Experimental Study of the Motion Modes of a Planar Mechanical System with Multi-Clearance Revolute Joints

Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can investigate the effects of the clearances on the dynamics of the multibody system. A revolute joint with clearance exhibits three motions which are;free-flight, impact and continuous contact motion modes. Therefore, a multibody system with n-number of revolute clearance joints will exhibit 3n motion modes which are a combination of the three motions in each joint. This study investigates experimentally the nine motion modes in a mechanical system with two revolute clearance joints. A slider crank mechanism has been used as the demonstrative example. We observed that the experimental curve exhibits a greater impact compared to the simulation curve. In conclusion, this experimental investigation offers valuable insights into the dynamics of planar mechanical systems with multiple clearance revolute joints. Utilizing a slider-crank mechanism for data acquisition, the study successfully confirmed seven out of nine motion modes previously identified in numerical research. The missing modes are attributed to inherent complexities in real-world systems, such as journal-bearing misalignment.

Three-dimensional analysis of relationship between relative orientation and motion modes

Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coordinate system and the target body coordinate system, a basic model of sensor is stated and the definition of relative angular velocity between the two coordinate systems is introduced firstly. Then, the three-dimensional analytic expressions of relative angular velocity for different motion modes are derived and simplified by analyzing the influences of target centroid motion, rotation around centroid and relative motion. Finally, the relationships of the relative angular velocity directions and values with motion modes are discussed. Simulation results validate the rationality of the theoretical analysis. It is demonstrated that there are significant differences of the relative orientation in different motion modes which include luxuriant information about motion modes. The conclusions are significant for the research of motion mode identification,maneuver detection, maneuvering target tracking and interception using target signatures.

Dynamic flight stability of a hovering model insect:lateral motion

The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.

An Integrated Dynamic Model of Ocean Mining System and Fast Simulation of Its Longitudinal Reciprocating Motion

An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.

Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

Improvement of the prediction accuracy of polar motion using empirical mode decomposition

Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition （EMD）, which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine （ELM）, where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error （MAE） for the xp and yp components of pole coordinates, respectively.

Distinct Modes of Winter Arctic Sea Ice Motion and Their Associations with Surface Wind Variability

Using monthly mean sea ice velocity data obtained from the International Arctic Buoy Programme （IABP） for the period of 1979–1998 and the monthly mean NCEP/NCAR re-analysis dataset （1960–2002）, we investigated the spatiotemporal evolution of the leading sea ice motion mode （based on a complex correlation matrix constructed of normalized sea ice motion velocity） and their association with sea level pressure （SLP） and the predominant modes of surface wind field variability. The results indicate that the leading winter sea ice motion mode’s spatial evolution is characterized by two alternating and distinct sea ice modes, or their linear combination. One mode （M1） shows a nearly closed cyclonic or anti-cyclonic circulation anomaly in the Arctic Basin and its marginal seas, resembling to a large extent the response of sea ice motion to the Arctic Oscillation （AO）, as many previous studies have revealed. The other mode （M2） displays a coherent cyclonic or anti-cyclonic circulation anomaly with its center close to the Laptev Sea, which has not been identified in previous observational studies. In fact, M1 and M2 respectively reflect the responses of sea ice motion to two predominant modes of winter surface wind variability north of 70 ？ N, which well correspond, with slight differences, to the first two modes of EOF analysis of winter monthly mean SLP north of 70 ？ N. These slight differences in SLP anomalies lead to a difference of M2 from the response of sea ice motion to the dipole anomaly. Although the AO significantly influences sea ice motion, it is not crucial for the existence of M1. The new sea ice motion mode （M2） has the largest variance and clearly differs from the response of winter monthly mean sea ice motion to the dipole anomaly in SLP fields, and corresponding SLP anomalies also show differences compared to the dipole anomaly. This study indicates that in the Arctic Basin and its marginal seas, slight differences in SLP anomaly patterns can force distinctly different sea ice motion anomalies.

