The bouncing motion appearing in a robotic system with unilateral constraint

The hopping or bouncing motion can be observed when robotic manipulators are sliding on a rough surface. Making clear the reason of generating such phenomenon is important for the control and dynamical analysis for mechanical systems. In particular, such phenomenon may be related to the problem of Painlevé paradox. By using LCP theory, a general criterion for identifying the bouncing motion appearing in a planar multibody system subject to single unilateral constraint is established, and found its application to a two-link robotic manipulator that comes in contact with a rough constantly moving belt. The admissible set in state space that can assure the manipulator keeping contact with the rough surface is investigated, and found which is influenced by the value of the friction coefficient and the configuration of the system. Painlevé paradox can cause either multiple solutions or non-existence of solutions in calculating contact force. Developing some methods to fill in the flaw is also important for perfecting the theory of rigid-body dynamics. The properties of the tangential impact relating to the inconsistent case of Painlevé paradox have been discovered in this paper, and a jump rule for determining the post-states after the tangential impact finishes is developed. Finally, the comprehensively numerical simulation for the two-link robotic manipulator is carried out, and its dynamical behaviors such as stick-slip, the bouncing motion due to the tangential impact at contact point or the external forces, are exhibited.     

Il'iushin's postulate and resulting thermodynamic conditions on elasto-plastic coupling

Il'iushin's postulate is restated within a general thermodynamic strain space formulation of rate independent plasticity by means of plastic internal variables. This yields a general expression in terms of appropriate thermodynamic potentials. A combination of a thermodynamic condition, derived from the general development, with the results of Il'iushin's postulate, furnishes explicit conditions on elasto-plastic coupling. A specific example is presented, with the plastic work being the only plastic internal variable. Necessary and sufficient consitbns on the elastic moduli and their change with plastic deformation are derived, for the thermodynamic condition to be satisfied.     

D'Alembert's paradox, 1900–1914: Levi-Civita and his Italian and French followers

Before the First World War, Tullio Levi-Civita (1873–1941) was already a well-known mathematician in Italy and abroad, in particular in France. Professor at the University of Padua since 1898, he had published important contributions to tensor calculus, theory of relativity, differential geometry, hydrodynamics, and the three-body problem. In 1918, when he moved to the University of Rome, he created an international school of mathematics. In this paper, we focus on d'Alembert's paradox to which Levi-Civita and some of his Italian and French followers contributed remarkable solutions. This case-study is used to illustrate Levi-Civita's approach to hydrodynamics and its influence in Italy and France, especially in the period 1910–1914.     

残损航空器搬移拖车悬臂的拓扑优化

首先,采用导重准则法对在固定载荷下以位移为约束的拓扑优化问题进行计算,运用一种新的插值模型推导了在单工况作用下的最小质量拓扑优化迭代算法,并通过一个算例验证了该算法的可行性。然后,将该算法应用于残损航空器搬移拖车悬臂的拓扑优化设计中,将由此获得的悬臂的拓扑形貌与结构优化软件Optistruct得到的拓扑结果进行对比。结果表明,二者的迭代速度差别不大,且导重准则法的优化效果更好。作为概念设计,所得的拓扑形貌为以后悬臂结构的优化设计提供了有效参考。     

Numerical simulation of corner singularities: a paradox in Maxwell-like problems

This paper sums up some recent studies related to the numerical solution of boundary value problems deriving from Maxwell's equations. These studies bring to light the theoretical origins of the ‘corner paradox’ pointed out by numerical experiments for years: In a domain surrounded by a perfect conductor, a ‘nodal’ discretization can approximate the electromagnetic field only if the domain has no reentrant corners or edges. The explanation lies in a mathematical curiosity: two different interpretations of the same variational equation, which are both well-posed and lead either to the physical or a spurious solution! Two strategies which were recently proposed to remedy this flaw of nodal elements are described. To cite this article: C. Hazard, C. R. Mecanique 330 (2002) 57–68     

Optimal control theory and Newton–Euler formalism for Cosserat beam theory

A Newton–Euler formalism is derived for Cosserat beam theory in a purely deductive manner, thanks to an analogy with optimal control theory. The method relies upon joint use of Gauss least constraint principle, Appell's equations and optimal control theory, that was used successfully in a previous work for the classical case of discrete Newton–Euler backward and forward recursions of multibody systems. To cite this article: G. Le Vey, C. R. Mecanique 334 (2006).     

