THE VIRTUAL WORK PRINCIPLE AND LINEAR COMPLEMEN-TARY METHOD FOR COUPLING ANALYSIS OF ELASTO-PLASTIC DAMAGE STRUCTURE

The virtual displacement principle of elasto-plastic damage mechanics is presented. A linear complementary method for elasto-plastic damage problem is proposed by using FEM technique. This method is applicable to solving the damage structure analysis of hardened and softened nonlinear material.

Inverse Dynamics of Delta Robot Based on the Principle of Virtual Work

A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.

NEW PRINCIPLES OF WORK AND ENERGY AS WELLAS POWER AND ENERGY RATE FORCONTINUUM FIELD THEORIES

New principles of work and energy as well as power and energy rate with cross terms for polar and nonlocal polar continuum field theories were presented and from them all corresponding equations of motion and boundary conditions as well as complete equations of energy and energy rate with the help of generalized Piola's theorems were naturally derived in all and without any additional requirement. Finally, some new balance laws of energy and energy rate for generalized continuum mechanics were established. The new principles of work and energy as well as power and energy rate with cross terms presented in this paper are believed to be new and they have corrected the incompleteness of all existing corresponding principles and laws without cross terms in literatures of generalized continuum field theories.

Consistency and Validity of the Mathematical Models and the Solution Methods for BVPs and IVPs Based on Energy Methods and Principle of Virtual Work for Homogeneous Isotropic and Non-Homogeneous Non-Isotropic Solid Continua

Energy methods and the principle of virtual work are commonly used for obtaining solutions of boundary value problems (BVPs) and initial value problems (IVPs) associated with homogeneous, isotropic and non-homogeneous, non-isotropic matter without using (or in the absence of) the mathematical models of the BVPs and the IVPs. These methods are also used for deriving mathematical models for BVPs and IVPs associated with isotropic, homogeneous as well as non-homogeneous, non-isotropic continuous matter. In energy methods when applied to IVPs, one constructs energy functional (I) consisting of kinetic energy, strain energy and the potential energy of loads. The first variation of this energy functional (δI) set to zero is a necessary condition for an extremum of I. In this approach one could use δI = 0 directly in constructing computational processes such as the finite element method or could derive Euler’s equations (differential or partial differential equations) from δI = 0, which is also satisfied by a solution obtained from δI = 0. The Euler’s equations obtained from δI = 0 indeed are the mathematical model associated with the energy functional I. In case of BVPs we follow the same approach except in this case, the energy functional I consists of strain energy and the potential energy of loads. In using the principle of virtual work for BVPs and the IVPs, we can also accomplish the same as described above using energy methods. In this paper we investigate consistency and validity of the mathematical models for isotropic, homogeneous and non-isotropic, non-homogeneous continuous matter for BVPs that are derived using energy functional consisting of strain energy and the potential energy of loads. Similar investigation is also presented for IVPs using energy functional consisting of kinetic energy, strain energy and the potential energy of loads. The computational approaches for BVPs and the IVPs designed using energy functional and principle of virtual work, their consistency and validity are also investigated. Classical continuum mechanics (CCM) principles i.e. conservation and balance laws of CCM with consistent constitutive theories and the elements of calculus of variations are employed in the investigations presented in this paper.

A FINITE ELEMENT—MATHEMATICAL PROGRAMMING METHOD FOR ELASTOPLASTIC PROBLEMS BASED ON THE PRINCIPLE OF VIRTUAL WORK

By expanding the yielding function according toTaylor series and neglecting the high order terms, the elastoplastic constitutive equation is written in a linear complementary form. Based on this linear complementary form and the principle of virtual work, a finite element-complementary method is derived for elastoplastic problem. This method is available for materials which satisfy either associated or nonassociated flow rule. In addition, the existence and uniqueness oj solution for the method are also discussed and some useful conclusions are given.