薄层水流冲刷条件下斜坡土体的临界起动

斜坡土体侵蚀是丘陵地区和水库岸坡普遍存在的灾害现象,其主要动力因素是降雨或者波浪上爬产生的薄层水流对土体产生的冲刷剪切作用。为探索水流冲刷作用下的斜坡土体临界起动条件,采用自主研发的冲刷起动试验装置,开展斜坡土体的冲刷起动试验和理论研究。通过颗粒染色和高倍数电子显微等技术手段观测无黏性土颗粒的起动现象,确定了无黏性岸坡土体的起动模式与水流流速的相互关系;探索了不同干密度、不同黏粒含量及不同坡度与黏土斜坡临界起动流速的相互关系,土体的黏粒含量、干密度及坡度对黏性土体的起动流速影响较大,与干密度和土体坡度相比,黏粒含量对黏土斜坡的起动流速影响更为明显。验证了无黏性岸坡土体的临界起动方程,其中滚动起动流速方程具有较强的可靠性;基于黏土的起动模式构建了黏土斜坡的起动力学平衡方程,获得了黏土斜坡半经验半理论的起动流速方程,用试验结果求解了起动流速方程的相关参数,最终确定的起动流速公式与试验结果拟合度较好,同时验证了起动流速公式的可靠性。

基于IEC标准Motion Stop在起重机械中的合规性

目前,为降低因紧急停车导致的对起重机械结构的振动影响,部分生产制造商采用了Motion Stop紧急停车方式作为解决方案,然而Motion Stop紧急停车模式在以往的起重设备中应用案例不多,故尚不为港口行业从业技术人员所熟知。另外,在国内相关学术论文中也未见有涉及Motion Stop的相关研究。因此,文中以Siemens电控作为载体,基于IEC标准探讨Motion Stop的合规性条件,并在此基础上对比Motion Stop与普通紧急停止的制动效果,进而总结Motion Stop应用于起重机械的合规性及相关注意事项,供起重行业内工程技术人员参考。

基于阈值控制策略的Filippov Chay神经元动力学及其耦合同步

细胞内外带电离子的连续泵送和传递产生的电磁感应效应对神经元的电活动及模态转换会产生一定的影响,促使其展现出更加丰富的放电特性.文章基于电磁感应影响下的Chay神经元模型,引入了一种以膜电压为阈值的不连续控制策略,建立了相应的Filippov Chay神经元模型,探究了在阈值控制策略影响下的神经元放电节律转迁及相应的边界运动.首先,对系统的边界动力学及滑膜动力学进行了理论分析.其次,利用单双参数分岔图探究了系统多样的放电模式.再次,结合Matcont仿真及稳定性理论详细分析了系统的平衡点及其稳定性,并且利用快慢动力学分析法进一步研究了在阈值影响下所产生的滑膜动力学及各种边界运动的切换.最后,通过电突触耦合,对不同阈值条件下耦合神经元的同步问题进行了讨论.数值仿真结果表明,在阈值的调控下Filippov Chay系统会产生滑膜放电活动及相应的穿越运动和擦边运动,同时其放电周期数也会随着阈值呈现出不同的变化规律,且对于不同阈值下的电耦合情况而言,在系统实现完全同步后都会稳定在周期数较低的放电态.以上所得结果有助于更好地理解神经元滑膜的相关控制,对进一步探究生物神经系统中复杂放电活动和信息处理的动力学行为提供了一定的帮助.

基于运动模式划分的工业机器人健康监测方法

由于工业机器人存在多运动模式耦合的问题,传统的健康监测方案需要在每个关节处单独安装传感器,难以满足实际工业现场需求。本文以6关节工业机器人为研究对象,基于振动信号研究了多运动模式切换场景下工业机器人的健康监测方法。首先,通过跳变点算法实现机器人运动模式划分,获取不同运动模式对应的信号区间。其次,对不同运动模式的信号分别提取监测指标。最后,基于控制图法实现工业机器人不同关节的健康监测。在工业机器人退化实验数据中验证了本文所提方法,表明本文所提方法能够在仅使用两个振动传感器的条件下实现机器人6个关节的健康状态监测。本文所提运动模式划分算法在对大量历史退化数据进行分析时,所需运行时间更短、单次精度更高且重复性更好。本文提出的方法能够在使用少量传感器的条件下,有效避免运动模式耦合和采样信号的差异可能导致的监测结果误判,使得监测结果更加精准可靠,适用于实际工业现场的工业机器人健康状态监测。

