爆轰驱动异形杆在空气阻力作用下的动力学模拟

针对本文中提出的一种异形杆结构设计方案,建立爆轰驱动异形杆动力学模型,利用ANSYS/LS-DYNA对爆轰驱动异形杆的运动过程进行了数值模拟,获得了爆炸作用结束后产生塑性变形的异形杆模型及初速度。爆炸作用后异形杆在空气流场中运动只产生弹性变形,将杆视为柔性体,运用ADAMS软件对异形杆在空气阻力作用下的运动过程进行了数值模拟。分析结果表明,将异形杆视为柔性体,考虑爆轰作用引起的杆条塑性变形这一数值算法能更准确地描述爆轰驱动异形杆在空气阻力作用下的运动规律。     

单驱动仿生机器鱼动力特性的实验研究

根据变截面悬臂梁受迫振动响应来模拟鱼体变形,并设计了单驱动仿生机器鱼,进行了机器鱼直线巡游、转弯和加速-滑行实验。由高速摄像机记录机器鱼运动过程,对序列图像进行处理,获得机器鱼动力特性。结果表明：单驱动机器鱼最大稳态速度约为1BL/s,最小转弯半径约为270mm,尾流动力特性良好;论证了摆动频率与摆幅对速度的影响以及摆幅与速度对转弯半径的影响;在加速滑行时间比率2∶1的情况下,速度值较大,进而提出了提高游动效率的方法。研究结果证明单驱动方式较传统驱动方式更合理。     

轴流泵参数化设计及应力与模态特征分析

以船用轴流式喷水推进泵为对象,探索了轴流泵参数化设计、水动力性能、静强度和结构声学特征分析的数值途径。轴流泵叶轮采用升力法设计,导叶采用流线法设计,叶片三维造型在NUMECA参数化设计平台中完成。轴流泵水动力性能校核由粘性CFD计算完成,CFD计算同时提取得到叶片分布式水动力载荷。叶片静强度校核由ANSYS有限元计算叶片应力和应变特征完成,应力分析时同时考虑水动力载荷、重力载荷和离心力载荷。叶片结构声学特征分析由NASTRAN有限元计算叶片模态振型和振型频率完成。计算结果表明,轴流泵扬程和功率满足设计指标,效率达87.13%;叶轮叶片形变相对于叶顶间隙来说为极小量,可忽略不计,叶片存在局部应力集中现象,最大应力小于许用应力,满足静强度要求;叶片前四阶振型特征与分析经验一致,且振型频率远离轴频、叶频及其谐频特征频率,能够避免共振产生。     

两关节压力驱动柔性仿生机器鱼的设计与仿真

为研究设计一种柔软度高、环境适应性强的新型仿生机器鱼, 模仿鲨鱼外形及鲔科鱼类的游动姿态, 设计了一种采用液压柔性驱动结构的仿生机器鱼. 针对单关节液压驱动柔性机器鱼存在其C型摆动姿态不符合鲔科鱼类摆动规律的问题, 采用两关节液压柔性驱动模拟鱼类S型摆动, 并根据液压柔性驱动器原理设计仿生鱼的内部结构. 依据理论波动方程确定机器鱼的摆动幅值, 借助数值模拟计算施加在柔性驱动器内部的压强载荷大小, 并分析计算液压柔性驱动器的驱动效率. 应用有限元分析软件模拟仿生鱼在流体中的自主游动过程, 并将两关节机器鱼与单关节机器鱼的自主巡游过程进行对比仿真, 获得两种机器鱼在流体中自主巡游时的运动姿态、游动速度及流场情况. 结果表明, 在相同的频率与尾鳍摆幅下, 两关节柔性机器鱼的巡游平均速度为0.29 BL/s (BL为鱼体体长), 高于单关节机器鱼巡游平均速度0.15 BL/s, 且由速度矢量图可得出两关节仿生鱼的S型摆动姿态更接近真实鱼类摆动规律, 并在运动过程中会产生一系列离散的反向卡门涡街, 推进效率高.      

两关节压力驱动柔性仿生机器鱼的设计与仿真

为研究设计一种柔软度高、环境适应性强的新型仿生机器鱼,模仿鲨鱼外形及鲔科鱼类的游动姿态,设计了一种采用液压柔性驱动结构的仿生机器鱼.针对单关节液压驱动柔性机器鱼存在其C型摆动姿态不符合鲔科鱼类摆动规律的问题,采用两关节液压柔性驱动模拟鱼类S型摆动,并根据液压柔性驱动器原理设计仿生鱼的内部结构.依据理论波动方程确定机器鱼的摆动幅值,借助数值模拟计算施加在柔性驱动器内部的压强载荷大小,并分析计算液压柔性驱动器的驱动效率.应用有限元分析软件模拟仿生鱼在流体中的自主游动过程,并将两关节机器鱼与单关节机器鱼的自主巡游过程进行对比仿真,获得两种机器鱼在流体中自主巡游时的运动姿态、游动速度及流场情况.结果表明,在相同的频率与尾鳍摆幅下,两关节柔性机器鱼的巡游平均速度为0.29 BL/s(BL为鱼体体长),高于单关节机器鱼巡游平均速度0.15 BL/s,且由速度矢量图可得出两关节仿生鱼的S型摆动姿态更接近真实鱼类摆动规律,并在运动过程中会产生一系列离散的反向卡门涡街,推进效率高.     

