Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Theoretical and experimental investigation of the resonance responses and chaotic dynamics of a bistable laminated composite shell in the dynamic snap-through mode

The dynamic model of a bistable laminated composite shell simply supported by four corners is further developed to investigate the resonance responses and chaotic behaviors.The existence of the 1:1 resonance relationship between two order vibration modes of the system is verified.The resonance response of this class of bistable structures in the dynamic snap-through mode is investigated,and the four-dimensional(4D)nonlinear modulation equations are derived based on the 1:1 internal resonance relationship by means of the multiple scales method.The Hopf bifurcation and instability interval of the amplitude frequency and force amplitude curves are analyzed.The discussion focuses on investigating the effects of key parameters,e.g.,excitation amplitude,damping coefficient,and detuning parameters,on the resonance responses.The numerical simulations show that the foundation excitation and the degree of coupling between the vibration modes exert a substantial effect on the chaotic dynamics of the system.Furthermore,the significant motions under particular excitation conditions are visualized by bifurcation diagrams,time histories,phase portraits,three-dimensional(3D)phase portraits,and Poincare maps.Finally,the vibration experiment is carried out to study the amplitude frequency responses and bifurcation characteristics for the bistable laminated composite shell,yielding results that are qualitatively consistent with the theoretical results.

Rotating tank experiments for the study of geophysical fluid dynamics

Geophysical fluid dynamics(GFD)is an interdisciplinary field that studies the large-scale motion of fluids in the natural world.With a wide range of applications such as weather forecasts and climate prediction,GFD employs various research approaches including in-situ observations,satellite measurements,numerical simulations,theoretical analysis,artificial intelligence,and physical model experiments in laboratory.Among these approaches,rotating tank experiments provide a valuable tool for simulating naturally-occurring fluid motions in laboratories.With proportional scaling and proper techniques,scientists can reproduce multi-scale physical processes of stratified fluids in the rotation system,which allows for the simulation of essential characteristics of fluid motions in the atmosphere and oceans.In this review,rotating tanks of various scales in the world are introduced,as these tanks have been actively used to explore fundamental scientific questions in ocean and atmosphere dynamics.To illustrate the GFD experiments,three representative cases are presented to demonstrate the frontier achievements in the the GFD study by using rotating tank experiments:mesoscale eddies in the ocean,convection processes,and plume dynamics.Detailed references for the experimental procedures are provided.Future studies are encouraged to further explore the utilization of rotating tanks with improvements in experimental design and integration of other research methods.This is a promising direction of GFD to help enhance our understanding of the complex nature of fluid motions in the natural world and to address the challenges posed by global environmental changes.

Experimental Study on Free Spanning Submarine Pipeline Under Dynamic Excitation

Seismic load has a significant effect on the response of a free spanning submarine pipeline when the pipeline is constructed in a seismically active region. The model experiment is performed on an underwater shaking table to simulate the response of submarine pipelines under dynamic input. In consideration of the effects of the terrestrial and submarine pipeline, water depth, support condition, distance from seabed, empty and full pipeline, and span on dynamic response, 120 groups of experiments are conducted. Affecting factors are analyzed and conclusions are drawn for reference. For the control of dynamic response, the span of a submarine pipeline is by far more important than the other factors. Meanwhile, the rosponse difference between a submarine pipeline under sine excitation and that under random excitation exists in experiments.

Experimental Study of Pore Pressure and Deformation of Suction Bucket Foundations Under Horizontal Dynamic Loading

Centrifuge experiments are carried out to investigate the responses of suction bucket foundations under horizontal dynamic loading. The effects of loading amplitude, the size of the bucket and the structural weight on the dynamic responses are investigated. It is shown that, when the loading amplitude is over a critical value, the sand at the upper part around the bucket softens or even liquefies. The liquefaction index （excess pore pressure divided by initial effective stress. In this paper, the developmental degree of excess pore pressure is described by liquefaction index） decreases from the upper part to the lower part of the sand foundation in the vertical direction and decreases from near to far away from the bucket＇s side wall in the horizontal direction, large settlements of the bucket and the sand around the bucket are induced by the horizontal dynamic loading. The dynamic responses of the bucket of a smaller height （when the diameter is the same） are heavier. A cyclic crack some distance near the bucket occurs in the sand.

