用于虚拟力觉再现的弹簧-质点力/变形模型研究

为提高虚拟力觉再现的精度与实时性,提出了一种弹簧-质点力/变形模型,它将物体以受力点为中心,沿径向方向分割为呈同心圆分布的弹簧-质点系统。系统中各个质点的相对位移的叠加对外等效为物体表面变形,与之相连的弹簧弹性力的合力等于物体表面的接触力。该方法由于分割只涉及到发生变形的局部区域,不需要对整个物体进行大量的矩阵运算;进行了基于图像边缘检测的变形测量,推导了模型参数;基于此力变形模型,利用DELTA手控器,进行了柔性物体接触变形以及实时虚拟力反馈的半物理仿真。

具有简单孔洞结构柔性体的力/触觉框架模型

针对具有简单孔洞的柔性体提出了一种基于框架结构的力/触觉变形模型。此模型以外力接触端为公共端,根据内部孔的位置和形状构建框架。整体框架由一个或多个钢架组成,每根钢架可为单杆件或多杆件结构。当外力作用时,运用虚功原理和Bernoulli-Euler定理求得钢架节点和虚拟固定端的变形位移,从而得到框架的变形,通过框架变形插值求解柔性体全局变形。实验结果表明,该模型方法简单,实时性好,在具体的虚拟建模力反馈工作中可操作性强。

Constitutive modeling of hot deformation behavior of X20Cr13 martensitic stainless steel with strain effect

Hot deformation behavior ofX20Cr13 martensitic stainless steel was investigated by conducting hot compression tests on Gleeble-1500D thermo-mechanical simulator at the temperature ranging from 1173 to 1423 K and the strain rate ranging from 0.001 to 10 s^-1. The material constants of a and n, activation energy Q and A were calculated as a function of strain by a fifth-order polynomial fit. Constitutive models incorporating deformation temperature, strain rate and strain were developed to model the hot deformation behavior of X20Cr13 martensitic stainless steel based on the Arrhenius equation. The predictable efficiency of the developed constitutive models of X20Cr13 martensitic stainless steel was analyzed by correlation coefficient and average absolute relative error which are 0.996 and 3.22%, respectively.

Effect of pre-deformation on aging creep of Al-Li-S4 alloy and its constitutive modeling

A set of uniaxial tensile creep tests at different pre-deformations, aging temperatures and stress levels were carried out for Al-Li-S4 alloy, and the creep behavior and the effects of pre-deformation on mechanical properties and microstructures were determined under basic thermodynamics conditions of aging forming. The results show that pre-deformation shortens the time of primary creep and raises the second steady-state creep rate. Then, the total creep strain is greater, but in the range of test parameters it is still smaller than that without pre-deformation. In addition, transmission electron microscopy（TEM） observation shows that pre-deformation promotes the formation of T1 phase and θ′ phase and makes them distribute more dispersively, while inhibits the generation of δ′ phase, which leads to the improvement of mechanical properties of the alloy. A unified constitutive model reflecting the effects of aging mechanism, stress levels and different pre-deformations was established. The fitting results agree with the experimental data well.

A model of deformation of thin-wall surface parts during milling machining process

A three-dimensional finite element model was established for the milling of thin-walled parts. The physical model of the milling of the part was established using the AdvantEdge FEM software as the platform. The aluminum alloy impeller was designated as the object to be processed and the boundary conditions which met the actual machining were set. Through the solution, the physical quantities such as the three-way cutting force, the tool temperature, and the tool stress were obtained, and the calculation of the elastic deformation of the thin-walled blade of the free-form surface at the contact points between the tool and the workpiece was realized. The elastic deformation law of the thin-walled blade was then predicted. The results show that the maximum deviation between the predicted value and the actual measured machining value of the elastic deformation was 26.055 μm; the minimum deviation was 2.011 μm, with the average deviation being 10.154 μm. This shows that the prediction is in close agreement with the actual result.

A new mathematical model for predicting flow stress of X70HD under hot deformation

To realize numerical simulation of rolling and obtain the hot forming process parameters for X70 HD steel, the flow stress behaviors of X70 HD steel were investigated under different temperatures（820-1100 ℃ and strain rates（0.01-10 s-1） on a Gleeble-3500 thermo-simulation machine. A new flow stress model was established. The linear and exponential relationship methods were applied to the parameters with respect to temperature and deformation rates. The rise of curve ends under certain conditions was analyzed. The flow stress of X70 HD steel predicted by the proposed model agrees well with the experimental results. So, it greatly improves the precision of the metal thermoplastic processing through finite element method and practical application of engineering.

