In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sen...In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.展开更多
A slope will slide if the unbalanced force does not tend to zero when the stability of the slope is analyzed with the help of FLAC. Thus the ultimate reason of slope sliding is the unbalanced force determined by FLAC....A slope will slide if the unbalanced force does not tend to zero when the stability of the slope is analyzed with the help of FLAC. Thus the ultimate reason of slope sliding is the unbalanced force determined by FLAC. The slope will remain stable if the unbalanced force is counterbalanced by a reinforcement force which is produced by a suitable reinforcement method. In this paper, the stability of the slope was analyzed by using FLAC, and the unbalanced force of the slope was obtained through the FISH function in FLAC. According to the equilibrium conditions, the relationship between the reinforcement force and unbalanced force was derived and accordingly the reinforcement force was determined. The reinforcement design was adopted by using pre-stressed anchor bars on the basis of the reinforcement force. An example is used to show that the effect of slope reinforcement based on the reinforcement force is safe and economical. The method doesn＇t need to suppose a sliding surface to obtain the reinforcement force, and it is also clear in physical meaning. So this method realized the organic unification of the stability analysis and the slope reinforcement.展开更多
基金Supported by the National Natural Science Foundation of China(No.51505124)the Natural Science Foundation of Hebei Province(No.E2016209312)the Foster Fund Projects of North China University of Science and Technology(No.JP201505)
文摘In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.
基金Project 50492073 supported by National Natural Science Foundation of China
文摘A slope will slide if the unbalanced force does not tend to zero when the stability of the slope is analyzed with the help of FLAC. Thus the ultimate reason of slope sliding is the unbalanced force determined by FLAC. The slope will remain stable if the unbalanced force is counterbalanced by a reinforcement force which is produced by a suitable reinforcement method. In this paper, the stability of the slope was analyzed by using FLAC, and the unbalanced force of the slope was obtained through the FISH function in FLAC. According to the equilibrium conditions, the relationship between the reinforcement force and unbalanced force was derived and accordingly the reinforcement force was determined. The reinforcement design was adopted by using pre-stressed anchor bars on the basis of the reinforcement force. An example is used to show that the effect of slope reinforcement based on the reinforcement force is safe and economical. The method doesn＇t need to suppose a sliding surface to obtain the reinforcement force, and it is also clear in physical meaning. So this method realized the organic unification of the stability analysis and the slope reinforcement.
