Nonlinear dynamic analysis on rigid-flexible coupling system of an elastic beam

Previous work examined the effect of the attached stiffness matrix terms on stability of an elastic beam undergoing prescribed large overall motion. The aim of the present work is to extend the nonlinear formulations to an elastic beam with free large overall motion. Based on initial stress method, the nonlinear coupling equations of elastic beams are obtained with free large overall motion and the attached stiffness matrix is derived by solving sub-static formulation. The angular velocity and the tip deformation of the elastic pendulum are calculated. The analytical results show that the simulation results of the present model are tabled and coincide with the one-order approximate model. It is shown that the simulation results accord with energy conservation principle.

Anti-Dead-Zone Integral Sliding Control and Active Vibration Suppression of a Free-floating Space Robot with Elastic Base and Flexible Links

Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.

MODELLING OF TWO-FLEXIBLE-ARM MECHANISM WITH ELASTIC JOINTS

The dynamic model of two-flexible-arm mechanism with elastic joints is studied.The transmission problem of the joint which connects two flexible links is successfully solved. The mechanical model is proposed for the joint, and a practical vibration analysis method of lumped parameter transfer matrix modal analysis is developed for two flexible arms with an elastic joint.

Research on Flexible Transfer Line Schematic Design Using Hierarchical Process Planning

Flexible transfer line(FTL)is now widely used in ma ny manufacturing domains to realize efficiently,high quantity and economic prod uction.These manufacturing domains include automobile,tractor,internal-combu stion engine,and so on.In today’s competitive business environment,it is vit ally important for machine tool manufacturers to design flexible transfer line m ore effectively and efficiently according to a wider variety of customer demand s.This paper proposes an approach to a bidding-based flexible transfer line sc hematic design system.By analyzing manual FTL design process,the architecture o f flexible transfer line schematic design system(FTLSDS)is established.The syst em consists:of four processes:part feature modeling,process planning,FTL fac i lity layout and FTL evaluation. For FTL schematic design.a five-level proces s planning strategy named hierarchical process planning method is proposed.This method includes selection of manufacturing feature machining operation;part se t-up planning,feature sequencing,operation sequencing and process plan genera ting.The major decision relies on setup planning.According to the proceeding o f the hierarchical process planning,the structure of reasoning is proposed base d on blackboard.Under this paradigm,a cooperative effort between a hybrid coll ection of knowledge sources is possible.Total reasoning task can be divided int o some subtasks,and recursive-reasoning system is formed.It is convenient for process planning with step-by-step solution.Meanwhile,the blackboard is use d as the global data exchange area during all reasoning process.By using modula r technology,special purpose machine tools can be designed more efficiently and rapidly.The framework of machine modular design system to support machine requ irement design for FTL is established.By synthesizing the FTL evaluation criter ia.five evaluation criteria of flexible transfer 1ine schematic design are take n into account.An exampie is supplied to demonstrate and verify the validity an d feasibility of flexible transfer line schematic design approach.

Research on the flow stability and noise reduction characteristics of quasi-periodic elastic support skin

To enhance flow stability and reduce hydrodynamic noise caused by fluctuating pressure,a quasiperiodic elastic support skin composed of flexible walls and elastic support elements is proposed for fluid noise reduction.The arrangement of the elastic support element is determined by the equivalent periodic distance and quasi-periodic coefficient.In this paper,a dynamic model of skin in a fluid environment is established.The influence of equivalent periodic distance and quasi-periodic coefficient on flow stability is investigated.The results suggest that arranging the elastic support elements in accordance with the quasi-periodic law can effectively enhance flow stability.Meanwhile,the hydrodynamic noise calculation results demonstrate that the skin exhibits excellent noise reduction performance,with reductions of 10 dB in the streamwise direction,11 dB in the spanwise direction,and 10 dB in the normal direction.The results also demonstrate that the stability analysis method can serve as a diagnostic tool for flow fields and guide the design of noise reduction structures.