THE VARIATIONAL PRINCIPLES OF COUPLED SYSTEMS IN PHOTOELASTICITY

This paper presents an energy principle, zero different principle of coupledsystems in photoelasticity, from which the potential energy, the complementary energy,generalized potential energy and generalized complementary energy variationalprinciples of the coupled systems in photoelasticity are derived What is called the coupled systems means that two deformational bodies, forwhich figures, sizes,loads and boundary conditions are the same and they are all inactual states but they are made of different materials.Prototype body and model body in photoelasticity are essentially the coupledsystems, therefore the above principles become the theoretical basis of defining theinflunce of Poissons ratio v on accuracy of the frozen-stress method.

ON SOME BASIC PRINCIPLES IN DYNAMIC THEORY OF ELASTIC MATERIALS WITH VOIDS

According to the basic idea of dual-complementarity,in a simple and unified way proposed by the author,some basic principles in dynamic theory of elastic materials with voids can be established sys- tematically.In this paper, an important integral relation in terms of convolutions is given,which can be con- sidered as the generalized principle of virtual work in mechanics.Based on this relation,it is possible not on- ly to obtain the principle of virtual work and the reciprocal theorem in dynamic theory of elastic materials with voids,but also to derive systematically the complementary functionals for the eight-field,six-field, four-field and two-field simplified Gurtin-type variational principles.Furthermore,with this approach,the in- trinsic relationship among various principles can be explained clearly.

DYNAMIC PRINCIPLE FOR INTERACTION BETWEEN HEART AND ARTERIAL SYSTEM

Various steady models for interaction between heart and arterial system have been given in liter- ature,In our recent study,a dynamic principle,i.e.the principle of least cardiac work is proposed,and a dy- namic model for interaction of heart and arterial system is established.Preliminary results of our experiments show that both the principle and the model are consistent with the physiological phenomena.It reveals that the pres- ent analysis may offer a new measure for the study of dynamic process of interaction between heart and arterial system.

Mechanical stress and deformation analyses of pressurized cylindrical shells based on a higher-order modeling

In this research,mechanical stress,static strain and deformation analyses of a cylindrical pressure vessel subjected to mechanical loads are presented.The kinematic relations are developed based on higherorder sinusoidal shear deformation theory.Thickness stretching formulation is accounted for more accurate analysis.The total transverse deflection is divided into bending,shear and thickness stretching parts in which the third term is responsible for change of deflection along the thickness direction.The axisymmetric formulations are derived through principle of virtual work.A parametric study is presented to investigate variation of stress and strain components along the thickness and longitudinal directions.To explore effect of thickness stretching model on the static results,a comparison between the present results with the available results of literature is presented.As an important output,effect of micro-scale parameter is studied on the static stress and strain distribution.

Investigation of electrostriction appliance and its applicationfor bionics flapping aircraft

A novel design for an electrostriction appliance derived from the theory and application of electromagnetics is presented. The working principle, that is the application of gravitation and elasticity together to realize the ＂shrinking＂ and ＂extending＂ effect from the distortion and transforming power into mechanical energy, is briefly explained. The characteristic parameter relationships are established and the experimental research is performed. Experimental results show that this sort of electrostriction appliance can perform well as regards driving force and beeline displacement, and furthermore, its self-weight is smaller. This makes it suitable for beeline drivers with a high application value, especially for the driver of the bionic appliance. In the application of the electrostriction appliance to a bionics-flapping aircraft, the wings can work with a flapping angle in the range of a certain value by controlling the ＂shrinking＂ and ＂extending＂ of the electrostriction appliance. It can reduce the startup power and the impact load of the driver. The flapping extent of the wings will change when the voltage which is put into the electrostriction appliance varies. This makes it more flexible as the bionics-flapping aircraft realizes different actions of flying.

