Design of a 6-DOF force device for virtual assembly (FDVA-6) of mechanical parts

Among different interaction modalities, force feedback is one of the key technologies to increase the interactivity and immersion of a virtual assembly process. This paper presents a 6-DOF force device with its forward kinematic analysis, workspace simulation, and gravity compensation. To evaluate the device, a prototype system is developed and a case study is conducted to assemble a mechanical product. The users have given positive feedback on the gravity compensation implemented and the general performance of the device.     

Spatial distribution of soil forces on moldboard plough and draft requirement operated in silty-clay paddy field soil

Spatial distribution of soil forces on the surface of plough is an important aspect that can help engineers for improving efficiency of tillage implement. It was analyzed at eleven different points of the moldboard plough with the help of sensors accompanied with the virtual instrument developed in LabView software with the aid of other supporting instruments. It was observed that soil forces increased with an increase in speed and depth. Depth changed soil forces more at upper parts than lower parts whereas speed affected rear parts more than the front part of the plough. Draft forces followed almost similar trend and least value of 308.17 N experimental draft force was found at 1 m/s speed and 5 cm depth under 33% moisture content. Cumulative soil forces found too smaller than the draft as they represented the force spatial distribution of specific parts of plough. It was observed that sensor technology provided real time picture of force variation during tillage process that could save time and effort.     

Measurement of non-DLVO force on a silicon substrate coated with ammonium poly(acrylic acid) using scanning probe microscopy

The repulsive force originating from steric hindrance of polymers in aqueous solvent was investigated using scanning probe microscopy (SPM). The contact angle (CA) of ammonium poly(acrylic acid) (PAA) solution on the Si surface was measured to estimate the state of the Si substrate. Results of CA measurement show that the Si surface was fully covered with PAA at 0.1 mass% in aqueous solution. The interaction force between the Si tip and the wafer was estimated using the SPM force curve mode. The force curve measured in the ion-exchanged purified water showed the typical relation predicted by Derjaguin-Landau-Verway-Overbeek (DLVO) theory. However, the force curve shape in the 0.1 mass% PAA solution was significantly different. Only a repulsive force was observed at less than about 4 nm of separation distance between the Si wafer and cantilever tip. This distance originated from the steric repulsions of PAA adsorbed onto the Si wafer and cantilever tip.     

Reconstruction of a hidden topography by single AFM force–distance curves

Force–distance curves have been acquired with an Atomic Force Microscope on polymethyl methacrylate with embedded glass spheres. The glass spheres provide a stiff substrate with an irregular and complex topography hidden underneath a compliant and even polymer film. This situation is a special case of a mechanical double-layer, which we examined in detail in previous experiments. Up to now uniform and non-uniform polymer films on an even substrate were examined. The film thickness on each point of the sample surface was known and force–distance curves could be averaged in groups according to the film thickness. In this way we were able to develop a semi empirical approach which allows describing the shape of averaged force–distance curves depending on the Young’s moduli of the involved materials and on the film thickness. In this experiment we reconstruct a hidden topography, i.e., we determine the polymer thickness on each point of the sample by analyzing single force–distance curves with our semi empirical equation. The accuracy reached by this approach permits to obtain a reconstruction of the shape and position of the embedded particles limited by a maximum detection depth. Single curves are also analyzed qualitatively in order to locate areas where the adhesion at the polymer/glass interface is weak or the two phases are detached.     

地球表面水平运动物体偏转推演及判断

本依据科氏力原理,利用数学矢量公式推断地球表面水平运动物体的偏转方向,并依据其对地球表面出现的系列现象给予物理意义上的解释,使得传统的地表水平运动物体偏转方向的判断进一步规范化。     

Monte Carlo simulation of colloidal membrane filtration: principal issues for modeling

The principal issues involved in developing a Monte Carlo simulation model of colloidal membrane filtration are investigated in this study. An important object for modeling is the physical dynamics responsible for causing particle deposition and accumulation when encountering an open system with continuous outflow. A periodic boundary condition offers a solution to the problem by recirculating continuous flow back through the system. Scaling to full physical dimensions will allow for release of the model from flawed assumptions such as constant cake layer volume fraction and thickness throughout the system. Furthermore, rigorous modeling on a precise scale extends the model to account for random particle collisions with acute accuracy. A major finding of this study proves that forces within the colloidal filtration system are summed and transferred cumulatively through the inter-particle interactions. The force summation and transfer phenomenon only realizes its true value when the model is scaled to full dimensions. The overall strategy for model development, therefore, entails three stages: first, rigorous modeling on a microscopic scale; next, comprehensive inclusion of relevant physical dynamics; and finally, scaling to full physical dimensions.     

