Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

Stress Analysis of New Type Pre-Stressed Anchor Bearing Plate Combining Stamping with Welding Forming and Its Anchorage Zone

An anchor bearing plate transfers the anchoring force from anchor plate to the concrete and the pre-stress is formed in the concrete structure. Currently, the main type of anchor bearing plate is cast iron. It is brittle during transportation and tension process. This paper presents a new type of anchor bearing plate combined stamping with welding forming. The structure of the new type anchor bearing plate is introduced. The stress states of the anchor bearing plate and anchorage zone under work are studied. Various specifications of anchor bearing plate are studied by ANSYS finite element analysis software following the AASHTO specification. The analysis results are compared with the results of the same type of OVM round-shaped anchor plate. The study results show that the new pre-stressed anchor plates combined stamping with welding forming are feasible and more sturdy which can meet the engineering demand.

An operational modal analysis method in frequency and spatial domain

A frequency and spatial domain decomposition method （FSDD） for operational modal analysis （OMA） is presented in this paper, which is an extension of the complex mode indicator function （CMIF） method for experimental modal analysis （EMA）. The theoretical background of the FSDD method is clarified, Singular value decomposition is adopted to separate the signal space from the noise space. Finally, an enhanced power spectrum density （PSD） is proposed to obtain more accurate modal parameters by curve fitting in the frequency domain. Moreover, a simulation case and an application case are used to validate this method.

Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

An improved modal pushover analysis procedure for estimating seismic demands of structures

The pushover analysis （POA） procedure is difficult to apply to high-rise buildings, as it cannot account for the contributions of higher modes. To overcome this limitation, a modal pushover analysis （MPA） procedure was proposed by Chopra et al. （2001）. However, invariable lateral force distributions are still adopted in the MPA. In this paper, an improved MPA procedure is presented to estimate the seismic demands of structures, considering the redistribution of inertia forces after the structure yields. This improved procedure is verified with numerical examples of 5-, 9- and 22-story buildings. It is concluded that the improved MPA procedure is more accurate than either the POA procedure or MPA procedure. In addition, the proposed procedure avoids a large computational effort by adopting a two-phase lateral force distribution..

CALCULATING RESPONSE SPECTRAL MOMENTS BY COMPLEX MODAL ANALYSIS

Response spectral moments are useful for system reliability analysis.Usually,spectral mo- ments are calculated by the frequency domain method.Based on the time domain modal analysis of random vibrations,the authors present a new method for calculating response spectral moments through response correlation functions.The method can be applied to both classical and non-classical damping cases and to three kinds of random excitations,i.e.,white noise,band-limited white noise, and filtered white noise.

Finite Element Modeling and Modal Analysis of Complicated Structure with Bolted Joints

A contact bolt model is proposed as a new modeling technique to investigate the complex structure with bolted joints for modal analysis and compared with the coupled bolt model, and the test results are given. Among these models, the coupled bolt model provides the best accurate responses compared with the experimental results. The contact bolt model shows the best effectiveness and usefulness in view of operational time. The bolt models proposed in this study are adopted for a dynamic characteristic analysis of a large diesel engine consisting of several parts which are connected by many bolts. The dynamic behavior of the entire engine structure was investigated by experiment. The coupled bolt model and the contact bolt model were applied to model the assembly of engine with high preload. The experimental results are in good agreement with the finite element method （FEM） results. Compared with the other models, the contact bolt model presented in this paper is more effective and useful in view of operational time and experience of analysts.

Structural optimization of precision instruments through modal analysis

In order to improve the dynamic stability of precision instruments during the design process, a compositive design method based on modal analysis of structure is proposed. With uniform boundary conditions and material characters, the results of Finite Element Analysis (FEA) vary with models. It should be checked whether the model is correctly simplified. Modal experiments can be used for such purpose. The method combines the high efficiency and agility of FEA with the reliability and accuracy of experiments, and avoids the drawbacks of FEA or experiments, such as uncertainty of FEA and high cost of experiments. Taking rotor frame structure as an example, this method is applied as follows: First the modal characters of structure are analyzed with FEA, and then the natural frequencies of the structure are tested by experiments to check the reliability of FEA method, and finally the design scheme is optimized by modifying structure parameters with confirmed FEA.

Modal analysis on transverse vibration of axially moving roller chain coupled with lumped mass

The modal characteristics of the transverse vibration of an axially moving roller chain coupled with lumped mass were analyzed.The chain system was modeled by using the multi-body dynamics theory and the governing equations were derived by means of Lagrange's equations.The effects of the parameters,such as the axially moving velocity of the chain,the tension force,the weight of lumped mass and its time-variable assign position in chain span,on the modal characteristics of transverse vibration for roller chain were investigated.The numerical examples were given.It is found that the natural frequencies and the corresponding mode shapes of the transverse vibration for roller chain coupled with lumped mass change significantly when the variations of above parameters are considered.With the movement of the chain strand,the natural frequencies present a fluctuating phenomenon,which is different from the uniform chain.The higher the order of mode is,the greater the fluctuating magnitude and frequency are.

