General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

Simulation analysis of wear characteristics of connecting rod bearing bush based on improved mixed lubrication model

The failure rate of crankpin bearing bush of diesel engine under complex working conditions such as high temperature,dynamic load and variable speed is high.After serious wear,it is easy to deteriorate the stress state of connecting rod body and connecting rod bolt,resulting in serious accidents such as connecting rod fracture and body damage.Based on the mixed lubrication characteristics of connecting rod big endbearing shell of diesel engine under high explosion pressure impact load,an improved mixed lubrication mechanism model is established,which considers the influence of viscoelastic micro deformation of bearing bush material,integrates the full film lubrication model and dry friction model,couples dynamic equation of connecting rod.Then the actual lubrication state of big end bearing shell is simulated numerically.Further,the correctness of the theoretical research results is verified by fault simulation experiments.The results show that the high-frequency impact signal with fixed angle domain characteristics will be generated after the serious wear of bearing bush and the deterioration of lubrication state.The fault feature capture and alarm can be realized through the condition monitoring system,which can be applied to the fault monitoring of connecting rod bearing bush of diesel engine in the future.

Numerical Analysis of Steady Smoldering of Biomass Rods

Understanding the steady mechanism of biomass smoldering plays a great role in the utilization of smoldering technology.In this study numerical analysis of steady smoldering of biomass rods was performed.A two-dimensional(2D)steady model taking into account both char oxidation and pyrolysis was developed on the basis of a calculated propagation velocity according to empirical correlation.The model was validated against the smoldering experiment of biomass rods under natural conditions,and the maximum error was smaller than 31%.Parameter sensitivity analysis found that propagation velocity decreases significantly while oxidation area and pyrolysis zone increase significantly with the increasing diameter of rod fuel.

On dynamics of elastic rod based on exact Cosserat model

The analysis of kinematics and dynamics of an elastic rod with circular cross section is studied on the basis of exact Cosserat model under consideration of the tension and shear deformation of the rod. The dynamical equations of a rod with arbitrary initial shape are established in general form. The dynamics of a straight rod under axial tension and torsion is discussed as an example. In discussion of static stability in the space domain the Greenhill criteria of stability and the Euler load are corrected by the influence of tension and shear strain. In analysis of dynamical stability in the time domain it is shown that the Lyapunov and Euler stability conditions of the rod in space domain are the necessary conditions of Lyapunov＇s stability in the time domain. The longitudinal, torsional and lateral vibrations of a straight rod based on exact model are discussed, and an exact formula of free frequency of lateral vibration is obtained. The free frequency formulas of various simplified models, such as the Rayleigh beam, the Kirchhoff rod, and the Timoshenko beam, can be seen as special cases of the exact formula under different conditions of simplification.

Dynamic Response Study of Steel Catenary Riser Based on Slender Rod Model

A numerical model of the steel catenary riser(SCR) is built based on the slender rod model. The slender rod model,which describes the behavior of the slender riser in terms of the center line position, can solve the geometrical nonlinearity effectively. In a marine environment, the SCR is under the combined internal flow and external loads,such as wave and current. A general analysis considers only the inertial force and the drag force caused by the wave and current. However, the internal flow has an effect on the SCR; it is essential to explore the dynamic response of the SCR with the internal flow. The SCR also suffers the lift force and the fluctuating drag force because of the current. Finite element method is utilized to solve the motion equations. The effects of the internal flow, wave and current on the dynamic response of the SCR are considered. The results indicate that the increase of the internal flow density leads to the decrease of the displacement of the SCR, while the internal flow velocity has little effect on the SCR. The displacement of the SCR increases with the increase of the wave height and period. And the increasing wave period results in an increase in the vibration period of the SCR. The current velocity changes the displacements of the SCR in x-and z-directions. The vibration frequency of the SCR in y-direction increases with the increase of the current velocity.

