The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s...The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.展开更多
The arresting process of carrier-based aircraft is widely recognized as a challenging task,characterized by the highest accident rate among all carrier-based aircraft operations.Dynamic simulation plays a crucial role...The arresting process of carrier-based aircraft is widely recognized as a challenging task,characterized by the highest accident rate among all carrier-based aircraft operations.Dynamic simulation plays a crucial role in assessing the intricate responses of the arresting process,favoring the design of carrier-based aircraft.An efficient and accurate rigid-flexible coupling model for analyzing the dynamic response of the arresting process is proposed.By combining the dynamic characteristics of airframe,landing gear,arresting hook and arresting gear system,the rigid-flexible coupling dynamic model is established to reflect the relative motion of the coupling parts and arresting load.The dynamic model is verified through simulations of landing gear landing drops and by comparing the arresting simulation results with corresponding data in the US military standard.Additionally,simulations of the arresting process under different off-center distance and aircraft yaw angle are conducted to obtain the dynamic response of the aircraft during the arresting process.The result indicates that the rigid-flexible coupling dynamic model proposed is effective for analyzing the arresting dynamics response of carrier-based aircraft.The axial force of the arresting cable on both sides of the hook engagement point,pitch and yaw angle of aircraft are inconsistent under yaw and off-center arresting.The analysis method and obtained results provide valuable references for assessing the dynamic responses of carrier-based aircraft during arresting process and offer valuable in-sights in the design of carrier-based aircraft.展开更多
In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was go...In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was gotten based on rigid constraint conditions.The multi-body system(MBS) is a complex mechanism and its components have quite different rigidities.If it is considered as a rigid MBS(RMBS) to do its dynamic analysis,elastic deformation's ignorance will lead to inaccurate analysis.If it is considered as a flexible MBS(FMBS) to establish,analyze,and solve the model,quite large system equations make it difficult to solve.The better method is as follows:the complex mechanism system is regarded as a rigid-flexible coupled system(RFCS) to make dynamic characteristic of rigid components be equivalent,system equation is established by FMBS' way,and system equation dimensions are reduced by transition matrices' introduction.A dynamic analysis method for rigid element and flexible element coupling was presented based on the FMBS.The analyzed crank slide-block mechanism results show that the dynamic analysis method for RFCBLS is quick and convenient.展开更多
In this study,an iterative-based three-dimensional finite element lower bound in association with the second-order cone programming method is adopted to evaluate the limit load of a single pile embedded in cross-aniso...In this study,an iterative-based three-dimensional finite element lower bound in association with the second-order cone programming method is adopted to evaluate the limit load of a single pile embedded in cross-anisotropic soils under general loading condition.The lower bound solutions of the pile embedded in an anisotropic soil deposit can be found by formulating the element equilibrium,equilibrium of shear and normal stresses along discontinuities,boundary conditions,yield function,and optimizing the objective function through the second-order cone programming method in conjunction with an iterative-based update procedure.A general loading condition is considered to profile the expansion of the safe load in the vertical-horizontal-moment(V-H-M)space.The results of this study are compared and validated against three different cases including an isotropic lateral loading,anisotropic end bearing capacity,and a pile embedded in an isotropic soil deposit under general loading condition.A parametric study is conducted to evaluate the impact of different influencing factors.It was found that the effect of anisotropy on the variation of lateral limit load of a single pile is more pronounced than the corresponding vertical and bending moment limit loads,whereas the interface properties have more significant effects on the vertical and bending moment limit loads in comparison to the lateral limit load.展开更多
基金Project(50575165) supported by the National Natural Science Foundation of ChinaProjects(2006AA04Z202, 2005AA2006-1) supported by the National High-Tech Research and Development Program of China+1 种基金Project(20813) supported by the Natural Science Foundation of Hubei Province, ChinaProject(20045006071-28) supported by the Youth Chenguang Project of Science and Technology of Wuhan City, China
文摘The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.
基金This study was co-supported by the National Natural Science Foundation of China(No.T2288101)the National Key Research and Development Project,China(No.2020YFC1512500).
文摘The arresting process of carrier-based aircraft is widely recognized as a challenging task,characterized by the highest accident rate among all carrier-based aircraft operations.Dynamic simulation plays a crucial role in assessing the intricate responses of the arresting process,favoring the design of carrier-based aircraft.An efficient and accurate rigid-flexible coupling model for analyzing the dynamic response of the arresting process is proposed.By combining the dynamic characteristics of airframe,landing gear,arresting hook and arresting gear system,the rigid-flexible coupling dynamic model is established to reflect the relative motion of the coupling parts and arresting load.The dynamic model is verified through simulations of landing gear landing drops and by comparing the arresting simulation results with corresponding data in the US military standard.Additionally,simulations of the arresting process under different off-center distance and aircraft yaw angle are conducted to obtain the dynamic response of the aircraft during the arresting process.The result indicates that the rigid-flexible coupling dynamic model proposed is effective for analyzing the arresting dynamics response of carrier-based aircraft.The axial force of the arresting cable on both sides of the hook engagement point,pitch and yaw angle of aircraft are inconsistent under yaw and off-center arresting.The analysis method and obtained results provide valuable references for assessing the dynamic responses of carrier-based aircraft during arresting process and offer valuable in-sights in the design of carrier-based aircraft.
基金Key Laboratory of Fundamental Science for National Defense,China(No. HIT. KLOF. 2009058)
文摘In order to present a dynamic analysis method for the rigid-flexible coupled bar linkage system(RFCBLS),the flexible element motion equation was gotten by Lagrange Equation and the rigid element motion equation was gotten based on rigid constraint conditions.The multi-body system(MBS) is a complex mechanism and its components have quite different rigidities.If it is considered as a rigid MBS(RMBS) to do its dynamic analysis,elastic deformation's ignorance will lead to inaccurate analysis.If it is considered as a flexible MBS(FMBS) to establish,analyze,and solve the model,quite large system equations make it difficult to solve.The better method is as follows:the complex mechanism system is regarded as a rigid-flexible coupled system(RFCS) to make dynamic characteristic of rigid components be equivalent,system equation is established by FMBS' way,and system equation dimensions are reduced by transition matrices' introduction.A dynamic analysis method for rigid element and flexible element coupling was presented based on the FMBS.The analyzed crank slide-block mechanism results show that the dynamic analysis method for RFCBLS is quick and convenient.
文摘In this study,an iterative-based three-dimensional finite element lower bound in association with the second-order cone programming method is adopted to evaluate the limit load of a single pile embedded in cross-anisotropic soils under general loading condition.The lower bound solutions of the pile embedded in an anisotropic soil deposit can be found by formulating the element equilibrium,equilibrium of shear and normal stresses along discontinuities,boundary conditions,yield function,and optimizing the objective function through the second-order cone programming method in conjunction with an iterative-based update procedure.A general loading condition is considered to profile the expansion of the safe load in the vertical-horizontal-moment(V-H-M)space.The results of this study are compared and validated against three different cases including an isotropic lateral loading,anisotropic end bearing capacity,and a pile embedded in an isotropic soil deposit under general loading condition.A parametric study is conducted to evaluate the impact of different influencing factors.It was found that the effect of anisotropy on the variation of lateral limit load of a single pile is more pronounced than the corresponding vertical and bending moment limit loads,whereas the interface properties have more significant effects on the vertical and bending moment limit loads in comparison to the lateral limit load.