Molecular Dynamic Simulation of Melting Points of Trans-1,4,5,8-tetranitro-1,4,5,8-tetraazadacalin (TNAD) with Some Propellants

Molecular dynamic simulation was employed to predict the melting points Tm of TNAD/HMX, TNAD/RDX, TNAD/DINA, and TNAD/DNP systems (tans-1,4,5,8-tetranitro-1,4,5,8-tetraazadacalin (TNAD), dinitropiperazine (DNP), cyclotetramethylenete-tranitroamine (HMX), cyclotrimethylenetrinitramine (RDX), and N-nitrodihydroxyethy-laminedinitrate (DINA)). Tm was determined from the inflexion point on the curve of mean specific volume vs. temperature. The result shows that the Tm values of TNAD/HMX, TNAD/RDX, and TNAD/DINA systems are 500, 536, and 488 K, respectively. The TNAD/DNP system has no obvious Tm value, which shows the system is insoluble. Us-ing Tm, the solubility of the four systems was analyzed. The radial distribution functions of the four systems were analyzed and the main intermolecular forces between TNAD and other energetic components are short-range interactions. The better the solubility is, the stronger the intermolecular interaction is. In addition, the force field energy at different temperature was also analyzed to predict Tm of the four systems.     

Pulling-induced rupture of ligand-receptor bonds between a spherically shaped bionanoparticle and the support

Contacts of biological or biologically-inspired spherically shaped nanoparticles (e.g., virions or lipid nanoparticles used for intracellular RNA delivery) with a lipid membrane of cells are often mediated by multiple relatively weak ligand-receptor bonds. Such contacts can be studied at a supported lipid bilayer. The rupture of bonds can be scrutinized by using force spectroscopy. Bearing a supported lipid bilayer in mind, the author shows analytically that the corresponding dependence of the force on the nanoparticle displacement and the effect of the force on the bond-rupture activation energy are qualitatively different compared to what is predicted by the conventional Bell approximation.     

Granular vortices: Identification,characterization and conditions for the localization of deformation

We relate the micromechanics of vortex evolution to that of force chain buckling and, on this basis, formulate the conditions for strain localization in a continuum model of dense granular media. Using the traditional bifurcation analysis of shear bands, we show that kinematic vortex fields are in fact solutions to the boundary value problem satisfying null boundary conditions. To establish an empirical basis for our study, we first develop a method to identify the location of the core and boundary of each vortex from a given displacement field in two dimensions. We then employ this method to characterize the residual deformation field (i.e., the deviation of particle motions from the continuum deformation) in a physical experiment and a discrete element simulation of dense granular samples submitted to biaxial compression. Vortices in the failure regime are essentially confined to the shear band. Primary vortices, the clear majority, rotate in the same direction as the shear band; secondary vortices, the so-called wakes, rotate in the opposite direction. Primary vortices align in spatial succession along the central axis of the band; wakes form next to the band boundaries, in between and beside two adjacent primary vortices. Force chain buckling, the governing mechanism for shear bands, is responsible for vortex formation in the failure regime. Vortex dynamics are consistent with stick-slip dynamics. From quiescent conditions of jamming or stick, vortical motions arise from force chain buckling and associated relative particle rotations and sliding; these in turn precipitate intermittent periods of unjamming or slip, evident in the attendant drops in stress ratio and bursts in both kinetic energy and local nonaffine deformation. A kinematic vortex field inside shear bands is proposed that is consistent with the equations of continuum mechanics and the underlying instability of force chain buckling: such a field is periodic with a repeating unit cell comprising a primary vortex at the center of the band, with two trailing wakes close next to the band boundaries.