Flow stress equation in range of intermediate strain rates and high temperatures to predict roll force in four-pass continuous rod rolling

A flow stress equation was proposed to compute the roll force in the finishing stands of an actual rod mill where the strain rate and the temperature of the material range from 100 to 400 s-1 and from 900 to 1050 ℃,respectively.The underlying idea is to modify the Shida model and Misaka model,which provide flow stress equations（constitutive equations） frequently used to depict deformation behavior of high temperature material at different strain rates.The modified model was coupled with finite element method to compute the roll force during four-pass continuous rod rolling,where strain rates are in the range of 100-400 s-1 at high temperatures（900-1050 ℃）.The roll forces and the surface temperatures of the material at each stand were measured,and the measured data were compared with the computed values.Results reveal that the Misaka model is better than the Shida model for high temperatures and intermediate strain rates.The roll force error was-5.7 % when the Misaka model was used at 900 ℃.However,the error increased by-15.2% at 1050 ℃.When the modified Misaka model was used,the error was reduced to 1.8% on average.It can consequently be deduced that the modified Misaka model can be used to depict the deformation resistance behavior in intermediate ranges of strain rate and high temperature ranges in continuous rod rolling process.

Hot deformation behaviors and flow stress model of GCr15 bearing steel

The hot deformation behaviors of GCr15 bearing steel were investigated by isothermal compression tests, performed on a Gleeble-3800 thermal-mechanical simulator at temperatures between 950 ℃ and 1 150 ℃ and strain rates between 0.1 and 10 s-1. The peak stress and peak strain as functions of processing parameters were obtained. The dependence of peak stress on strain rate and temperature obeys a hyperbolic sine equation with a Zener-Hollomon parameter. By regression analysis, in the temperature range of 950-1 150 ℃ and strain rate range of 0.1?10 s?1, the mean activation energy and the stress exponent were determined to be 351kJ/mol and 4.728, respectively. Meanwhile, models of flow stress and dynamic recrystallization (DRX) grain size were also established. The model predictions show good agreement with experimental results.

Effect of the off-road terrains on the ride comfort of construction vehicles

In order to evaluate the impact of off-road terrains on the ride comfort of construction vehicles,a nonlinear dynamic model of the construction vehicles interacting with the terrain deformations is established based on Matlab/Simulink software.The weighted root mean square(RMS)acceleration responses and the power spectral density(PSD)acceleration responses of the driver s seat heave,the pitch and roll angle of the cab in the low-frequency region are chosen as objective functions under different operation conditions of the vehicle.The results show that the impact of off-road terrains on the driver s ride comfort and health is clear under various conditions of deformable terrains and range of vehicle velocities.In particular,the driver s ride comfort is greatly affected by a soil terrain while the comfortable shake of the driver is strongly affected by a sand terrain.In addition,when the vehicle travels on a poor soil terrain in the frequency range below 4 Hz,more resonance peaks of acceleration PSD responses occurred than that on a rigid road of ISO 2631-1 level C.Thus,the driver s health is significantly affected by the deformable terrain in a low-frequency range.

Effective grouting area of jointed slope and stress deformation responses by numerical analysis with FLAC^(3D)

To study the grouting reinforcement mechanism in jointed rock slope, first, the theoretical deduction was done to calculate the critical length of slipping if the slope angle is larger than that of joint inclination; Second, the numerical calculation model was founded by FLAG^3D, so as to find the stress and deformation responses of rock mass in the state before and after grouting, the analysis results show that the range between the boundary of critical slipping block and the joint plane that passes the slope toe is the effective grouting area （EGA）. After excavation, large deformation occurs along the joint plane. After grouting, the displacements of rock particles become uniform and continuous, and large deformations along the joint plane are controlled; the dynamic displacement can re- flect the deformation response of slope during excavation in the state before and after grouting, as well as the shear location of potential slip plane. After grouting, the dynamic displacement of each monitoring point reaches the peak value with very few time steps, which indicate that the parameters of the joint plane, such as strength and stiffness, are improved; the stress field becomes uniform. Tensile area reduces gradually; whole stability of the slope and its ability to resist tensile and shear stress are improved greatly.

