Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipula...Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.展开更多
XPS and chemical trapping experments with H2, NH3, and CH3I as trapping agents were carried out for studying the adsorption of propylene over MoO3 or r-Bi2MoO6. The results show that the fragmentation of carbon chain ...XPS and chemical trapping experments with H2, NH3, and CH3I as trapping agents were carried out for studying the adsorption of propylene over MoO3 or r-Bi2MoO6. The results show that the fragmentation of carbon chain takes place during the adsorption of propylene through breaking C -C double bond and C-C bond on Mo2+ and the adjacent lattice oxygen, leading to formation of the oxygen- or nitrogen-containing by-products of C1 and C2 species. Diffuse-Reflection Fourier Transform Infrared (DRFTIR) Spectroscopy was used to study the surface species formed during the chemisorption and reaction of propylene over y-Bi2MoO6 at a lower temperature. The results that C1, C2 adspecies were detected by DRFTIR at 175℃ are consistent with the results of XPS and chemical trapping experiments, whlle the results at 50℃ Grasselli et al.展开更多
This journal is on applied mathematics and mechanics published in the People’ s Republic of China. Our editorial committee, headed by Professor Chien Wei-zang, Academician of Chinese Academy of Sciences, President of...This journal is on applied mathematics and mechanics published in the People’ s Republic of China. Our editorial committee, headed by Professor Chien Wei-zang, Academician of Chinese Academy of Sciences, President of Shanghai University, and Professor Zhou Zhe-wei, consists of scientists in the fields of applied mathematics and mechanics all over China. Founded by Professor Chien Wei-zang in May 1980 as a quarterly, AMM became a bimonthly in 1981 and then a monthly in 1985. It is a comprehensive journal carrying original research papers展开更多
文摘Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.
基金Supported by the National Natural Science Fundation of China.
文摘XPS and chemical trapping experments with H2, NH3, and CH3I as trapping agents were carried out for studying the adsorption of propylene over MoO3 or r-Bi2MoO6. The results show that the fragmentation of carbon chain takes place during the adsorption of propylene through breaking C -C double bond and C-C bond on Mo2+ and the adjacent lattice oxygen, leading to formation of the oxygen- or nitrogen-containing by-products of C1 and C2 species. Diffuse-Reflection Fourier Transform Infrared (DRFTIR) Spectroscopy was used to study the surface species formed during the chemisorption and reaction of propylene over y-Bi2MoO6 at a lower temperature. The results that C1, C2 adspecies were detected by DRFTIR at 175℃ are consistent with the results of XPS and chemical trapping experiments, whlle the results at 50℃ Grasselli et al.
文摘This journal is on applied mathematics and mechanics published in the People’ s Republic of China. Our editorial committee, headed by Professor Chien Wei-zang, Academician of Chinese Academy of Sciences, President of Shanghai University, and Professor Zhou Zhe-wei, consists of scientists in the fields of applied mathematics and mechanics all over China. Founded by Professor Chien Wei-zang in May 1980 as a quarterly, AMM became a bimonthly in 1981 and then a monthly in 1985. It is a comprehensive journal carrying original research papers