Analytical models for the penetration of semi-infinite targets by rigid,deformable and erosive long rods

A theoretical study is presented herein on the pen- etration of a semi-infinite target by a spherical-headed long rod for Yp 〉 S, where Yp is the penetrator strength and S is the static target resistance. For Yp 〉 S, depending upon initial impact velocity, there exist three types of penetration, namely, penetration by a rigid long rod, penetration by a deforming non-erosive long rod and penetration by an erosive long rod. If the impact velocity of the penetrator is higher than the hydrodynamic velocity （VH）, it will penetrate the target in an erosive mode; if the impact velocity lies between the hydrodynamic velocity （VH） and the rigid body velocity （VR）, it will penetrate the target in a deformable mode; if the impact velocity is less than the rigid body velocity （VR）, it will penetrate the target in a rigid mode. The critical conditions for the transition among these three penetration modes are proposed. It is demonstrated that the present model predictions correlate well with the experimental observations in terms of depth of penetration （DOP） and the critical transition conditions.

An Axisymmetric Numerical Model for Simulating Kinetically-Limited Growth of a Cylindrical Rod in 3D Laser-induced Chemical Vapor Deposition

Laser-induced chemical vapor deposition (LCVD) is an important process for freeform microfabrication of high aspect ratio prototypes. The system consists of a laser beam focused onto a movable substrate in a vacuum chamber. Heat from the laser at or near the focal spot of the beam causes gas in the chamber to react. As a result, solid-phase reaction products are deposited on the substrate to form the microstructure. In this paper, we develop a numerical model for simulating growth of an axisymmetric cylindrical rod by pre-specifying the surface temperatures required for growing the rod and then by solving for the laser power that satisfies the pre-specified temperatures. The solution using least squares is obtained by minimizing the sum of square deviations between the pre-specified surface temperatures and the calculated temperatures from the heat equation with a given laser power as a heat source. Model predictions of the laser power over growth time helped in optimizing the growth process. Rods grown based on the predicted laser power from the numerical model were very close to being cylindrical in shape. Ways to further improve the model are being investigated.

Stability analysis of helical rod based on exact Cosserat model

Helical equilibrium of a thin elastic rod has practical backgrounds, such as DNA, fiber, sub-ocean cable, and oil-well drill string. Kirchhoff＇s kinetic analogy is an effective approach to the stability analysis of equilibrium of a thin elastic rod. The main hypotheses of Kirchhoff＇s theory without the extension of the centerline and the shear deformation of the cross section are not adoptable to real soft materials of biological fibers. In this paper, the dynamic equations of a rod with a circular cross section are established on the basis of the exact Cosserat model by considering the tension and the shear deformations. Euler＇s angles are applied as the attitude representation of the cross section. The deviation of the normal axis of the cross section from the tangent of the centerline is considered as the result of the shear deformation. Lyapunov＇s stability of the helical equilibrium is discussed in static category. Euler＇s critical values of axial force and torque are obtained. Lyapunov＇s and Euler＇s stability conditions in the space domain are the necessary conditions of Lyapunov＇s stability of the helical rod in the time domain.

Approximate solutions of the Alekseevskii–Tate model of long-rod penetration

The Alekseevskii–Tate model is the most successful semi-hydrodynamic model applied to long-rod penetration into semi-infinite targets. However, due to the nonlinear nature of the equations, the rod(tail) velocity, penetration velocity, rod length, and penetration depth were obtained implicitly as a function of time and solved numerically By employing a linear approximation to the logarithmic relative rod length, we obtain two sets of explicit approximate algebraic solutions based on the implicit theoretica solution deduced from primitive equations. It is very convenient in the theoretical prediction of the Alekseevskii–Tate model to apply these simple algebraic solutions. In particular, approximate solution 1 shows good agreement with the theoretical(exact) solution, and the first-order perturbation solution obtained by Walters et al.(Int. J. Impac Eng. 33:837–846, 2006) can be deemed as a special form of approximate solution 1 in high-speed penetration. Meanwhile, with constant tail velocity and penetration velocity approximate solution 2 has very simple expressions, which is applicable for the qualitative analysis of long-rod penetration. Differences among these two approximate solutions and the theoretical(exact) solution and their respective scopes of application have been discussed, and the inferences with clear physical basis have been drawn. In addition, these two solutions and the first-order perturbation solution are applied to two cases with different initial impact velocity and different penetrator/target combinations to compare with the theoretical(exact) solution. Approximate solution 1 is much closer to the theoretical solution of the Alekseevskii–Tate model than the first-order perturbation solution in both cases, whilst approximate solution 2 brings us a more intuitive understanding of quasi-steady-state penetration.