面向车门锁电动吸合开启优先功能的凸轮摆杆柔顺连杆组合机构

针对高端汽车门锁电动吸合及开启优先功能需求,提出了凸轮摆杆柔顺连杆组合机构,构造了双凸轮单摆杆和含弹簧构件四杆机构的组合机构,结合限位块、接触状态、凸轮间歇运动、型面突变等构件特征,可实现柔顺自适应滚滑、刚性拨动、避让释放3种运动模式及各模式间切换;嵌入锁内棘轮棘爪锁紧机构,将组合机构转化为电动吸合与开启支链;对应汽车门锁电动吸合、手/电动开启及复位、吸合复位3种工况,以相应驱动方式和运动边界条件,研究分析了吸合运动与锁内现有支链的运动兼容功能、开启优先功能、吸合卡止情况半锁开启功能。将机构及驱动嵌入车门锁进行仿真,研究了全工况开启凸轮与摆杆、摆杆与棘轮、棘轮与棘爪的接触力;机构仿真实现各功能动作的时间与车门锁设计要求匹配,其由半锁到全锁的吸合过程时间为420.97 ms,复位时间为29.03 ms,手动开启时间为622 ms。

Numerical Simulation on Oscillation-Sliding-Uplift Rock Coupled Motion of Caisson Breakwater Under Wave Excitation

Corresponding to the sliding and the overturning failure,the elementary motion modes of caisson breakwater include the horizontal-rotational oscillation coupled motion,the horizontal sliding-rotational oscillation coupled motion,the horizontal vibrating-uplift rocking coupled motion,and the horizontal sliding-uplift rocking coupled motion.The motion mode of a caisson will transform from one to another depending on the wave forces and the motion behaviors of the caisson.The numerical models of four motion modes of caisson are developed,and the numerical simulation procedure for joint motion process of various modes of caisson breakwater under wave excitation is presented and tested by a physical model experiment.It is concluded that the simulation procedure is reliable and can be applied to the dynamic stability analysis of caisson breakwaters.

一种多运动模式的软体爬行机器人

为了提高软体机器人对复杂地形的适应能力,提出了一种具有多运动模式的软体爬行机器人。首先,分别利用聚乙烯材质与聚丙烯材质的波纹管设计了软体爬行机器人的转向伸缩执行器与弯曲执行器,并通过浇注成型与3D打印技术制造了软体爬行机器人样机;其次,分析软体爬行机器人的平面直行、平面转向和平面杆过渡等运动模式,研究了软体爬行机器人的运动步态规律;再次,基于常曲率假设,分析压强与执行器弹性变形的关系,建立了执行器的运动学模型;最后,通过运动学试验,验证了执行器运动学模型的正确性,检验了软体爬行机器人在多模式下的运动能力。

摆臂式全向移动机器人双模式轨迹跟踪研究

为了提升室外轮式移动机器人全向机动能力,文中提出一种通过普通轮作为驱动的移动机器人,根据不同动力分配及摆腿转角实现四轮转向(4WS)、斜行和原地转向模式。基于斜行及4WS模式设计了双模式混合控制器,其中,斜行模式采用多点预瞄模糊补偿轨迹跟踪控制,4WS模式采用增量线性时变模型预测控制(ILTV-MPC)。通过试验样机的横、纵向跟踪性能试验得到双模式混合控制器所需的约束条件。采用Simulink∕CarSim联合仿真平台对控制器的有效性进行验证。采用混合控制器的移动机器人底盘在低曲率跟踪时较4WS模式均方根误差相差0.18%,且横摆角与横摆角速度维持不变。结果表明:混合控制器保证全轮转向机器人低曲率跟踪精度的同时提升了其横摆稳定性。

一种新的大行程垂直纳米运动工作台设计与控制研究

在大行程高精度垂直运动中,工作台的设计及稳定控制是关键因素。因此设计一种新型的具有平衡机构的工作台,以实现垂直方向上大行程纳米稳定运动。所研究工作台采用N331压电直线电机独立驱动,通过空气静态导轨悬浮,设计Z轴平衡系统降低垂直向电机驱动负载。利用步进控制方式完成大行程驱动,模拟方式实现微位移精密驱动控制。所提出的驱动与控制策略,可实现100 mm垂直方向上高精度快速精密驱动。另Z向也可实现纳米步进模式与模拟模式的复合控制。在全行程100 mm的范围内定位波动可限制在±9 nm内。通过验证实验,本运动工作台可适用于微纳米三坐标测量机、微光刻和微加工应用的驱动与控制任务。