Propagation behavior of elastic waves in one-dimensional piezoelectric/piezomagnetic phononic crystal with line defects

Using a stiffness matrix method, we in- vestigate the propagation behaviors of elastic waves in one-dimensional （1D） piezoelectric/piezomagnetic （PE/PM） phononic crystals （PCs） with line defects by calculating energy reflection/transmittion coefficients of quasi-pressure and quasi-shear waves. Line defects are created by the re- placement of PE or PM constituent layer. The defect modes existing in the first gap are considered and the influences on defect modes of the material properties and volume fraction of the defect layers, the type of incident waves, the location of defect layer and the number of structural layers are discussed in detail. Numerical results indicate that defect modes are the most obvious when the defect layers are inserted in the middle of the perfect PCs; the types of incidence wave and material properties of the defect layers have important effects on the numbers, the location of frequencies and the peaks of defect modes, and the defect modes are strongly de- pendent on volume fraction of the defect layers. We hope this paper will be found useful for the design of PE/PM acoustic filters or acoustic transducer with PCs structures.

Optimization of Line Configuration and Balancing for Flexible Machining Lines

Line configuration and balancing is to select the type of line and allot a given set of operations as well as machines to a sequence of workstations to realize high-efficiency production. Most of the current researches for machining line configuration and balancing problems are related to dedicated transfer lines with dedicated machine workstations. With growing trends towards great product variety and fluctuations in market demand, dedicated transfer lines are being replaced with flexible machining line composed of identical CNC machines. This paper deals with the line configuration and balancing problem for flexible machining lines. The objective is to assign operations to workstations and find the sequence of execution, specify the number of machines in each workstation while minimizing the line cycle time and total number of machines. This problem is subject to precedence, clustering, accessibility and capacity constraints among the features, operations, setups and workstations. The mathematical model and heuristic algorithm based on feature group strategy and polychromatic sets theory are presented to find an optimal solution. The feature group strategy and polychromatic sets theory are used to establish constraint model. A heuristic operations sequencing and assignment algorithm is given. An industrial case study is carried out, and multiple optimal solutions in different line configurations are obtained. The case studying results show that the solutions with shorter cycle time and higher line balancing rate demonstrate the feasibility and effectiveness of the proposed algorithm. This research proposes a heuristic line configuration and balancing algorithm based on feature group strategy and polychromatic sets theory which is able to provide better solutions while achieving an improvement in computing time.

INTRINSIC EQUATIONS FOR A GENERALIZED RELAXED ELASTIC LINE ON AN ORIENTED SURFACE IN THE GALILEAN SPACE

In this article, we derive the intrinsic equations for a generalized relaxed elastic line on an oriented surface in the Galilean 3-dimensional space G3. These equations will give direct and more geometric approach to questions concerning about generalized relaxed elastic lines on an oriented surface in G3.

RELAXED ELASTIC LINES OF SECOND KIND ON ORIENTED SURFACE IN MINKOWSKI SPACE

The relaxed elastic line of second kind on an oriented surface in the Minkowski space was defined and for the relaxed elastic line of second kind which is lying on an oriented surface the Euler-Lagrange equations were derived. Furthermore, whether these curves lie on a curvature line or not was investigated and some applications were given.

A theoretical model for impact protection of flexible polymer material

The relationship between the protective performance of flexible polymer material and material parameters(elasticmodulus,viscosity coefficient)is explored,an impact collision motion equation between two bodies is establishedfrom the viscoelastic material constitutive,and the relationship between the kinematic response and the materialparameters is obtained.Based on the Kelvin constitutive model,a theoretical model for impact between the pro-tective body and the protected body is established,then the dynamic response is obtained.The feasibility of themodel was verified by drop hammer experiment,and the material parameters(elastic modulus,viscosity coeffi-cient)were obtained by formula.The model is discretized and the relationship between local impact response andmaterial parameters is analyzed.The discussion results on the relationship between the impact response and theprotective material performance indicate that adjusting the elastic modulus,viscosity coefficient,and thicknessof the protective material can effectively improve protective effect.

EXACT SOLUTIONS OF NEAR CRACK LINE FIELDS FOR MODE I CRACK UNDER PLANE STRESS CONDITION IN AN ELASTIC－PERFECTLY PLASTIC SOLID

The near crack line analysis method has been used in the present paper,The classical small scale yielding conditions have been completely abandoned in the analyses and one inappropriate matching condition used to be used at the elasticplastic boundary has been corrected.The reasonable solution of the plastic stresses near the crack line region has been established.By matching the plastic stresses with the exact elastic stresses at the elastic-plastic boundary,the plastic stresses the length of the plastic zone and the unit normal vector of the elastic-plastic boundary near the crock line region have been obtained for a mode I crack under uniaxial tension,as well as a mode I crack under biaxial tension,which shows that for both conditions the plastic stress componentsσy, and σsy.he length of the plastic zone and the unit normal vector of the elastic-plastic boundary are quite the same while the plastic stress σs is different.