Effects of rod radius and voltage on streamer discharge in a short air gap

Streamer discharge is the inaugural stage of gas discharge,and the average electron energy directly determines the electron collision reaction rate,which is a key parameter for studying streamer discharge.Therefore,taking into account the average electron energy,this work establishes a fluid chemical reaction model to simulate and study the course of evolution of a streamer discharge in a 5 mm rod–plate gap,considering 12 particles and 27 chemical reactions.It introduces the electron energy drift diffusion equation into the control equation,and analyzes the temporal and spatial changes of average electron energy,electric field intensity and electron density with change in rod radius and voltage.The effects of voltage and rod radius on the course of streamer discharge can be reflected more comprehensively by combining the average electron energies.Three different values of 0.3 mm,0.4 mm and 0.5 mm are set for the rod radius,and three different values of 5 k V,6 k V and 7 k V are set for the voltage.The influence of an excitation reaction on the streamer discharge is studied.The findings indicate that,as voltage raises,the streamer head’s electron density,electric field and average electron energy all rise,and the streamer develops more quickly.When the rod radius increases,the electron density,electric field and average electron energy of the streamer head all decrease,and the streamer’s evolution slows down.When an excitation reaction is added to the model,the average electron energy,the magnitude of the electric field and the density of electrons decrease,and the evolution of the streamer slows down.An increase in average electron energy will lead to an increase in electric field strength and electron density,and the development of the streamer will be faster.

Qualitative Knowledge Based Discrete Rod Model with Simulation Case

Constructing a qualitative model for discrete rods warhead,the kinematics analysis and dynamics analysis of the rods are completed.On the basis of the qualitative model of discrete rods,a simulation case is provided.The qualitative simulation result shows that hexagon cross section shape of rod will receive the lowest air drag while by means of better preplaced dip angle,controlling the rotation velocity of the rod and keeping every rod with identical dip angle to the axis of warhead will make the rod get a lateral direction velocity so as to have the rod gain identical casting initial velocity in its length direction.Simulation experiment shows that when dip angle of preplaced discrete rod is 6°,the damage cycle reaches the optimal value.

Mechanical characteristic and failure mechanism of joint with composite sucker rod

Composite sucker rods are widely used in oil fields because of light weight,high strength,and corrosion resistance.Bonded technology becomes the primary connection method of composites.However,the joints with composite sucker rods are prone to debone and fracture.The connected characteristics are less considered,so the failure mechanism of the joint is still unclear.Based on the cohesive zone model(CZM)and the Johnson-Cook constitutive model,a novel full-scale numerical model of the joint with composite sucker rod was established,and verified by pull-out experiments.The mechanical properties and slip characteristics of the joint were studied,and the damaged procession of the joint was explored.The results showed that:a)the numerical model was in good agreement with the experimental results,and the error is within 5%;b)the von Mises stress,shear stress,and interface stress distributed symmetrically along the circumferential path increased gradually from the fixed end to the loading end;c)the first-bonded interface near the loading end was damaged at first,followed by debonding of the second-bonded interface,leading to the complete shear fracture of the epoxy,and resulted in the debonding of the joint with composite sucker rod,which can provide a theoretical basis for the structural design and optimization of the joint.