Analysis on Buckling Performance of Submarine Pipelines During Deepwater Pipe-Laying Operation

Pipes inevitably encounter high ambient pressure and bending moment during the deepwater pipe-laying process,which can lead to elliptical buckling and even deterioration failure.For the safety of pipe-laying operation,available formulas for the pipe stability are established on the basis of the assumption of uniform deformation along the tube length and symmetrical buckling.This method can predict the nonlinear response of elliptical collapse of steel circular tubes for different ratios of diameter to thickness（D/t）under pure bending or combined bending and external pressure.In these formulas,the strain-displacement relationship is deduced from the nonlinear ring theory,and the Ramberg-Osgood constitutive model is applied to simulate the inelastic material behavior.Meanwhile,the principle of virtual work is adopted to derive the equilibrium equations.A set of equations is solved by the Newton-Raphson method,and the iterative scheme contains nested iteration for the constitutive relation.In order to check the effectiveness of this theoretical method,illustrative examples are presented in this paper.Besides,the numerical simulation is carried out by use of ANSYS.A comparison of the results shows that the theoretical method can provide reasonable prediction for engineering practice.

Dynamic Modeling and Experiment of a New Type of Parallel Servo Press Considering Gravity Counterbalance

The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

Effects of temperature change on elastic behavior of steel beams with semi-rigid connections

Based on the nonlinear displacement-strain relationship,the virtual work principle method was used to establish the nonlinear equilibrium equations of steel beams with semi-rigid connections under vertical uniform loads and temperature change.Considering the non-uniform temperature distribution across the thickness of beams,the formulas for stresses and vertical displacements were presented.On the basis of a flowchart for analysis of the numerical example,the effect of temperature change on the elastic behavior of steel beams was investigated.It is found that the maximal stress is mainly influenced by axial temperature change,and the maximal vertical displacement is principally affected by temperature gradients.And the effect of temperature gradients on the maximal vertical displacement decreases with the increase of rotational stiffness of joints.Both the maximal stress and vertical displacement decrease with the increase of rotational stiffness of joints.It can be concluded that the effects of temperature changes and rotational stiffness of joints on the elastic behavior of steel beams are significant.However,the influence of rotational stiffness becomes smaller when the rotational stiffness is larger.

Several Fundamental Theorems and Conservative Integrals in Quasicrystal Elasticity Theory

Aim To extend several fundamental theorems of conventional elasticity theory to quasicrystalelasticity theory. Methods The basic governing equations of quasicrystal elasticity theory and Gauss's theorem were applied in the derivation. Results and Conclusion The principle of virtual work, Betti's reciprocal theorem and the uniqueness theorem of quasicrystal elasticity theory are proud, and some conservative integrals in quasicrystal elasticty theory are obtained.

Electromechanical dynamics analysis and simulation on rollforming equipment with both sides variable cross-section

Electromechanical dynamics analysis and simulation on a rollforming equipment with both sides variable cross-section are discussed in this study.The system includes mechanical parts and electromagnetism parts,and it is a strongly coupled electromechanical system.Based on a virtual work principle and given power,generalized forces of this system are obtained.By using Lagrange-Maxwell equations,a model of electromechanical dynamics is established.Differential equations of two-phase winding on d-q axis are obtained by Park transformation,which comes from three-phase winding equations on the A-B-C axis.This system is solved with the 4th order Runge-Kutta's method,and discrete solutions of all variables are obtained.Finally,by using Matlab language,the system is simulated.The results show that the proposed method works very well.

Third-order polynomial model for analyzing stickup state laminated structure in flexible electronics

Laminated hard-soft integrated structures play a significant role in the fabrication and development of flexible electronics devices. Flexible electronics have advantageous characteristics such as soft and light-weight, can be folded,twisted, flipped inside-out, or be pasted onto other surfaces of arbitrary shapes. In this paper, an analytical model is presented to study the mechanics of laminated hard-soft structures in flexible electronics under a stickup state. Thirdorder polynomials are used to describe the displacement field,and the principle of virtual work is adopted to derive the governing equations and boundary conditions. The normal strain and the shear stress along the thickness direction in the bimaterial region are obtained analytically, which agree well with the results from finite element analysis. The analytical model can be used to analyze stickup state laminated structures, and can serve as a valuable reference for the failure prediction and optimal design of flexible electronics in the future.