拱脚结构的模型实验与有限元分析

本文应用环氧树脂材料浇铸成某大跨度桥梁预应力拱脚模型,采用精密铸造成型方法做出模型中的四条索道孔。用自行研制的传感器施加四条模拟钢索的索力,通过专门设计的加载装置,使用精确的滑轮导向,在5个截面上分别施加剪力Q、弯矩M和轴力N,并考虑自重载荷,进行了电测模型实验。应用ANSYS软件对拱脚实际结构进行了有限元分析,根据模型实验时索与索道孔壁的接触情况建立了力的边界条件,使有限元计算与真实情况接近,计算误差大为减小。同时将实验与有限元分析结果进行了比较,变化规律一致,数值较为接近。对拱脚的优化设计提供了重要的参考依据。     

简易振动台试验设备研制

为了完成多桩型复合地基抗液化性能振动台试验,利用实验室已有的反力墙和作动器,设计了一个小型的简易单向振动台系统和堆叠式剪切模型箱。堆叠式剪切模型箱内部尺寸为1200mm×800mm×772mm,由8层铝合金框架和7层橡胶条叠合而成。利用ANSYS有限元软件对模型箱及地基-模型箱进行了动力分析,并通过饱和粉细砂地基模型振动台试验验证了模型箱的效果。结果表明,所设计的模型箱能够较成功地模拟天然场地的边界条件,为多桩型复合地基抗液化性能振动台试验的顺利进行打下基础。     

基于多体动力学递推算法的电动汽车建模与仿真分析

运用多体动力学理论建立整车动力学模型已成为汽车动力学研究的重要手段。以大连理工大学汽车学院研制的某电动汽车为对象,运用多体动力学递推算法建立了包含前后悬架、车身及车轮在内的多体仿真分析模型,将前后悬架视为3个子系统,引入哑体,实现对各子系统的单独处理;同时完成了整车的快速建模与分析;将MATLAB整车仿真程序的结果与ADAMS仿真结果进行比对,二者吻合较好,验证了所建模型及求解算法的正确性。     

考虑地基-结构-散粒体相互作用时贮仓结构的静动力研究——[Ⅰ]实验研究

对贮仓结构的静、动力问题进行了系统的实验研究 :考虑到地基———结构———散粒体的相互作用 ,设计并完成了不同地基上的筒仓模型的静、动力试验 (包括模型制作、试验和测试方案 ,数据输入输出及处理 )。根据对多种工况试验的观察 ,得出结论 :在地基水平振动的情况下 ,贮仓内绝大部分的散粒体与仓壁没有相对运动 ,只有一小部分散粒体脱离仓壁与贮仓有相对运动     

基于拉格朗日方程的稳定车新型稳定装置研究

本文以多体动力学为基础,针对动力稳定车的稳定装置开发一种新型的激振结构,运用第二类拉格朗日方程建立了水平方向振动的数学模型,并运用新型预测—校正积分法求解微分方程.同时借助多体动力学软件ADAMS,建立了该结构的仿真模型.得到了不同激振频率下的稳定装置箱体的水平加速度响应,通过将数值计算和仿真结果进行对比,可以看出振动曲线有相似的趋势,并且加速度峰值与主频率保持了良好的一致性,排除在建立方程时忽略高阶小量及在ADAMS中存在的其他结构共振干扰等误差因素,对比结果有较高的可信性,为进一步开发改进提供了有效的理论、仿真模型以及参数依据.     

变长度弹性伸缩腿双足机器人动力学与控制

研究了半被动双足机器人的平面稳定行走的控制问题．基于弹簧质点模型，采用拉格朗日方法分别得到双足机器人单支撑阶段与双支撑阶段的动力学方程，对机器人系统的动力学方程求得周期解．应用非线性系统状态反馈线性化理论，在双足机器人的单支撑阶段和双支撑阶段中，通过控制双足机器人的腿长度，实现稳定的周期行走．在理论分析的基础上，对控制算法进行了仿真与研究．结果表明：在周期行走过程中，文中采用的变长度控制算法可以使双足机器人克服外界的干扰，并具有较强的抗干扰性．     

Investigation of the performance of an ischial load-bearing leg brace

Partition of loads between the human leg and its protective brace was investigated during the normal walking stride of a patient fitted with a conventional ischial weight-bearing leg brace. Strain-gage force transducers were designed and installed to measure loads in the brace, and a strain-gage force plate was built to measure the floor reaction of the patient's footstep. The load measured by the force plate is equal to the total load carried by the leg and the brace, and it was resolved into components along axes fixed with respect to the leg and compared with the force carried by the leg brace to determine the distribution of the load between the brace and leg. Curves of force in three orthogonal directions and torque about the vertical axis of the leg are presented and discussed.     

