本文将 Kane 动力学方法与假设模态法相结合.给出一种分析机器人手臂弹性动力学的新方法.首先基于 Kane 方法的运动学概念,并应用假设模态法建立了手臂弹性运动学.推导出完整的弹性动力学方程.并以一简例说明了其应用过程.这种方法比较...本文将 Kane 动力学方法与假设模态法相结合.给出一种分析机器人手臂弹性动力学的新方法.首先基于 Kane 方法的运动学概念,并应用假设模态法建立了手臂弹性运动学.推导出完整的弹性动力学方程.并以一简例说明了其应用过程.这种方法比较简洁,兼具 Lagrange 法和 Newton-Euler 法的优点而克服了其不足,便于计算机数值分析.展开更多
Since the 1960 s, mining science and technology in China has experienced two technical innovations, i.e.the ‘‘Masonry Beam Theory(MBT)" and ‘‘Transfer Rock Beam Theory(TRBT)". Based on those theories, th...Since the 1960 s, mining science and technology in China has experienced two technical innovations, i.e.the ‘‘Masonry Beam Theory(MBT)" and ‘‘Transfer Rock Beam Theory(TRBT)". Based on those theories, the conventional mining method(being called the 121 mining method) was established, consisting of excavating two tunnels with a pillar left for mining a working panel. However, with increasing mining depth,engineering geological disasters in the underground caverns have been frequently encountered. In addition, the use of the coal-pillar mining results in a large amount of coal resources unexploited. In order to address the problems above, the ‘‘Roof Cut Short-Arm Beam Theory(RCSBT), being called the 110 mining method)" was proposed by He Manchao in 2008. The 110 mining method features the mining of one coal seam panel, excavating necessarily only one roadway tunnel and leaving no pillars. Realization of the 110 mining method includes the following steps:(1) directional pre-splitting roof cutting,(2) supporting the roof by using high Constant Resistance Large Deformation bolt/cable(CRLD), and(3) blocking gangue by hydraulic props. This paper presents an overview of the principles, techniques and application of the 110 mining method. Special emphasis is placed on the numerical simulation of the geostress distribution found in the mining panel using the 110 method compared to that of the 121 method. In addition, the stress distribution on the ‘‘short beam" left by the roof cutting when performing the 110 method was also investigated using both numerical simulation and theoretical formulation.展开更多
文摘本文将 Kane 动力学方法与假设模态法相结合.给出一种分析机器人手臂弹性动力学的新方法.首先基于 Kane 方法的运动学概念,并应用假设模态法建立了手臂弹性运动学.推导出完整的弹性动力学方程.并以一简例说明了其应用过程.这种方法比较简洁,兼具 Lagrange 法和 Newton-Euler 法的优点而克服了其不足,便于计算机数值分析.
文摘Since the 1960 s, mining science and technology in China has experienced two technical innovations, i.e.the ‘‘Masonry Beam Theory(MBT)" and ‘‘Transfer Rock Beam Theory(TRBT)". Based on those theories, the conventional mining method(being called the 121 mining method) was established, consisting of excavating two tunnels with a pillar left for mining a working panel. However, with increasing mining depth,engineering geological disasters in the underground caverns have been frequently encountered. In addition, the use of the coal-pillar mining results in a large amount of coal resources unexploited. In order to address the problems above, the ‘‘Roof Cut Short-Arm Beam Theory(RCSBT), being called the 110 mining method)" was proposed by He Manchao in 2008. The 110 mining method features the mining of one coal seam panel, excavating necessarily only one roadway tunnel and leaving no pillars. Realization of the 110 mining method includes the following steps:(1) directional pre-splitting roof cutting,(2) supporting the roof by using high Constant Resistance Large Deformation bolt/cable(CRLD), and(3) blocking gangue by hydraulic props. This paper presents an overview of the principles, techniques and application of the 110 mining method. Special emphasis is placed on the numerical simulation of the geostress distribution found in the mining panel using the 110 method compared to that of the 121 method. In addition, the stress distribution on the ‘‘short beam" left by the roof cutting when performing the 110 method was also investigated using both numerical simulation and theoretical formulation.