Modal analysis of coupled vibration of belt drive systems

The modal method is applied to analyze coupled vibration of belt drive systems. A belt drive system is a hybrid system consisting of continuous belts modeled as strings as well as discrete pulleys and a tensioner arm. The characteristic equation of the system is derived from the governing equation. Numerical results demenstrate the effects of the transport speed and the initial tension on natural frequencies.

Initial Pre-stress Finding and Structural Behaviors Analysis of Cable Net Based on Linear Adjustment Theory

The tensile cable-strut structure is a self-equilibrate pre-stressed system.The initial pre-stress cal- culation is the fundamental structural analysis.A new numerical procedure was developed.The force density method is the cornerstone of analytical formula,and then introduced into linear adjustment theory;the least square least norm solution,the optimized initial pre-stress,is yielded.The initial pre-stress and structural performances of a particular single-layer saddle-shaped cable-net structure were analyzed with the developed method,which is proved to be efficient and correct.The modal analyses were performed with respect to various pre-stress levels.Finally,the structural performances were investigated comprehensively.

MODAL PART ANALYSIS OF SLOSH OF THE LIQUID IN A CYLINDRICAL CONTAINER IN THE CASE OF SMALL BOND NUMBER

Reconstruction of liquid free slosh modes by curved quiet free surface was investigated in the case of small Bond number by means of modal part analysis method in this paper. It is shown that the curved liquid quiet free surface would couple the modes to form new eigen-modes while the orthogonality of the modes which participate the liquid slosh are given only by their Bessel modal parts and it would change their eigen-frequencies respectively while the orthogonality are given by their triangle function modal parts. By studying the laterally forced slosh of the liquid in a cylindrical container based on the new eigen-modes, a characteristic of modes-choosing was found.

Experimental and FEM Modal Analysis of a Deployable-Retractable Wing

The aim of this paper is to conduct experimental modal analysis and numerical simulation to verify the structural characteristics of a deployable-retractable wing for aircraft and spacecraft. A modal impact test was conducted in order to determine the free vibration characteristics. Natural frequencies and vibration mode shapes were obtained via measurement in LMS Test. Lab. The frequency response functions were identified and computed by force and acceleration signals, and then mode shapes of this morphing wing structure were subsequently identified by PolyMAX modal parameter estimation method. FEM modal analysis was also implemented and its numerical results convincingly presented the mode shape and natural frequency characteristics were in good agreement with those obtained from experimental modal analysis. Experimental study in this paper focuses on the transverse response of morphing wing as its moveable part is deploying or retreating. Vibration response to different rotation speeds have been collected, managed and analyzed through the use of comparison methodology with each other. Evident phenomena have been discovered including the resonance on which most analysis is focused because of its potential use to generate large amplitude vibration of specific frequency or to avoid such resonant frequencies from a wide spectrum of response. Manufactured deployable-retractable wings are studied in stage of experimental modal analysis, in which some nonlinear vibration resulted should be particularly noted because such wing structure displays a low resonant frequency which is always optimal to be avoided for structural safety and stability.

Modal Analysis of Thread off Failure of Oil Round Thread Casing Connection

The dynamic modal model analysis of the oil casing connection is done by finite element method (FEM), and the first nature frequency, the second nature frequency, the vibration mode shape and the time domain of the node displacement and the element stress variation in the thread connection are gotten. The Von.Mises stresses of the connection in the static and dynamic state are also studied. The results of calculation and analysis show: (1) because the maximum of static stress is at the coupling thread end of connection, the connection begins to thread off at the coupling thread end, which is in accord with the results of the thread off experiment in laboratory; (2) because the first nature frequency is very high, the probability of casing connection to be damaged from vibration is little; (3) the shock dynamic load makes casing connection begin to thread off at the tube thread end.

Modal Analysis and Multi-objective Optimization of Pressurizing Pipeline

The pressurizing pipeline of hot press resonates under the excitation load,which poses a serious hidden danger to the safety of the equipment and the operator.In order to increase the natural frequency of the pressurizing pipeline,modal analysis of the pressurizing pipeline is carried out to study the mechanism of pipeline vibration and common vibration reduction measures.A method of increasing the natural frequency of the pressurizing pipeline was analyzed.The influence of pipeline clamp assembly stiffness,pipeline clamp number and pipeline clamp installation position on the mode of the pressurizing pipeline is studied.Sensitivity analysis is carried out to study the influence of the various parameters on the mode of the pressurizing pipeline.Genetic algorithm based on Pareto optimality is introduced for multi-objective optimization of pressurizing pipeline.The optimization results show that the natural frequency of the pressurizing pipeline increases by 2.4%and the displacement response is reduced by 17.7%.