一种杆长可调的多功能铰链四杆机构模型的设计

设计出一款多功能铰链四杆机构,可使不同机构类型在同一模型上实现。阐述了设计原理,完成了杆长调节机构、限位装置、杆长锁紧装置、机架、多功能连接装置、铅笔固定滑块机构的设计,通过数字化模型呈现其功能。

Variable-based Ramberg-Osgood constitutive model of power spinning bushing

The influences of power spinning process parameters on the mechanical properties of spinning parts were analyzed with an SXD100/3-CNC numerical control power spinning machine.The unidirectional tensile tests were carried out.Based on the experimental data,a ternary quadratic regression equation was established by orthogonal experiment.The Ramberg-Osgood constitutive model of tin-bronze connecting rod bushing was obtained.Referred to the constitutive relation of macroscopic incremental,the incremental elastoplastic constitutive relation of spinning parts was deduced based on the Mises yield criterion and kinematic hardening model.The results can be applied to the elastoplastic analysis in finite element numerical simulation.

Rod-pinch二极管理论及数值模拟

介绍了Rod-pinch二极管的基本结构和工作原理,采用Laminar模型分析了Rod-pinch二极管中的粒子运动过程及其阻抗特性。考虑背景空间离子电荷的影响,用1维Laminar方程分析Rod-pinch二极管中电子的自箍缩过程,并且利用Magic程序对其中的粒子运动进行数值模拟,求解二极管中的电压和电流,最终得出二极管的阻抗特性,在较低电压下,负极性RPD的性能明显不如正极性RPD。根据临界电流经验公式,初步验证Laminar理论模型的可行性。

基于动量源与精细多孔介质的堆芯特征组件域CFD计算分析技术研究

堆芯计算流体力学(Computational Fluid Dynamics,CFD)对确定堆芯薄弱环节、优化特征结构、提升安全及经济性等具有重大意义。典型压水堆燃料组件存在大量带交混翼片格架,导致存在网格数量激增、网格划分困难、求解难以收敛等问题。目前基于流固作用机理所建立的动量源模型未考虑交混翼背流侧低压区对流体的影响,预测交混翼下游域轴流分布误差较大,此外在识别交混翼片固体域、添加动量源项时较为困难。为此本文提出了一种基于精细化多孔介质和动量源的联合仿真方案来模拟5×5带交混翼片棒束通道冷却剂流动,该方案中的域识别技术可以精确定位流体域中交混翼片所在位置,并基于格架前端及交混翼片迎流与背流侧的流固作用机理,建立多孔介质和动量源模型。该方案在格架域,采用精细化多孔介质模型,提高原格架固体所在流域局部阻力系数,相较于在格架域施加动量源项,其数值稳定性更好。而在交混翼域,对动量源方案进行了优化,优化后的动量源模型考虑到了交混翼片背流侧低压区对流体的作用,其仿真交混翼下游的速度分布和传热更准确。该方案可以在网格生成的过程中无须考虑格架、交混翼片的几何特征,从而实现全结构化网格建模、CFD求解耗时短、对网格数量不敏感,鲁棒性较优。通过与实验及贴体网格仿真结果对比,验证了该方案仿真阻流、流动、交混、涡流、传热的有效性。同时仿真5×5棒束通道时可减少90%的网格数量和60%的计算耗时。此外,由于棒束通道交混翼在轴向和周向都是规则排列,因此本文开发的动量源方案通过调整坐标即可适用于更大流体域的燃料组件。