Modeling hot strip rolling process under framework of generalized additive model

This research develops a new mathematical modeling method by combining industrial big data and process mechanism analysis under the framework of generalized additive models(GAM)to generate a practical model with generalization and precision.Specifically,the proposed modeling method includes the following steps.Firstly,the influence factors are screened using mechanism knowledge and data-mining methods.Secondly,the unary GAM without interactions including cleaning the data,building the sub-models,and verifying the sub-models.Subsequently,the interactions between the various factors are explored,and the binary GAM with interactions is constructed.The relationships among the sub-models are analyzed,and the integrated model is built.Finally,based on the proposed modeling method,two prediction models of mechanical property and deformation resistance for hot-rolled strips are established.Industrial actual data verification demonstrates that the new models have good prediction precision,and the mean absolute percentage errors of tensile strength,yield strength and deformation resistance are 2.54%,3.34%and 6.53%,respectively.And experimental results suggest that the proposed method offers a new approach to industrial process modeling.

Theoretical and experimental analyses of casing collapsing strength under non-uniform loading

Failure data from oilfield showed that casings which were designed according to API standards were deformed and collapsed in salt formations. The main reason for decrease in strength may be caused by non-uniform loading(NUL) that was not considered in traditional casing collapsing strength design or that the designing method should be improved and developed. Obviously, the calculation of casing collapse strength is one of the key factors in casing design. However, the effect of NUL on casing collapse strength was generally neglected in the present computational methods. Therefore, a mechanical model which can calculate casing collapse strength under NUL was established based on the curved beam theory of the elasticity and was solved using displacement method. Simultaneously, three anti-collapse experiments were performed on C110 casing under NUL, and the strain and deformation laws of three casings in the process of collapse were obtained by the electrical method. Yield limit of every casing was obtained by analyzing those data. Experimental results are consistent with the results of calculation of new model. It indicates that the model can be used to calculate yield limit loading of casings under NUL.

Propagation simulation and dilatancy analysis of rock joint using displacement discontinuity method

A revised displacement discontinuity method(DDM) program is developed for the simulation of rock joint propagation and dilatancy analysis. The non-linear joint model used in the program adopts Barton-Bandis normal deformation model, Kulhaway shear deformation model and Mohr-Coulomb criterion. The joint propagation criterion is based on the equivalent stress intensity factor which can be obtained by regression analysis. The simulated rock joint propagation accords well with the existing knowledge. The closure and opening of joint is investigated by DDM, and it is shown that if the opening volume of propagated joint is larger than closure volume of the old joint, the joint dilatancy occurs. The dilatancy condition is mainly controlled by the normal stiffness of the rock joint. When the normal stiffness is larger than the critical value, joint dilatancy occurs. The critical normal stiffness of rock joint changes with the joint-load angle, and joint dilatancy is most possible to occur at 30°.

Plastic zone analysis and support optimization of shallow roadway with weakly cemented soft strata

Based on a shallow roadway with weakly cemented soft strata in western China, this paper studies the range and degree of plastic zones in soft strata roadways with weak cementation. Geological radars were used to monitor the loose range and level of surrounding rocks. A mechanical model of weakly cemented roadway was established, including granular material based on the measured results. The model was then used to determine the plastic zone radium. The predicted results agree well with measured results which provide valuable theoretical references for the analysis of surrounding rock stability and support reinforcing design of weakly cemented roadways. Finally, a combined supporting scheme of whole section bolting and grouting was proposed based on the original supporting scheme. It is proved that this support plan can effectively control the deformation and plastic zone expansion of the roadway surrounding rock and thus ensure the long-term stable and safe mining.

Critical Spreading of Active Region in a Ladder Model Possessing Infinite AbsorbingStates

The spreading of active region of the ladder model is simulated. Finite-time scaling behaviors are observedin the vicinity of the critical point.