A New Kind of Pilot Controlled Proportional Direction Valve with Internal Flow Feedback

Proportional direction valve is one of the most fundamental elements in electronic-hydraulic control technique. Its function is to control the operating speed, direction, position, and strength of output force of the hydraulic actuator continuously. Considering the different application and the cost, the existing technique mainly includes the internal feedback valve used in open loop system, and the electronic closed loop controlled valve used in closed loop system. Because of their different mechanical structure and the gre at different in performance, it brings inconvenience for customer to select, also inconvenience for enterprise to produce. Aiming at this problem, the idea of combining the above two kinds of valves into one body is proposed first, and then the new valve＇s structure to realize this target is designed. The idea intends to apply the displacement pilot flow feedback control principle in present 2-position 2-way valve system to the proportional direction valve of 3-position 4-way system. Newly designed feed forward controller can decouple the interference between the internal feedback and the electronic closed loop. Redundant conversion is designed to electronic switch mode. Experiment on dynamic and static characteristic of new proportional direction valve in internal feedback control mode and electronic closed loop control mode is discussed to prove the new theory is correct. Although the new valve is of excellent dynamic response characteristic, its steady control characteristic in open loop control mode needs to be improved further. The research results prepare one new fundamental element for electronic-hydraulic control technology.

Kinematics and Dynamics of Deployable Structures with Scissor-Like-Elements Based on Screw Theory

Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element（SLE）. First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.

Moderate Resolution Imaging Camera (MoRIC) of China’s First Mars Mission Tianwen-1

China's first Mars exploration mission will carry out comprehensive global surveys of the planet from data collected by instruments carried in orbit and roving on the planet itself.Goals of the mission include detailed inspections and surveys of key areas on the surface of Mars.One of the main scientific payloads installed on the orbiter is the moderate resolution camera.Its mission is to image the surface of Mars sufficiently to produce a global remote sensing image map of the planet,and to explore and record changes to the topography of Mars,including major geological structures,and to advance research on topography and geomorphology in general.The moderate resolution camera uses a lightweight and compact integrated design;its primary components are an optical module,a focal plane module,a camera control module,a power and interface module,a camera support module,a thermal control module,and a reference module.Radiometric calibration,color calibration,and geometric calibration have been carried out to ensure that the camera can acquire sufficient accurate data to complete mission goals.This paper introduces the camera's detection mission,its system composition,and its working principle;it also describes the camera's ground calibration tests and their results,and provides a reference for processing the camera's scientific data and for future applications.

Study on generalized magneto-thermoelastic problems by FEM in time domain

This paper presents an investigation of temperature, displacement, stress, and induced magnetic field in a half space perfectly-conductive plate. Finite element equations regarding generalized magneto-thermoelasticity problems with two relaxation times （i.e., the G-L theory） are derived using the principle of virtual work. For avoiding numerical complication involved in inverse Laplace and Fourier transformation and low precision thereof, the equations are solved directly in time-domain. As a numerical example, the derived equation is used to investigate the generalized magneto-thermoelastic behavior of a semi-infinite plate under magnetic field and subjecting to a thermal shock loading. The results demonstrate that FEM can faithfully predict the deformation of the plate and the induced magnetic field, and most importantly can reveal the sophisticated second sound effect of heat conduction in two-dimensional generalized thermoelastic solids, which is usually difficult to model by routine transformation methods. A peak can be observed in the distribution of stress and induced front and the magnitude of magnetic field at the heat wave the peak decreases with time, which can not be obtained by transformation methods. The new method can also be used to study generalized piezo-thermoelastic problems.