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

Dynamic impact experiment and response characteristics analysis for 1:2 reduced-scale model of hydraulic support

It is significant to research the impact resistance properties of hydraulic support due to its key support role in the fully mechanized mining face.However,it is difficult for the entire hydraulic support to implement the impact experiment underground and analyze the response characteristic.Therefore,a dynamic impact experiment for the entire hydraulic support was proposed in this paper,where a 1:2 reducedscale model of hydraulic support was designed and its response characteristics under dynamic impact load were analyzed.Firstly,a comprehensive monitoring scheme was proposed to achieve an effective monitoring for dynamic response of hydraulic support.Secondly,a multi-scale impact experiment was carried out for the entire hydraulic support and dynamic behaviors of hydraulic support under the multi-scale impact load were revealed by experimental data.Then a dynamic impact experiment of the entire hydraulic support was simulated in ADAMS with the same experiment conditions,and the experimental and simulation data were verified mutually.Finally,the characteristics of energy conversion and dissipation of the entire experiment system after impact were analyzed.The experiment results showed that the impact resistance properties of hydraulic support largely depended on the initial support conditions and different vertical rigidities affected energy distribution proportion of the entire support system.

Experiment Study of Dynamics Response for Wind Turbine System of Floating Foundation

The floating foundation is designed to support a 1.5 MW wind turbine in 30 m water depth. With consideration of the viscous damping of foundation and heave plates, the amplitude-frequency response characteristics of the foundation are studied. By taking into account the elastic effect of blades and tower, the classic quasi-steady blade-element/momentum（BEM） theory is used to calculate the aerodynamic elastic loads. A coupled dynamic model of the turbine-foundationmooring lines is established to calculate the motion response of floating foundation under Kaimal wind spectrum and regular wave by using the FAST codes. The model experiment is carried out to test damping characteristics and natural motion behaviors of the wind turbine system. The dynamics response is tested by considering only waves and the joint action of wind and waves. It is shown that the wind turbine system can avoid resonances under the action of wind and waves. In addition, the heave motion of the floating foundation is induced by waves and the surge motion is induced by wind. The action of wind and waves is of significance for pitch.

Centrifugal experimental study of suction bucket foundations under dynamic loading

Centrifugal experiments were carried out to investigate the responses of suction bucket foundations under horizontal and vertical dynamic loading. It is shown that when the loading amplitude is over a critical value, the sand at the upper part around the bucket is softened or even liquefied. The excess pore pressure decreases from the upper part to the lower part of the sand layer in the vertical direction and decreases radially from the bucket＇s side wall in the horizontal direction. Large settlements of the bucket and the sand layer around the bucket are induced by dynamic loading. The dynamic responses of the bucket with smaller height （the same diameter） are heavier.

A STUDY ON FLUVIAL DYNAMIC GEOMORPHOLOGY AND ITS EXPERIMENT AND SIMULATION

Fluvial dynamic landform is produced by reaction between fluvial bchaviour and suffoce matenal. It possesses apparent environmental effects. As a branch of gcomorphology, the fiuvial dynandc gcomorphology is a marginal science among fiuid dynalnics, sediment mechaltics and fluvial goomorphology. With physical modelling by sindlarity based on Newtonian mechanics, and pnnciple of the same effect bot diffend struCture based on systelnahc theory, it is possible to study propenies, formation and processes in fluvial dynamic gcomorphology. A new research method, which is a combination of mathematical simulation by computer with physical modelling will be deveoped.

Numerical and experimental studies on impact dynamics of a planar flexible multibody system

In this paper a computational methodology on impact dynamics of the flexible multibody system is presented. First, the floating frame of reference approach and nodal coordinates on the basis of finite element formulation are used to describe the kinematics of planar deformable bodies. According to the kinematic description of contact conditions, the contact constraint equations of planar flexible bodies are derived. Based on the varying topology technique the impact dynamic equations for a planar multibody system are established. Then the initial conditions of the equations in each contact stage are determined according to the discontinuity theory in continuum mechanics. The experiments between the aluminum rods are performed to check the correctness of the proposed method. Through the comparison between the numerical and experimental results the proposed method is validated. Experimental results also show that the impulse momentum method cannot accurately predict the complex impact dynamic phenomena and the continuous model may lead to a serious error when used to simulate the impact problems with significant wave propagation effects.

