In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ...In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.展开更多
An objective of this work is to develop a validated computational model that can be used to estimate ratcheting accumulation behavior of granular soils due to high-cyclic loading. An accumulation model was proposed to...An objective of this work is to develop a validated computational model that can be used to estimate ratcheting accumulation behavior of granular soils due to high-cyclic loading. An accumulation model was proposed to describe only the envelope of the maximum plastic deformations generated during the cyclic loading process, which can calculate the accumulated deformation by means of relatively large load cycle increments. The concept of volumetric hardening was incorporated into the model and a so-called overstress formulation was employed to describe the evolution of the accumulated volumetric deformation as a state parameter. The model accounted for ratcheting shakedown and accumulation such as a pseudo-yield surface(a shakedown surface) associated with loading inside the current virgin yield surface which was implemented into the well-known modified Cam-clay model. Finally, the model was calibrated using data from the stress-controlled drained cyclic triaxial tests on homogeneous fine grained sands. It is seen that the model can successfully represent important features of the ratcheting accumulation of both volumetric and deviatoric deformation caused by repeated drained loading over a large number of cycles.展开更多
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.
基金Projects(41302219,41302076)supported by the National Natural Science Foundation of China
文摘An objective of this work is to develop a validated computational model that can be used to estimate ratcheting accumulation behavior of granular soils due to high-cyclic loading. An accumulation model was proposed to describe only the envelope of the maximum plastic deformations generated during the cyclic loading process, which can calculate the accumulated deformation by means of relatively large load cycle increments. The concept of volumetric hardening was incorporated into the model and a so-called overstress formulation was employed to describe the evolution of the accumulated volumetric deformation as a state parameter. The model accounted for ratcheting shakedown and accumulation such as a pseudo-yield surface(a shakedown surface) associated with loading inside the current virgin yield surface which was implemented into the well-known modified Cam-clay model. Finally, the model was calibrated using data from the stress-controlled drained cyclic triaxial tests on homogeneous fine grained sands. It is seen that the model can successfully represent important features of the ratcheting accumulation of both volumetric and deviatoric deformation caused by repeated drained loading over a large number of cycles.