An application of Curie’s principle to elastoplastic dynamics

This paper deals with the stability and the dynamics of a harmonically excited elastic–perfectly plastic unsymmetrical oscillator. Stability of the periodic orbits is analytically investigated with a perturbation approach. The occurrence of ratcheting effect is discussed for this system, and is related to the loss of symmetry of the periodic orbit in the phase space. Curie’s principle of symmetry is numerically verified for the symmetrical system with positive damping. Therefore, the observation of ratcheting phenomenon is necessarily associated to a breaking of symmetry in the constitutive behaviour, or in the forcing term. However, the generalized version of Curie’s principle has to be considered when a negative damping is introduced.     

基于Clamped B样条的空间非合作目标抓捕策略研

空间机械臂技术是未来实施在轨服务与维护任务的关键技术之一. 利用机械臂对空间非合作目标, 特别是翻滚目标的抓捕仍然存在巨大的挑战. 本文提出一种基于Clamped B样条的空间非合作目标抓捕策略方案. 在对非合作目标与空间机械臂运动学与动力学分析的基础上, 结合非合作目标被空间机械臂抓捕后的动静态对偶性分析, 构建抓捕后的力可操作度椭球作为抓捕策略设计的优化指标. 其次, 考虑目标的运动预测和空间机械臂的抓捕能力图谱构建, 确定空间机械臂应对目标的最优抓捕时机与抓捕终端状态. 基于Clamped B样条对空间机械臂各关节轨迹进行时间归一化参数描述, 并对抓捕过程中的机械臂关节角、速度、避撞、抓捕走廊等约束进行数学变换, 最终将抓捕策略转换为多约束、多目标的非线性优化问题, 利用自适应惯性权重的粒子群优化算法进行求解. 将所设计的抓捕策略应用于空间七自由度运动学冗余机械臂, 实现了对空间中翻滚目标的成功捕获, 验证了所提抓捕策略的可行性与有效性.      

Excavation model of soil sampling device based on particle image velocimetry

This work aims to establish an energy-efficient strategy for sampling Martian subsurface soil for future extraterrestrial-life exploration missions. To this end, requirements for a robotic arm are carefully examined and an end-effector shape suitable for subsurface soil sampling is determined. A soil–tool interaction model is formulated based soil-flow measured by particle image velocimetry (PIV). The proposed model calculates the resistance forces and torque generated during the sampling procedure and is validated through a comparison of experimental data obtained from the force sensor and numerical data calculated from the proposed model. Results indicate that the proposed model provides an accurate estimation of the force generated during soil sampling. Furthermore, the interaction model is capable of estimating the robotic arm's energy consumption and calculating the most efficient tool size to use.     

Numerical solution of a two-dimensional fluidized bed model

The numerical solution of a model describing a two-dimensional fluidized bed is considered. The model takes the form of a hyperbolic system of conservation laws with source term, coupled with an elliptic equation for determining a streamfunction. Operator splitting is used to produce homogeneous one-dimensional hyperbolic systems and ordinary differential equations involving the source term. The one-dimensional hyperbolic problems are solved using Roe's method with the addition of an entropy fix. The numerical procedure is second-order in time and first-order in space. Second-order-accuracy in space is obtained using flux limiting techniques. Numerical experiments which show the development of bubbles in the bed are presented. The familiar kidney-shaped bubble, observed experimentally, is found when using the method which is second-order in space. On the same mesh, the first-order method produces bubbles which are no longer kidney-shaped. © 1998 John Wiley & Sons, Ltd.     

