Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

Continuous rotation north-finding algorithm based on constrained adaptive Kalman filter

As an orientation measurement system,north-finder has been playing a significant role in both military and civilian fields of orientation and control.In this paper,to deal with drawbacks in the conventional north-finding systems,a dynamic strategy based on continuous rotation modulation to measure the rotational angular velocity of the earth is proposed.By modeling the dynamic error,optimizing the process constraint and estimating dynamic noise,a method combining delay compensation and hardware adjustment,and a constrained adaptive Kalman filter(CAKF)algorithm are designed for the north-finding strategy.According to simulation and experiments,the proposed algorithm can achieve the high-precision north-finding with robust and anti-noise performance.

Continuous Dynamic Rotation Measurements Using a Compact Cold Atom Gyroscope

We present an experimental demonstration of the rotation measurement using a compact cold atom gyroscope. Atom interference fringes are observed in the stationary frame and the rotating frame, respectively. The phase shift and contrast of the interference fringe are experimentally investigated. The results show that the contrast of the interference fringe is well held when the platform is rotated, and the phase shift of the interference fringe is linearly proportional to the rotation rate of the platform. The long-term stability, which is evaluated by the overlapped Allan deviation, is 8.5 × 10^-6 rad/s over the integrating time of 1000s.

Numerical study on three-dimensional flow field of continuously rotating detonation in a toroidal chamber

Gaseous detonation propagating in a toroidal chamber was numerically studied for hydrogen/oxygen/nitrogen mixtures. The numerical method used is based on the three-dimensional Euler equations with detailed finiterate chemistry. The results show that the calculated streak picture is in qualitative agreement with the picture recorded by a high speed streak camera from published literature. The three-dimensional flow field induced by a continuously rotating detonation was visualized and distinctive features of the rotating detonations were clearly depicted. Owing to the unconfined character of detonation wavelet, a deficit of detonation parameters was observed. Due to the effects of wall geometries, the strength of the outside detonation front is stronger than that of the inside portion. The detonation thus propagates with a constant circular velocity. Numerical simulation also shows three-dimensional rotating detonation structures, which display specific feature of the detonation- shock combined wave. Discrete burning gas pockets are formed due to instability of the discontinuity. It is believed that the present study could give an insight into the interest- ing properties of the continuously rotating detonation, and is thus beneficial to the design of continuous detonation propulsion systems.

Particle path tracking method in two- and three-dimensional continuously rotating detonation engines

The particle path tracking method is proposed and used in two-dimensional（2D） and three-dimensional（3D） numerical simulations of continuously rotating detonation engines（CRDEs）. This method is used to analyze the combustion and expansion processes of the fresh particles, and the thermodynamic cycle process of CRDE. In a 3D CRDE flow field, as the radius of the annulus increases, the no-injection area proportion increases, the non-detonation proportion decreases, and the detonation height decreases. The flow field parameters on the 3D mid annulus are different from in the 2D flow field under the same chamber size. The non-detonation proportion in the 3D flow field is less than in the 2D flow field. In the 2D and 3D CRDE, the paths of the flow particles have only a small fluctuation in the circumferential direction. The numerical thermodynamic cycle processes are qualitatively consistent with the three ideal cycle models, and they are right in between the ideal F–J cycle and ideal ZND cycle. The net mechanical work and thermal efficiency are slightly smaller in the 2D simulation than in the 3D simulation. In the 3D CRDE, as the radius of the annulus increases, the net mechanical work is almost constant, and the thermal efficiency increases. The numerical thermal efficiencies are larger than F–J cycle, and much smaller than ZND cycle.