NUMERICAL EXPERIMENTS ON MULTI-LEVEL STATISTICAL ESTIMATION OF DYNAMIC BALANCE CONSTRAINTS IN GRAPES-3DVAR

This paper further explores the estimating and expressing of dynamic balance constraints using statistical methods in GRAPES-3DVAR(Version GM). Unlike the single-level scheme which only considers the coupling between mass and wind at one level, the multi-level scheme considers the coupling between their vertical profiles and calculates the balanced mass field at each layer using the rotational wind at all model levels. A reformed ridge regression method is used in the new scheme to avoid the multicollinearity problem and reduce the noises caused by unbalanced mesoscale disturbances. The results of numerical experiments show that the new scheme can get more reasonable vertical mass field, reduce the magnitude of the adjustment by the initialization, and improve the potential temperature analysis performance. Furthermore, the results of forecast verification in January(winter) and July(summer) both confirm that the new scheme can significantly improve the temperature forecast accuracy and bring slight positive effects to the pressure and wind forecast.

Dynamic experiment and numerical simulation of solute transmission in heap leaching processing

Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic difference method to give the distribution of the concentration of ferrous ion in the ore column. To calibrate the computational model, a column test was performed using infiltration of sulfide ferrous solution (the initial concentration is c0=0.04 mol/L) on a 100 cm high column composed of ore particles smaller than 10 mm for 2.5 h. The numerical analysis shows that the results obtained from numerical modeling under the same operating conditions as used for column test are in good agreement with those from experimental procedure on the whole trend, which indicates that the model, the numerical method, and the parameters chosen can reflect the rule of ferrous ion transmission in ore heap.

Numerical experiment rock fragmentation by combined dynamic and static loads under dual-cutter head

This paper puts forward a new rock fragmentation loading method of dual-cutter head combined dynamic and static loads. By applying the numerical simulation software - RFPA2D, we have done numerical experiment about the sihstone＇ s crushing effect by dynamic load on single cutter head without confining pressure, dynamic load on single cut- ter head with confining pressure 10 MPa and different dual-cutter heads spacing by combined dynamic and static loads with confining pressure 10 MPa. Experimental results show that the confining pressure can obviously affect the rock frag- mentation effect. Combined dynamic and static loads can greatly improve the rock fragmentation effect. There exists an optimal spacing of dual-cutter head that can make the rock fragmentation achieve the desired effect. Through analyzing the acoustic emission accumulative energy and quantity, the authors make a conclusion that the optimum spacing is 30 mm.

EXPERIMENT RESEARCH ON DYNAMIC LOAD IDENTIFICATION TECHNOLOGY BASED ON GENERALIZED ORTHOGONAL POLYNOMIAL THEORY (GOPT)

A dynamic load identification model of structural system based on the gener-alized orthogonal polynomial theory is provided, and the least Square discrete algorithm foridentifying the dynamic load is supplied. The main key is that the convolution relationsbetween the input and output of the system in time domain are transformed into linear oP-erators in generalized orthogonal domain. The new theory is fully tested and verified bythe dynamic analysis l 'modal test and dynamic load identification teSt of a simulation speci-men- It is shown that the method has some advantages, such as the simple dynamic cali-bration test, the high identification accuracy, especially for the transient load with shortsampling. These are very useful in engineering applications.

Experimental investigation of dynamic stall flow control using a microsecond-pulsed plasma actuator