Static-deformation based fault diagnosis for damping spring of large vibrating screen

Based on the statics theory, a novel and feasible twice-suspended-mass method(TSMM) was proposed to deal with the seldom-studied issue of fault diagnosis for damping springs of large vibrating screen(LVS). With the static balance characteristic of the screen body/surface as well as the deformation compatibility relation of springs considered, static model of the screen surface under a certain load was established to calculate compression deformation of each spring. Accuracy of the model was validated by both an experiment based on the suspended mass method and the properties of the 3D deformation space in a numerical simulation. Furthermore, by adopting the Taylor formula and the control variate method, quantitative relationship between the change of damping spring deformation and the change of spring stiffness, defined as the deformation sensitive coefficient(DSC), was derived mathematically, from which principle of the TSMM for spring fault diagnosis is clarified. In the end, an experiment was carried out and results show that the TSMM is applicable for diagnosing the fault of single spring in a LVS.

Influence of Tacking Sequence on Residual Stress and Distortion of Single Sided Fillet Submerged Arc Welded Joint

Submerged arc welding （SAW） is advantageous for joining high thickness materials in large structure due to high material deposition rate. The non-uniform heating and cooling generates the thermal stresses and subsequently the residual stresses and distortion. The longitudinal and transverse residual stresses and angular distortion are generally measured in large panel structure of submerged arc welded fillet joints. Hence, the objective of this present work is to quantify the amount of residual stress and distortion in and around the weld joint due to positioning of stiffeners tack. The tacking sequence influences the level of residual stress and proper controlling of tacking sequences is required to minimize the stress. In present study, an elasto-plastic material behavior is considered to develop the thermo mechanical model which predicts the residual stress and angular distortion with varying tacking sequences. The simulated result reveals that the tacking sequence heavily influences the residual stress and deformation pattern of the single sided fillet joint. The finite element based numerical model is calibrated by comparing the experimental data from published literature. Henceforth, the angular distortions are measured from an in-house developed experimental set-up. A fair agreement between the predicted and experimental results indicates the robustness of the developed numerical model. However, the most significant conclusion from present study states that tack weld position should be placed opposite to the fillet weld side to minimize the residual stress.

Morphogenesis of Vertisols：A Model Study

Studies on Vertisols of Southwest China show that the distribution of organic matter, mechanicalcomposition, carbonates and spore-pollen in their profiles exhibits a definite differentiation and the radiocarbon age has a functional variation with soil depth, which suggests that pedoturbation model is a kind of incomplete model for genetic study and that the disturbance and inversion of solums of Vertisol are not as rapid and absolute as expected. In further consideration of the characters of swelling pressure and shear strength of Vertisol, vertic soil and other zonal soils, it is speculated that soil mechanics model is more adaptable for interpreting the morphogenesis of Vertisols without any contradiction with soil properties.

Analytical and numerical solutions for shear mechanical behaviors of structural plane

The original descriptive model of shear stress and shear displacement only reflects the stress deformation characteristics of plastic structural plane.The index model was revised and piecewise index model was built to describe the stress deformation characteristics of plastic structural plane and brittle structural plane.The relation of stress and strain to the failure mode of structural plane considering the effect of its shape was investigated,and a model which could reflect the relation between undulate angle and shear strength was built.The result indicates that structural plane presents nonlinear characteristics,specifically,the value of undulate angle,as well as corresponding shear strength,becomes larger as the normal stress decreases.

Experimental Study on Stress Relaxation and Creep Properties of Human Thoracolumbar Vertebral Bodies and Intervertebral Discs

Objective:Underwater shock can produce extremely high accelerations, resulting in severe human injuries on shipboard, and human thoraco lumbar spines are prone to suffer from injuries by ship shock motion. To observe the viscoelasticity of thoracolumbar of young fresh cadavers, and to provide biomechanical parameters for both research and clinical practice. Materials and Methods:5 fresh young male cadavers (aged 22 to 31 years) were provided, and 15 thoracolumbar spinal anatomies of 5 samples were harvested within 1 hour of death. WE-10A universal testing machine was used for creep and relaxation tests.Results:Stress relaxation and creep deformation equations are derived from the biomechanics model and the measured and simulated curves are compared. The creep in vertebral bodies and intervertebral discs exhibited significantly changes in the first 5 min and 10 min, respectively. The stress rapidly decreased in the first 2 min, and then gradually went balance during the relaxation process. Conclusion:The change in creep rate is significant at early stage,and gradually slows down.This indicates that the differences between internal pressure and local pressure are decreased until balance. The simulated curve derived from equation coincides with the experimental data to a large degree, which states that the equation is rational and reliable.