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.

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.