活塞杆贯通式抗蛇行减振器在铁道车辆上的适应性研究

活塞杆贯通式抗蛇行减振器因活塞杆在活塞上下工作腔所占的截面积相等,且活塞上拉伸阻尼阀、压缩阻尼阀参数一致,因此在拉伸和压缩行程中工作腔内的油液通过阻尼阀的流量相等,从而产生相等的阻尼力,使之具有高度对称的动、静态性能,可以弥补双油路抗蛇行减振器静态性能对称性差、单油路抗蛇行减振器动态性能对称性差的不足。首先,基于活塞杆贯通式、双油路和单油路抗蛇行减振器的工作原理和结构参数,建立3种抗蛇行减振器的数值仿真模型;然后,通过减振器性能试验对模型进行验证,对比研究3种抗蛇行减振器仿真下的动、静态性能对称性;最后,利用Simulink将车辆模型和抗蛇行减振器模型进行动力学联合仿真,对比研究小锥度曲线工况下安装活塞杆贯通式和双油路抗蛇行减振器的铁道车辆的曲线稳定性以及大锥度直线工况下安装活塞杆贯通式和单油路抗蛇行减振器的铁道车辆的直线稳定性。研究结果表明:活塞杆贯通式抗蛇行减振器动、静态性能对称性都优异,且都好于双油路和单油路抗蛇行减振器;小锥度曲线工况下,相比于双油路抗蛇行减振器,安装活塞杆贯通式抗蛇行减振器可以提高车辆的非线性临界速度,进一步抑制转向架1.2 Hz左右的摇头振动,提高车辆的曲线稳定性;大锥度直线工况下,相比于单油路抗蛇行减振器,安装活塞杆贯通式抗蛇行减振器可以提高车辆的非线性临界速度,进一步显著抑制转向架8 Hz以下的摇头振动,提高车辆的直线稳定性。研究结果为活塞杆贯通式抗蛇行减振器在铁道车辆上的适应性优势提供理论依据。

发动机连杆恒定机械拉压损伤自适应检测方法

为提高现有发动机连杆拉压损伤检测方法的检测准确率和检测效率,提出发动机连杆恒定机械拉压损伤自适应检测方法。该方法首先研究发动机连杆的机械运动原理及连杆受恒定机械拉压强度影响的分析,然后获取与发动机连杆机械拉压相关的相对损伤分布数据,计算各项相对损伤分布数据所对应的连杆损伤程度,最后利用遗传算法完成概率神经网络模型的优化,基于上述得到的损伤数据建立连杆恒定机械拉压损伤自适应检测模型,实现发动机连杆恒定机械拉压损伤自适应检测。实验结果表明:所提方法检测准确率高于88%,检测时间不超过0.4s,均优于对比方法,具有一定研究价值。

棒束结构气冷换热的湍流模型适用性评价

高功率空间核电源采用棒束气冷堆具有质量轻等优势,其紧凑的栅格结构以及流动雷诺数(Re)较低的特点会影响堆芯的流动换热规律,采用CFD开展数值分析时需评价湍流模型的适用性。在气体工质棒束结构流动换热实验的基础上,利用ANSYS Fluent建立了试验段的数值模型,针对入口Re在688~2 986之间的实验工况,选择4种湍流模型开展了数值模拟,对比了加热棒包壳温度实验测量值与计算值。结果表明,4种湍流模型计算的棒温整体上均低于实验值,其中转捩SST模型结果与实验值最接近,整体平均偏差为-2.0%,较好地反映了横流等特征,可用于Re在2 000左右的棒束气冷堆芯热工水力数值计算。

基于基尔霍夫模型矩形截面微纳米螺旋机械性质的研究

三维微纳米螺旋材料具有超弹性、长程线性弹性、超强机械稳定性,属于材料科学研究前沿领域之一。论文基于基尔霍夫弹性细杆理论研究了微纳米螺旋材料的机械性能。通过建立矩形横截面副法线和法线螺旋结构模型,以SiGe/Si/Cr纳米螺旋材料作为研究对象,定量考察其负载能力,计算了胡克常数。分析其在轴向受力情况下胡克常数随轴向相对伸长率的变化。计算结果发现两种螺旋胡克常数并非恒定量,其中,副法线螺旋的线性弹性区域较大,在此区域胡克常数几乎不变。因此,矩形副法线螺旋具有更好的线性弹性,更利于机械系统的相关应用。