The influences of the lateral motion of a single wheelset running on a tangent railway on the creepages and creep forces between wheel and rail are investigated with numerical methods. ...The influences of the lateral motion of a single wheelset running on a tangent railway on the creepages and creep forces between wheel and rail are investigated with numerical methods. The effect of the yaw motion of wheelset is neglected in the analysis, and Kalker’s theory of three dimensional elastic bodies in rolling contact is employed to analyze the creep forces in the wheel/rail rolling contact with Non Hertzian form.展开更多
The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not ...The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not been clearly elucidated. In this paper, the e ect of spine motion on contact time is studied deeply from dynamic view.Firstly, a simplified model of the quadruped robot with spine joint is set up, its dynamic equations are derivated, and a method that can generate passive periodic locomotion is proposed. Secondly, according to the vertical spring oscillator model, the two-dimension planar locomotion of the simplified model is regarded as a special vibration in the vertical direction, and the approximate formula of calculating contact time is obtained. Finally, the approximate formula of calculating contact time is verified by the simulation results of passive periodic locomotion, and the e ect of spine motion on contact time is deeply discussed based on the approximate formula of calculating contact time. The discussion proves that spine motion indeed has little e ect on contact time, but spine motion can slightly reduce body pith movement and regulate the leg sti ness in leg contact phase. This research proposes an e ective research method which can be used to study the motion mechanism of the quadruped robot with spine motion,and the mechanism of spine motion about contact time is clearly elucidated which is helpful to set the parameters of mechanical structure and study control algorithm about the quadruped robot with spine motion.展开更多
The paper proposes a physical model for the motion of the contact line and the gas-liquid interface. The local motion of the contact line at the solid wall is assumed and the interface between gas and liquid is traced...The paper proposes a physical model for the motion of the contact line and the gas-liquid interface. The local motion of the contact line at the solid wall is assumed and the interface between gas and liquid is traced by a level function. The finite volume method and staggered grids are used to solve the governing equation numerically. The motion of the water column in a vertical pipe is computed and the results are in good agreement with experimental data.展开更多
Dynamic contact theory is applied to simulate the sliding of surface fault. Finite element method is used to analyze the effect of surface fault to site ground motions. Calculated results indicate that amplification e...Dynamic contact theory is applied to simulate the sliding of surface fault. Finite element method is used to analyze the effect of surface fault to site ground motions. Calculated results indicate that amplification effect is obvious in the area near surface fault, especially on the site that is in the downside fault. The results show that the effect of surface fault should be considered when important structure is constructed in the site with surface fault.展开更多
For the motion of a sphere on a rough horizontal plane, in the previous paper[1]the author aimed at providing approximate analytical solutions while the nutation is neglected,In this paper ,the control equations for t...For the motion of a sphere on a rough horizontal plane, in the previous paper[1]the author aimed at providing approximate analytical solutions while the nutation is neglected,In this paper ,the control equations for the sphere with nutation have beendeduced on the basis of paper [1]. Through the medium of solving these equations,the conclusion for the velocity of contact point in paper [1]is still proved true for the case with nutation.What is more ,some interesting results are gained ,for example the ve-locity of centre and contact point is relative to the angular velocity of spin and nuta-tion the direction of velocity of centre and contact point is constant.Under the condi-tion which is supposed to be weak nutation,the approximate analytical solutions are obtained,so that the results of paper [1]is proved to be true.展开更多
文摘The influences of the lateral motion of a single wheelset running on a tangent railway on the creepages and creep forces between wheel and rail are investigated with numerical methods. The effect of the yaw motion of wheelset is neglected in the analysis, and Kalker’s theory of three dimensional elastic bodies in rolling contact is employed to analyze the creep forces in the wheel/rail rolling contact with Non Hertzian form.
基金Supported by National Natural Science Foundation of China and China Academy of Engineering Physics(NSAF,Grant No.U1530119)
文摘The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not been clearly elucidated. In this paper, the e ect of spine motion on contact time is studied deeply from dynamic view.Firstly, a simplified model of the quadruped robot with spine joint is set up, its dynamic equations are derivated, and a method that can generate passive periodic locomotion is proposed. Secondly, according to the vertical spring oscillator model, the two-dimension planar locomotion of the simplified model is regarded as a special vibration in the vertical direction, and the approximate formula of calculating contact time is obtained. Finally, the approximate formula of calculating contact time is verified by the simulation results of passive periodic locomotion, and the e ect of spine motion on contact time is deeply discussed based on the approximate formula of calculating contact time. The discussion proves that spine motion indeed has little e ect on contact time, but spine motion can slightly reduce body pith movement and regulate the leg sti ness in leg contact phase. This research proposes an e ective research method which can be used to study the motion mechanism of the quadruped robot with spine motion,and the mechanism of spine motion about contact time is clearly elucidated which is helpful to set the parameters of mechanical structure and study control algorithm about the quadruped robot with spine motion.
文摘The paper proposes a physical model for the motion of the contact line and the gas-liquid interface. The local motion of the contact line at the solid wall is assumed and the interface between gas and liquid is traced by a level function. The finite volume method and staggered grids are used to solve the governing equation numerically. The motion of the water column in a vertical pipe is computed and the results are in good agreement with experimental data.
文摘Dynamic contact theory is applied to simulate the sliding of surface fault. Finite element method is used to analyze the effect of surface fault to site ground motions. Calculated results indicate that amplification effect is obvious in the area near surface fault, especially on the site that is in the downside fault. The results show that the effect of surface fault should be considered when important structure is constructed in the site with surface fault.
文摘For the motion of a sphere on a rough horizontal plane, in the previous paper[1]the author aimed at providing approximate analytical solutions while the nutation is neglected,In this paper ,the control equations for the sphere with nutation have beendeduced on the basis of paper [1]. Through the medium of solving these equations,the conclusion for the velocity of contact point in paper [1]is still proved true for the case with nutation.What is more ,some interesting results are gained ,for example the ve-locity of centre and contact point is relative to the angular velocity of spin and nuta-tion the direction of velocity of centre and contact point is constant.Under the condi-tion which is supposed to be weak nutation,the approximate analytical solutions are obtained,so that the results of paper [1]is proved to be true.