Delay-induced bifurcations in collocated position control of an elastic arm

The interference of the elasticity of a single robotic arm and the unavoidable time delay of its position control is analysed from nonlinear vibrations viewpoint. The simplified mechanical model of two blocks and a connecting spring considers the first vibration mode of the arm, while the collocated proportional-derivative (PD) control uses the state of the first block only and actuates also there. It is assumed that the relevant nonlinearity is the saturation of the delayed control force. The linear stability analysis proves that stabilizable and non-stabilizable parameter regions follow each other periodically even for large spring stiffnesses and for tiny time delays. Hopf bifurcation calculation is carried out after an infinite-dimensional centre manifold reduction, and closed-form algebraic expressions are given for the amplitudes of the emerging oscillations. These results support the experimental tuning of the control gains since the parameters of the arising and often unexpected self-excited vibrations can serve as a guide for this practical procedure.

     

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

A nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in complex space environments is developed, and a relatively improved algorithm based on a trust-region strategy is proposed for solving this nonlinear model, based on which the geometry and terminal force of the modeled robot cable can be obtained. The validity and accuracy of the proposed algorithm and theoretical calculation results are verified via experiments. The theoretical findings revealed in this study are significant to future research on the slow rotations and oscillations of weak robot joints in space exploration with robotic arms.

     

MACCEPA,The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances

The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices Published in Prikladnaya Mekhanika, Vol. 43, No. 4, pp. 130–142, April 2007.     

Identification of radon transfer velocity coefficient between liquid and gaseous phasesIdentification de la vitesse de transfert de radon entre une phase liquide et une phase gazeuse

Radon transfer between a liquid phase and a gaseous phase is modelled by a Robin's condition (radon flux at the common interface is expressed as function of radon concentrations in the two phases). This condition involves two constants: Ostwald's coefficient (α) and the transfer velocity coefficient (β). Assuming the value of α is known, a method is proposed to determinate the value of β, by studying the radon transfer phenomenon at the laboratory scale. Knowing the initial radon concentrations, the experiment consists in measuring how long the radon flux passes through the common interface. In this stabilisation time radon transport is governed in each phase by diffusion and disintegration. Then, determination of β is equivalent to solving an inverse problem formulated using measured data. A numerical procedure is developed to solve this problem. To cite this article: D.-G. Calugaru, J.-M. Crolet, C. R. Mecanique 330 (2002) 377–382.     

Investigation of mechanical properties of water-based friction modifier for railway applicationsRecherches des propriétés mécaniques du modificateur frottement dans une forme de l'émulsion d'eau applique dans les chemins de fer

This Note outlines the investigation of the water-based friction modifier used in railway technology. This investigation involves measurements made using a novel measuring stand, a new modelling of the modifier and the identification of its parameters using measured results. The proposed model of the modifier is composed of a dry friction slider, a dash-pot and a spring. The investigation contributes to a deeper understanding of the modifier's performance. To cite this article: J. Piotrowski, C. R. Mecanique 332 (2004).     

Helicity and other conservation laws in perfect fluid motion

In this review paper, we discuss helicity from a geometrical point of view and see how it applies to the motion of a perfect fluid. We discuss its relation with the Hamiltonian structure, and then its extension to arbitrary space dimensions. We also comment about the existence of additional conservation laws for the Euler equation, and its unlikely integrability in Liouville's sense.     

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。     

Eringen’s length scale coefficient for buckling of nonlocal rectangular plates from microstructured beam-grid model

Based on a microstructured beam-grid model, closed form solutions for Eringen’s length scale coefficient are derived for the buckling of nonlocal rectangular plates under compressive uniaxial load. The microstructured beam-grid model comprises rigid beam elements connected by rotational springs and torsional springs. Stiffness of the rotational springs and torsional springs are expressed in terms of the plate flexural and torsional rigidities, respectively. Exact buckling solutions are obtained for the microstructured beam-grid model. By interpreting the rigid element length as the internal characteristic length, the Eringen’s length scale coefficient $e_0$ may be determined by comparing the buckling load from the microstructured beam-grid model and the nonlocal rectangular plate model. The small length scale coefficient is shown to be dependent on the buckling mode, the aspect ratio of plate and boundary conditions.     

L'espace articulaire de la Robotique Industrielle est un espace vectorielIndustrial Robotics joint space is a vector space

The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws. To cite this article: B. Tondu, C. R. Mecanique 331 (2003).