悬浮隧道支撑锚索在管体运动状态下的动频率与湿模态

悬浮隧道(submerged floating tunnel,SFT)是一种潜力巨大的水下交通结构,其支撑锚索频率、模态的精确获取对识别结构动力性能至关重要。该研究提出了一种管体运动状态下求解锚索“动频率”和“湿模态”的新颖方法,将锚索等效为梁或弦建立了四类考虑锚索抗弯刚度、湿重等因素的力学模型。在对运动悬浮隧道结构进行拟静态处理,及通过静平衡时锚索顶张力与该索支撑范围内净浮力相等的原则确定结构基本参数的前提下,研究了管体竖向周期运动过程中锚索动频率与湿模态的分布规律。获取了锚索动频率带及其上限、下限与管体浮重比、锚索倾角、竖向高度及管体运动幅值之间的对应关系与参数敏感区间,得到了锚索湿模态对湿重展向效应、竖向高度等因素的敏感程度,可为进一步深入研究锚索涡振频率锁定、参数振动提供新的处理思路。

基于动作捕捉系统的三维角色动作设计教学实践

近些年,各种先进技术层出不穷,推动各领域实现创新发展,教学领域也不例外。动漫产业的快速发展,使得社会对三维动作设计人才的需求不断增加,三维角色动作设计作为动画制作非常重要的一环,自然也受到高度关注。高校作为三维动画人才培养的主阵地,需要肩负起人才培养重任,但从高校如今的三维角色动作设计教学情况来看,还存在不少的问题,导致具体的教学效果不如人意。动作捕捉系统作为新时代的产物,其在教学中的应用价值是不言而喻的,三维动作设计类课程教师应充分认知该系统的价值,并将其巧妙地引入到三维角色动作设计教学中,突破教学的局限性,提升教学质量。

基于变分模态分解的休息态虚拟现实晕动症脑电自动检测

虚拟现实晕动症的存在是制约VR技术行业进一步发展的关键因素,研究虚拟现实晕动症相关的神经活动及对其准确检测是解决此问题的前提,此前研究缺少对休息态虚拟现实晕动症神经活动的研究。因此,本研究利用虚拟现实晕动症暴露任务前后休息态脑电信号,提出虚拟现实晕动症脑电特征作为指标实现对虚拟现实晕动症的检测。首先,通过统计分析对所选的5个电极即Fp1、Fp2、F8、T7及T8的脑电信号分别进行变分模态分解,并从选中的模态分量中提取样本熵、排列熵及中心频率。然后,通过统计检验和ReliefF算法进行两个阶段的特征选择。最后,将选择的特征向量送入支持向量机中进行分类,进而实现对虚拟现实晕动症的自动检测。结果表明,此方法准确率、灵敏度及特异度分别达到了98.3%、98.5%及98.1%,ROC曲线下的面积值达到了1,优于其他方法,证明了此方法在虚拟现实晕动症脑电信号自动检测方面优势与有效性。

早期持续被动运动结合预警分级管理模式对髋部骨折术后患者并发症发生情况及髋关节功能的影响

目的 研究早期持续被动运动结合预警分级管理模式对髋部骨折术后患者并发症发生情况及髋关节功能的影响。方法 选取2019年2月至2021年9月收治的84例髋部骨折术后患者为研究对象,以随机数字表法将其分为对照组与观察组,各42例。对照组采用常规护理干预,观察组在对照组基础上采取早期持续被动运动结合预警分级管理模式。比较两组的干预效果。结果 观察组的术后并发症总发生率低于对照组,差异具有统计学意义(P<0.05)。干预后,观察组的双腿周径小于对照组,下肢动脉血流速度大于对照组,D-二聚体水平低于对照组,差异具有统计学意义(P<0.05)。干预后,观察组的Harris髋关节功能评分高于对照组,关节活动度大于对照组,差异具有统计学意义(P<0.05)。结论 早期持续被动运动结合预警分级管理模式不仅能够改善髋部骨折术后患者的双下肢相关指标,促进髋关节功能恢复,还能减少术后并发症,值得推广。