗粒对壁面的碰撞速度、碰撞角度及碰撞频率有关.运动中的颗粒与壁面发生多次碰撞,碰撞角度逐渐减小.随着颗粒球形度的增大,在相同碰撞条件下引起的磨损量变小,但是会降低颗粒的随流性.颗粒形状影响颗粒在流场中的运动速度以及颗粒与壁面的碰撞.随着颗粒球形度增大,严重磨损区域向弯管进口方向移动,壁面平均磨损量先减小后增大;当输送颗粒的球形度为0.91时,壁面磨损量最小.     

空间刚柔性机械臂振动的精细控制

本文在双连杆空间柔性机械臂系统非线性动力学方程的基础上,运用线性二次型（LQ）最优控制方法讨论了机械臂消除残余振动的控制问题。本文重点在于系统计算过程中,放弃了传统的差分类算法,对时变控制系统,引入时程精细积分方法,由于精细积分方法在有限的时间步长内又进行了更精细的划分,同时避免了差分法的许多计算障碍,使得该计算方法具有计算精度高及数值计算无条件稳定等特点。文中针对双连杆空间柔性机械臂系统这一典型结构,给出了其精细控制律,以说明精细积分法的优越性。     

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.