Self-stability of a simple walking model driven by a rhythmic signal

In this paper, we analyzed the dynamic properties of a simple walking model of a biped robot driven by a rhythmic signal from an oscillator. The oscillator receives no sensory feedback and the rhythmic signal is an open loop. The simple model consists of a hip and two legs that are connected at the hip. The leg motion is generated by a rhythmic signal. In particular, we analytically examined the stability of a periodic walking motion. We obtained approximate periodic solutions and the Jacobian matrix of a Poincaré map by the power-series expansion using a small parameter. Although the analysis was inconclusive when we used only the first order expansion, by employing the second order expansion it clarified the stability, revealing that the periodic walking motion is asymptotically stable and the simple model possesses self-stability as an inherent dynamic characteristic in walking. We also clarified the stability region with respect to model parameters such as mass ratio and walking speed.     

The effect of waist twisting on walking speed of an amphibious salamander like robot

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion. A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems (ADAMS) and physical experiments verify the rationality and validity of this expression.     

Impactless biped walking on a slope

Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground reaction forces and the energy consumption depend on the gradient of a slope. The biped dynamics and the constraints within the biped system and on the ground are discussed. A motion control synthesis is developed using the inverse dynamics principle proven to be most efficient for human walking research, too. The impactless walking with controlled legs is illustrated by a seven-link biped. The “flying” biped has nine degrees of freedom, with six control inputs. During locomotion, the standing leg has three scleronomic constraints, and the trunk has three rheonomic constraints. However, there are three rheonomic constraints for the prescribed leg motion or three scleronomic constraints for reaction forces of the trailing leg, respectively. The nominal control action for impactless walking can be precomputed and stored. The model proposed allows the investigation of several problems: uphill and downhill walking, optimization of step length, stiction of the feet on the slope and many more. All these findings are also of interest in biomechanics.     

The experimental study on the contact process of passive walking

The passive dynamic walking is a new concept of biped walking. Researchers have been working on this area with both theoretical analysis and experimental analysis ever since McGeer. This paper presents our compass-like passive walking model with a new set of testing system. Two gyroscopes are used for measuring the angles of two legs, and ten FlexiForce sensors are used for measuring the contact forces on the feet. We got the experimental data on the passive walking process with the validated testing system. A great emphasis was put on the contact process between the feet and the slope. The contact process of the stance leg was divided into four sections, and differences between the real testing contact process and the classic analytical contact process with no bouncing and slipping were summarized.     

HUMAN-LIKE CONTROL FOR SEMI-PASSIVE BIPEDAL ROBOT WALKING WITH VARIABLE LEG STIFFNESS1)

研究了变刚度半被动双足机器人行走控制问题。采用仿人的行走控制策略,使用变刚度双足弹簧负载倒立摆模型,利用模型自稳定性,在双支撑阶段调整后腿刚度使机器人的能量保持在期望能量附近,在单支撑阶段调整摆动腿落地位置控制质点的高度和前向速度。仿真结果表明：本文采用的控制策略可以实现双足机器人在水平面上的稳定行走,无扰动时可以使机器人实现零输入的被动周期行走,有外部扰动时腿部变刚度控制可使机器人总能量恢复平衡并重新进入稳态行走,控制系统具有鲁棒性。     

Gaits and geometry of a walking chair for the disabled

The development of a walking chair is very important to a person with disability. This paper studies some fundamental issues of a practical walking chair, which are performance requirements, gaits and body geometry. According to the needs of a disabled person, the performance requirements of a walking chair are specified. The number of legs and leg mechanism are determined according to previous design experience. The three basic gaits for a quadruped to negotiate both structured and unstructured terrain, namely straight-line gaits, turning gaits and stair-climbing gaits, are then studied. Based on the results of gait study, the geometry of the walking chair is designed. Two geometric models are proposed and their performance is evaluated.     

含双间隙连杆机构动力学仿真与实验

为考察含双间隙连杆机构的动力学行为,进行了仿真和实验研究。在仿真中,基于ADAMS软件建立了一个非线性接触力模型。同时,设计和建立了一个实验装置来对仿真结果进行验证。分别讨论了间隙尺寸、加载频率和加载力幅值对接触碰撞力的影响。结果表明,间隙的存在会影响传递力曲线,使机构产生明显的振动冲击,间隙大小和加载速度是影响机构动态响应的主要因素。实验结果证明了本文模型的正确性。     

LCP method for a planar passive dynamic walker based on an event-driven scheme

The main purpose of this paper is to present a linear complementarity problem (LCP) method for a planar passive dynamic walker with round feet based on an event-driven scheme. The passive dynamic walker is treated as a planar multi-rigid-body system. The dynamic equations of the passive dynamic walker are obtained by using Lagrange’s equations of the second kind. The normal forces and frictional forces acting on the feet of the passive walker are described based on a modified Hertz contact model and Coulomb’s law of dry friction. The state transition problem of stick-slip between feet and floor is formulated as an LCP, which is solved with an event-driven scheme. Finally, to validate the methodology, four gaits of the walker are simulated: the stance leg neither slips nor bounces; the stance leg slips without bouncing; the stance leg bounces without slipping; the walker stands after walking several steps.