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基于微梁理论的线驱动仿生章鱼臂角度控制
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作者 吴秋轩 袁文婷 迟晓妮 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2015年第S1期389-392,共4页
基于cosserat梁理论对线驱动型章鱼臂进行数学建模,利用Matlab实现手臂弯曲角度控制.在建立三维稳态章鱼操作臂的基础上,通过微分方程描述手臂形变,快速响应输入,并输出期望弯曲角度.利用相关性分析得到输入曲线斜率和输出章鱼臂曲线斜... 基于cosserat梁理论对线驱动型章鱼臂进行数学建模,利用Matlab实现手臂弯曲角度控制.在建立三维稳态章鱼操作臂的基础上,通过微分方程描述手臂形变,快速响应输入,并输出期望弯曲角度.利用相关性分析得到输入曲线斜率和输出章鱼臂曲线斜率的相关性为0.901 8,验证该方法有较高准确度,具有实际意义.该建模方法具有一般性,适用于其他种类的线驱动型操作臂. 展开更多
关键词 章鱼臂 微梁理论 线驱动 三维稳态模型 角度控制
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Study on size-dependent bending behavior of axially functionally graded microbeams via nonlocal strain gradient theory 被引量:1
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作者 Kang Zetian Wang Zhiyong +1 位作者 Zhou Bo Xue Shifeng 《Journal of Southeast University(English Edition)》 EI CAS 2019年第4期453-463,共11页
Based on the nonlocal strain gradient theory(NSGT),the static bending behaviors of an axially functionally graded(AFG)Bernoulli-Euler microbeam subjected to concentrated and distributed loads are studied.The material ... Based on the nonlocal strain gradient theory(NSGT),the static bending behaviors of an axially functionally graded(AFG)Bernoulli-Euler microbeam subjected to concentrated and distributed loads are studied.The material property of the AFG microbeam changes continuously along the longitudinal direction.On the basis of the minimum potential energy principle,the equations of motion and associated classical and non-classical boundary conditions are derived.Then,Galerkin’s weighted residual method in conjunction with the normalization technique are utilized to solve the governing differential equations.The transverse deformations of the AFG microbeam suffering the sinusoidal distributed load within the framework of NSGT,nonlocal elasticity theory(NET),strain gradient theory(SGT)and classical elasticity theory(CET)are compared.It is observed that the bending flexibility of the microbeam decreases with the increase in the ratio of the material length scale parameter to the beam height.However,the bending flexibility increases with the increase in the material nonlocal parameter.The functionally graded parameter plays an important role in controlling the transverse deformation.This study provides a theoretical basis and a technical reference for the design and analysis of AFG micro-beams in the related regions. 展开更多
关键词 axially functionally graded microbeam nonlocal strain gradient theory bending Galerkin method normalization method
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Nonlinear vibration of edged cracked FGM beams using differential quadrature method
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作者 KE LiaoLiang WANG YueSheng +2 位作者 YANG Jie KITIPORNCHAI Sritawat ALAM Firoz 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2012年第11期2114-2121,共8页
This paper investigated the nonlinear vibration of functionally graded beams containing an open edge crack based on Timoshenko beam theory.The cracked section is modeled by a massless elastic rotational spring.It is a... This paper investigated the nonlinear vibration of functionally graded beams containing an open edge crack based on Timoshenko beam theory.The cracked section is modeled by a massless elastic rotational spring.It is assumed that material properties follow exponential distributions through the beam thickness.The differential quadrature(DQ) method is employed to discretize the nonlinear governing equations which are then solved by a direct iterative method to obtain the nonlinear vibration frequencies of beams with different boundary conditions.The effects of the material gradient,crack depth and boundary conditions on nonlinear free vibration characteristics of the cracked FGM beams are studied in detail. 展开更多
关键词 functionally graded materials (FGMs) Timoshenko beam edge crack nonlinear vibration DQ method
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