Research on the influence of flexible wheelset rotation effect on wheel rail contact force

Purpose-Under the high-speed operating conditions,the effects of wheelset elastic deformation on the wheel rail dynamic forces will become more notable compared to the low-speed condition.In order to meet different analysis requirements and selecting appropriate models to analyzing the wheel rail interaction,it is crucial to understand the influence of wheelset flexibility on the wheel-rail dynamics under different speeds and track excitations condition.Design/methodology/approach-The wheel rail contact points solving method and vehicle dynamics equations considering wheelset flexibility in the trajectory body coordinate system were investigated in this paper.As for the wheel-rail contact forces,which is a particular force element in vehicle multibody system,a method for calculating the Jacobian matrix of the wheel-rail contact force is proposed to better couple the wheel-rail contact force calculation with the vehicle dynamics response calculation.Based on the flexible wheelset modeling approach in this paper,two vehicle dynamic models considering the wheelset as both elastic and rigid bodies are established,two kinds of track excitations,namely normal measured track irregularities and short-wave irregularities are used,wheel-rail geometric contact characteristic and wheel-rail contact forces in both time and frequency domains are compared with the two models in order to study the influence of flexible wheelset rotation effect on wheel rail contact force.Findings-Under normal track irregularity excitations,the amplitudes of vertical,longitudinal and lateral forces computed by the flexible wheelset model are smaller than those of the rigid wheelset model,and the virtual penetration and equivalent contact patch are also slightly smaller.For the flexible wheelset model,the wheel rail longitudinal and lateral creepages will also decrease.The higher the vehicle speed,the larger the differences in wheel-rail forces computed by the flexible and rigid wheelset model.Under track short-wave irregularity excitations,the vertical force amplitude computed by the flexible wheelset is also smaller than that of the rigid wheelset.However,unlike the excitation case of measured track irregularity,under short-wave excitations,for the speed within the range of 200 to 350 km/h,the difference in the amplitude of the vertical force between the flexible and rigid wheelset models gradually decreases as the speed increase.This is partly due to the contribution of wheelset's elastic vibration under short-wave excitations.For low-frequency wheel-rail force analysis problems at speeds of 350 km/h and above,as well as high-frequency wheel-rail interaction analysis problems under various speed conditions,the flexible wheelset model will give results agrees better with the reality.Originality/value-This study provides reference for the modeling method of the flexible wheelset and the coupling method of wheel-rail contact force to the vehicle multibody dynamics system.Furthermore,by comparative research,the influence of wheelset flexibility and rotation on wheel-rail dynamic behavior are obtained,which is useful to the application scope of rigid and flexible wheelset models.

GENERAL FORM OF MATCHING EQUATION OF ELASTIC-PLASTIC FIELD NEAR CRACK LINE FOR MODE I CRACK UNDER PLANE STRESS CONDITION

Crack line field analysis method has become an independent method for crack elastic-plastic analysis, which greatly simplifies the complexity of crack elastic-plastic problems and overcomes the corresponding mathematical difficulty. With this method, the precise elastic-plastic solutions near crack lines for variety of crack problems can be obtained. But up to now all solutions obtained by this method were for different concrete problems, no general steps and no general form of matching equations near crack line are given out. With crack line analysis method, this paper proposes the general steps of elastic plastic analysis near crack line for mode I crack in elastic-perfectly plastic solids under plane stress condition, and in turn given out the solving process and result for a specific problem.

Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Experimental Study on Coupled Cross-Flow and in-Line Vortex-Induced Vibration of Flexible Risers

In this work, we study the coupled cross-flow and in-line vortex-induced vibration （VIV） of a fixedly mounted flexible pipe, which is free to move in cross-flow （ Y- ） and in-line （ X- ） direction in a fluid flow where the mass and natural frequencies are precisely the same in both X- and Y-direction. The fluid speed varies from low to high with the corresponding vortex shedding frequency varying from below the first natural frequency to above the second natural frequency of the flexible pipe. Particular emphasis was placed on the investigation of the relationship between in-line and cross-flow vibration. The experimental results analyzed by using these measurements exhibits several valuable features.