To alleviate the performance deterioration caused by dynamic stall of a wind turbine airfoil,the flow control by a microsecond-pulsed dielectric barrier discharge(MP-DBD) actuator on the dynamic stall of a periodically pitching NACA0012 airfoil was investigated experimentally.Unsteady pressure measurements with high temporal accuracy were employed in this study,and the unsteady characteristics of the boundary layer were investigated by wavelet packet analysis and the moving root mean square method based on the acquired pressure.The experimental Mach number was 0.2,and the chord-based Reynolds number was 870 000.The dimensionless actuation frequencies F+ were chosen to be 0.5,1,2,and 3,respectively.For the light dynamic regime,the MP-DBD plasma actuator plays the role of suppressing flow separation from the trial edge and accelerating the flow reattachment due to the high-momentum freestream flow being entrained into the boundary layer.Meanwhile,actuation effects were promoted with the increasing dimensionless actuation frequency F+.The control effects of the deep dynamic stall were to delay the onset and reduce the strength of the dynamic stall vortex due to the accumulating vorticity near the leading edge being removed by the induced coherent vortex structures.The laminar fluctuation and Kelvin-Helmholtz(K-H) instabilities of transition and relaminarization were also mitigated by the MP-DBD actuation,and the alleviated K-H rolls led to the delay of the transition onset and earlier laminar reattachment,which improved the hysteresis effect of the dynamic stall.For the controlled cases of F+=2,and F+=3,the laminar fluctuation was replaced by relatively low frequency band disturbances corresponding to the harmonic responses of the MP-DBD actuation frequency.

Some numerical experiments of the dynamics of the wintertime circulation in the Northern Huanghai Sea and the Bohai Sea

-Some numerical experiments have been developed to explain dynamically the mechanism of the formation of the wintertime circulation in the Northern Huanghai Sea and the Bohai Sea. From the results of the numerical experiments with Coriolis parameter having positive and negative values respectively, it is found that the current pattern characterized by flowing into the Bohai Sea in the northern part of the Bohai Straits and flowing out of the Bohai Sea in the southern part of the Bohai Straits is controlled basically by the bottom topography with 'the deepness on the northern side and shallowness on the southern side'in the Bohai Straits, and is not related to Coriolis parameter having positive and negative values. It also shows that the Huanghai Warm Current regarded as the inllow condition passing through the in-ports at the water boundary of the numerical experiments only influences the region near the water boundary and the eastern region of the Northern Huanghai Sea. In addition, the mechanism of the formation of several mesoscale eddies and the influence of the bottom topography on the wintertime circulation in the basin have been discussed.

A Sine Driving System for the Dynamic Experiment of the Aerofoil Model

The design principle and the structural characters of a new sine driving system apparatus, which have been used by NPU NF-3 wind tunnel in the dynamic stall experiments on the oscillating aerofoil model from 1994, is introduced. Some measures to improve the stability and flexibility are studied. The obvious advantages of the system are its simple structure, convenient operation and more accurate sine relationship between the attack angle and the rotating angle of the aerofoil The driving system has been proved advisable comparing with the experimental results both abroad and in many dynamic tests in NF-3 wind tunnel. It can provide guidelines for the study of the aerodynamic properties on the oscillating aerofoil.

Theoretical and experimental investigations on an X-shaped vibration isolator with active controlled variable stiffness

A novel X-shaped variable stiffness vibration isolator(X-VSVI)is proposed.The Runge-Kutta method,harmonic balance method,and wavelet transform spectra are introduced to evaluate the performance of the X-VSVI under various excitations.The layer number,the installation angle of the X-shaped structure,the stiffness,and the active control parameters are systematically analyzed.In addition,a prototype of the X-VSVI is manufactured,and vibration tests are carried out.The results show that the proposed X-VSVI has a superior adaptability to that of a traditional X-shaped mechanism,and shows excellent vibration isolation performance in response to different amplitudes and forms of excitations.Moreover,the vibration isolation efficiency of the device can be improved by appropriate adjustment of parameters.

Aerodynamic, Kinematic and Control Coupling Simulation of Aircraft Maneuvering Flight

Aiming at the high angle of attack pull-up and multi-channel roll pull-up coupling problems of high maneuvering aircraft, this paper establishes the flight attitude control rate by means of unsteady flow numerical solution, dynamic unstructured nested mesh assembly method and numerical solution method of flight mechanics equation. On this basis, a virtual flight simulation platform integrating pneumatics, motion and control is established. Based on this virtual flight simulation platform, F-16 aircraft is simulated by high angle of attack pull-up flight mode and multi-channel roll pull-up coupling flight mode. Finally, the influence of rudder on the yaw control channel is investigated. The results show that the numerical virtual flight simulation platform established in this paper has the ability to simulate maneuvering flight of aircraft.