Stiffness Degradation of Undisturbed Saturated Soft Clay in the Yangtze Estuary Under Complex Stress Conditions

Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian University of Technology was employed to perform different types of test on the saturated soft marine clay in the Yangtze Estuary. Undisturbed samples of the clay were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consolidation parameters. Investigated were the effects of the initial orientation angle of the major principal stress, initial ratio of deviatoric stress, initial coefficient of intermediate principal stress and continuous rotation of principal stress axes on the stiffness degradation. It is found that the degradation index decreases （or degradation degree increases） significantly with increasing initial orientation angle of the major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientation angle of the major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate principal stress is less evident and this trend is more clearly reflected by the results of the cyclic torsional shear tests than those of the cyclic coupling shear tests. At the same cycle number, the degradation index obtained from the cyclic torsional shear test is higher than that from the cyclic coupling shear test. The main reason is that the continuous rotation in principal stress directions during cyclic coupling shear damages the original structure of the soil more than the cyclic torsional shear does.Based on a series of experiments, a mathematical model for stiffness degradation is proposed and the relevant parameters are determined.

Effects of the geometrical parameters of the injection nozzle on ethylene-air continuous rotating detonation

Compared with traditional isobaric combustion,continuous rotating detonation(CRD)has been theoretically proved to be a more efficient combustion mode with higher thermal cycle efficiency.However,the realization and stable operating of liquid kerosene detonation is still a challenge.As a major component of kerosene pyrolysis products after regenerative cooling,ethylene is a transitional hydrocarbon fuel from kerosene to hydrogen and it is worth studying.In this paper,a series of 2 D numerical simulations are conducted to investigate the effects of the injection nozzle on the ethylene-air CRD.Three geometrical parameters of the nozzle are thoroughly tested including the distance between two neighboring nozzle centers,the nozzle exit width,and the slant angle of the nozzle.The results show that an ethylene-air detonation wave is realized and it propagates stably.A small distance between two neighboring nozzle centers is conducive to improving the strength of the CRD wave and leads to greater feedback pressure into the plenum.As the nozzle exit width increases,the strength of the CRD wave and the feedback pressure into the plenum both increase.The CRD wave propagation velocity is greatly improved and the feedback pressure into the plenum is significantly reduced when the slant angle of the nozzle is positive.By contrast,a sizeable reduction in velocity is found when the angle is negative.The co-rotating two-wave propagation mode is observed when the angle is 30°,and the highest CRD propagation velocity and the lowest feedback pressure are both obtained when the angle is 60°.

Numerical study on ethylene-air continuous rotating detonation in annular combustors with different widths

To investigate the impact of combustor width on continuous rotating detonation(CRD)fueled by ethylene and air,a series of 3 D simulations are conducted by changing the inner cylinder radius of an annular combustor while retaining the same outer cylinder radius.The results show that the CRD wave propagates more steadily and faster as the combustor width increases.The high-temperature zone at the backward-facing step preheats the propellants and contributes to the steady propagation of the CRD wave in 25-and 30-mm wide combustors.The highest and the lowest velocities are obtained in the30-and 15-mm wide combustors at,respectively,1880.27 and 1681.01 m/s.On the other hand,the average thrust decreases as the combustor width increases.The highest thrust is obtained in the 15-mm wide combustor while the lowest is in the 30-mm wide combustor,at 758.06 and 525.93 N,respectively.Nevertheless,the thrust is much more stable in the 25-and 30-mm wide combustors than in the 15-and 20-mm wide combustors.

Experimental Study on the Effect of Cyclic Preloading on the Resistance to Liquefaction of Saturated Loose Sand under Wave Loading

By using the soil static and dynamic universal triaxial and torsional shear apparatus, a series of combined cyclic shear tests are performed to simulate the rotation in the principal stress direction induced by ocean wave. The tests include the cyclic preloading tests and liquefaction tests in the second loading on saturated loose sand with a relative density of 30%. The all tests are consolidated under isotropic condition. The effect of the cyclic preloading on the resistance to liquefaction of saturated loose sands under the condition of continuous rotation in the principal stress direction is investigated. Experimental data indicate that the void ratio of saturated sands has a negligible reduction after cyclic preloading. With the increase of the intensity of cyclic preloading (in the amplitude and in the number of cycles), the resistance to liquefaction in the second loading is increased continuously under the condition that the liquefaction does not occur during the cyclic preloading. The reason is that the construction of more stable structure due to the uniformity of the void and the better interlocking of the particles when the cyclic preloading is applied to the saturated sand.