Modal analysis of the torque converter in different prestress

In order to study the mechanical properties and the dynamic performance of torque converter,to reduce the vibration and noise during the operation and to improve the stability,a 215 mm hydraulic torque converter is taken as the research object,and modal analyses are performed based on the finite element method.The weak parts of the impeller structure are obtained after calculating the models of the impeller and turbine without prestress.The variation of the modal frequency of the turbine and impeller are obtained under different prestress conditions by calculating different rotational speeds of the transmission shaft.The fundamental frequencies of the impeller and the turbine increase by 0.43%and 4.82%respectively when the rotational speed ranges from 100 rpm to 4500 rpm.The results of the present research indicate that the modal frequencies at different speeds are similar to the fundamental frequencies of the structure.Therefore,it is possible to estimate the vibration characteristics of the structure and optimize the structural design by numerical modal analysis in the static state instead of the dynamic state.

Uncertain Modal Analysis of Unmanned Aircraft Composite Landing Gear

Through taking uncertain mechanical parameters of composites into consideration,this paper carries out uncertain modal analysis for an unmanned aircraft landing gear.By describing correlated multi-dimensional mechanical parameters as a convex polyhedral model,the modal analysis problem of a composite landing gear is transferred into a linear fractional programming(LFR)eigenvalue solution problem.As a consequent,the extreme-point algorithm is proposed to estimate lower and upper bounds of eigenvalues,namely the exact results of eigenvalues can be easily obtained at the extreme-point locations of the convex polyhedral model.The simulation results show that the proposed model and algorithm can play an important role in the eigenvalue solution problem and possess valuable engineering significance.It will be a powerful and effective tool for further vibration analysis for the landing gear.

Seismic bearing capacity of strip footing on partially saturated soil using modal response analysis

The present study proposes a novel and simplified methodology to assess the seismic bearing capacity(SBC) of a shallow strip footing by incorporating strength non-linearity arising due to partial saturation of a soil matrix. Furthermore, developed methodology incorporates the modal response analysis of soil layers to assess SBC. A constant matric suction distribution profile has been considered throughout the depth of the soil. The Van Genuchten equation and corresponding fitting parameters have been considered to quantify matric suction in the analysis. SBC has been obtained for three different geomaterials;viz. sand, fly ash and clay, based on their predominant grain size and diverse soil water characteristics curve(SWCC) attributes. Variation of SBC with different modes of vibration and damping ratio are reported for ranges of matric suction pertinent to the geomaterials considered in the study. The relative significance of matric suction on SBC has been reported for suction values within the transition zone of each geomaterial. It is observed that the SBC of sand is drastically reduced, with matric suction reaching beyond the residual suction value. The SBC of fly ash remains constant beyond the residual suction value, whereas the SBC of clay shows an increasing trend toward the practical range of matric suction values.

Travel modal choice analysis for traffic corridors based on decision-theoretic approaches

The rapid development of multimodal transportation system prompts travellers to choose multiple transportation modes, such as private vehicles or taxi, transit(subways or buses), or park-and-ride combinations for urban trips. Traffic corridor is a major scenario that supports travellers to commute from suburban residential areas to central working areas. Studying their modal choice behaviour is receiving more and more interests. On one hand, it will guide the travellers to rationally choose their most economic and beneficial mode for urban trips. On the other hand, it will help traffic operators to make more appropriate policies to enhance the share of public transit in order to alleviate the traffic congestion and produce more economic and social benefits. To analyze the travel modal choice, a generalized cost model for three typical modes is first established to evaluate each different travel alternative. Then, random utility theory(RUT) and decision field theory(DFT) are introduced to describe the decision-making process how travellers make their mode choices. Further, some important factors that may influence the modal choice behaviour are discussed as well. To test the feasibility of the proposed model, a field test in Beijing was conducted to collect the real-time data and estimate the model parameters. The improvements in the test results and analysis show new advances in the development of travel mode choice on multimodal transportation networks.

Dynamic Stability Analysis of Linear Time-varying Systems via an Extended Modal Identification Approach

The problem of linear time-varying（LTV） system modal analysis is considered based on time-dependent state space representations, as classical modal analysis of linear time-invariant systems and current LTV system modal analysis under the ＂frozen-time＂ assumption are not able to determine the dynamic stability of LTV systems. Time-dependent state space representations of LTV systems are first introduced, and the corresponding modal analysis theories are subsequently presented via a stabilitypreserving state transformation. The time-varying modes of LTV systems are extended in terms of uniqueness, and are further interpreted to determine the system＇s stability. An extended modal identification is proposed to estimate the time-varying modes, consisting of the estimation of the state transition matrix via a subspace-based method and the extraction of the time-varying modes by the QR decomposition. The proposed approach is numerically validated by three numerical cases, and is experimentally validated by a coupled moving-mass simply supported beam exper- imental case. The proposed approach is capable of accurately estimating the time-varying modes, and provides anew way to determine the dynamic stability of LTV systems by using the estimated time-varying modes.