General forms of elastic-plastic matching equations for mode-Ⅲ cracks near crack line

Crack line analysis is an effective way to solve elastic-plastic crack problems. Application of the method does not need the traditional small-scale yielding conditions and can obtain sufficiently accurate solutions near the crack line. To address mode- Ⅲ crack problems under the perfect elastic-plastic condition, matching procedures of the crack line analysis method axe summarized and refined to give general forms and formulation steps of plastic field, elastic-plastic boundary, and elastic-plastic matching equations near the crack line. The research unifies mode-III crack problems under different conditions into a problem of determining four integral constants with four matching equations. An example is given to verify correctness, conciseness, and generality of the procedure.

Research on Rapid Response Schematic Design for Flexible Transfer Line CAPP-Based

To meet the market requirements for Flexible Transf er Line (FTL), which consists of modular NC machining tools of high quality and co st saving, the methodologies and technologies of client-oriented FTL rapid resp onse schematic design CAPP-based, one of the key techniques, are presented in t his paper. In order to achieve this purpose, an integrated system for integrated design of CAD/CAPP/FTL with box-type parts is realized. In this paper, firstly the theory of the conceptual design of FTL based on CAPP is established and the software architecture is developed. The global-domain pr oduct model is put forward to meet with data representation. After the manufactu ring feature is analyzed and decomposed for machining operations, the feature-b ased part unified data model object-oriented is built. Secondly the knowledge- based CAPP system data model is established. The process planning unit model is formed by work element (WE), which is tool-cell based function abstraction meth od, and has unified layers with respect to designing and manufacturing. With WEs through dynamic response and simultaneous structure in process planning, the pr inciple solution for CAPP function system can be implemented. Lastly the mapping from process domain to module design domain is built. The unidirectional select ion process based on fuzzy matching technology is easily dealt with computer. Th e algorithm of decision with fuzzy synthetic evaluation method and technology is applied to estimate the feasibility of the results in local working procedure o f modular NC machine tools and make decision of designs in overall FTL, which co nsists of many different factors. The example shows that the rapid response desi gn in bidding-based FTL scheme design is realized.

INTERACTION BETWEEN A RIGID LINE INCLUSION AND AN ELASTIC CIRCULAR INCLUSION

In this paper, the interaction problem of a rigid line inclusion and an elastic circular inclusion has been reduced to solve a normal Cauchy-type singular integral equation. The stress intensity, factors at the ends of the rigid line inclusion and the interface stresses of the inclusions are obtained.

FURTHER RESEARCH ON THE SPLINE MODEL METHOD OF KED ANALYSIS IN A PLANAR FLEXIBLE LINKAGE

This paper relates to the deep research on the Splinc Model Method of KED analysis. With the use of cubic B-splinc function as a link’s transverse deflection interpolation function, the principle of virtual displacement is presented as a basic theory for the general formulation of the equations of motion, and thus abandoned the kinematic assumption and the instantaneous structure assumption which arc used in the Spline Model Method. In thc same time, the nonlinear terms sue as coupling terms between thc rigid body motion and elastic deformation arc included. New member’s spline models are established. Mass matrix, Coriolis mass matrix, normal and tangential mass matrix, linear stiffness matrix, nonlinear stiffness matrix and rotation matrix arc derived. The kinematic differential equations of a member and system are deduced in the end. The Newmark direct integration method is used as the solution scheme of the kinematic differential equations to get the periodic response.

NEAR CRACK LINE ELASTIC－PLASTIC ANALYSIS FOR A CRACK LOADED BY ANTIPLANE POINT FORCES

In this paper, the improved near crack line analysis method proposed in Refs. [1]and [2] is used to investigate a mode Ⅲ crack loaded by antiplane point forces in aninfinite plate in an elastic-perfectly plastic solid. The solutions of this paper aresufficiently precise near the crack line region because. the assumptions of the smallscale yielding theory have not been used and no other assumptions have been taken.