Mechanical behavior and failure mechanisms of rock bolts subjected to static-dynamic loads

This study explores the effects of dynamic and static loading on rock bolt performance a key factor in maintaining the structural safety of coal mine roadways susceptible to coal bursts.Employing a housemade load frame to simulate various failure scenarios,pretension-impact-pull tests on rock bolts were conducted to scrutinize their dynamic responses under varied static load conditions and their failure traits under combined loads.The experimental results denote that with increased impact energy,maximum and average impact loads on rock bolts escalate significantly under pretension,initiating plastic deformation beyond a certain threshold.Despite minor reductions in the yield load due to impactinduced damage,pretension aids in constraining post-impact deformation rate and fluctuation degree of rock bolts.Moreover,impact-induced plastic deformation causes internal microstructure dislocation,fortifying the stiffness of the rock bolt support system.The magnitude of this fortification is directly related to the plastic deformation induced by the impact.These findings provide crucial guidance for designing rock bolt support in coal mine roadway excavation,emphasizing the necessity to consider both static and dynamic loads for improved safety and efficiency.

Energy mechanism of bolt supporting effect to fissured rock under static and dynamic loads in deep coal mines

The stability control of fissured rock is difficult,especially under static and dynamic loads in deep coal mines.In this paper,the dynamic mechanical properties,strain rate evolution and energy dissipation of fissured and anchored rocks were respectively obtained by SHPB tests.It was found that bolt can provide supporting efficiency-improving effect for fissured rock against dynamic disturbance,and this effect increased quadratically with decrease in anchoring angles.Then,the energy dissipation mechanism of anchored rock was obtained by slipping model.Furthermore,bolt energy-absorbing mechanism by instantaneous tensile-shear deformation was expressed based on material mechanics,which was the larger the anchoring angle,the smaller the energy absorption,and the less the contribution to supporting efficiency improvement.On this basis,the functional relationship between energy dissipation of anchored rock and energy absorption of bolt was established.Taking the coal-gangue separation system of Longgu coal mine as an example,the optimal anchoring angle can be determined as 57.5°–67.5°.Field monitoring showed fissured rock with the optimal anchoring angle,can not only effectively control the deformation,but also fully exert the energy-absorbing and efficiency-improving effect of bolt itself.This study provides guidance to the stability control and supporting design for deep engineering under the same or similar conditions.

Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Impact of Earthquake Action on the Design and Sizing of Jointed Masonry Structures in South Kivu, DRC

This article deals with the investigation of the effects of seismic impacts on the design and dimensioning of structures in South Kivu. The starting point is the observation of an ambivalence that can be observed in the province, namely the non-consideration of seismic action in the study of structures by both professionals and researchers. The main objective of the study is to show the importance of dynamic analysis of structures in South Kivu. It adopts a meta-analytical approach referring to previous researches on South Kivu and proposes an efficient and optimal method. To arrive at the results, we use Eurocode 7 and 8. In addition, we conducted static analysis using the Coulomb method and dynamic analysis using the Mononobe-Okabe method and compared the results. At Nyabibwe, the results showed that we have a deviation of 24.47% for slip stability, 12.038% for overturning stability and 9.677% for stability against punching through a weight wall.

Analysis of rockburst in tunnels subjected to static and dynamic loads

The presence of geological structures such as faults, joints, and dykes has been observed near excavation boundaries in many rockburst case histories. In this paper, the role of discontinuities around tunnels in rockburst occurrence was studied. For this purpose, the Abaqus explicit code was used to simulate dynamic rock failure in deep tunnels. Material heterogeneity was considered using Python scripting in Abaqus. Rockbursts near fault regions in deep tunnels under static and dynamic loads were studied.Several tunnel models with and without faults were built and static and dynamic loads were used to simulate rock failure. The velocity and the released kinetic energy of failed rocks, the failure zone around the tunnel, and the deformed mesh were studied to identify stable and unstable rock failures. Compared with models without discontinuities, the results showed that the velocity and the released kinetic energy of failed rocks were higher, the failure zone around the tunnel was larger, and the mesh was more deformed in the models with discontinuities, indicating that rock failure in the models with discontinuities was more violent. The modeling results confirm that the presence of geological structures in the vicinity of deep excavations could be one of the major influence factors for the occurrence of rockburst. It can explain localized rockburst occurrence in civil tunnels and mining drifts. The presented methodology in this paper for rockburst analysis can be useful for rockburst anticipation and control during mining and tunneling in highly stressed ground.

A numerical simulation study on mechanical behaviour of coal with bedding planes under coupled static and dynamic load

To investigate the bedding influence on coal mechanical behaviour in underground environments such as coal or rock burst, simulations of dynamic SHPB tests of pre-stressed coal specimens with different bedding angles were carried out using a particle flow code 2-dimensional(PFC2D). Three impact velocities of 4, 8 and 12 m/s were selected to study dynamic behaviours of coal containing bedding planes under different dynamic loads. The simulation results showed that the existence of bedding planes leads to the degradation of the mechanical properties and their weakening effect significantly depends on the angle h between the bedding planes and load direction. With h increaseing from 0° to 90°, the strength first decreased and subsequently increased and specimens became most vulnerable when h was 30° or 45°.Five failure modes were observed in the specimens in the context of macro-cracks. Furthermore, energy characteristics combined with ultimate failure patterns revealed that maximum accumulated energy and failure intensity have a positive relation with the strength of specimen. When bedding planes were parallel or perpendicular to loading direction, specimens absorbed more energy and experienced more violent failure with increased number of cracks. In contrast, bedding planes with h of 30° or 45° reduced the specimens' ability of storing strain energy to the lowest with fewer cracks observed after failure.

Numerical simulation research on response characteristics of surrounding rock for deep super-large section chamber under dynamic and static combined loading condition

The stability control of surrounding rock for large or super-large section chamber is a difficult technical problem in deep mining condition.Based on the in-site geological conditions of Longgu coal mine,this paper used the dynamic module of FLAC3D to study the response characteristics of deep super-large section chamber under dynamic and static combined loading condition.Results showed that under the static loading condition,the maximum vertical stress,deformation and failure range are large,where the stress concentration coefficient is 1.64.The maximum roof-to-floor and two-sides deformations are 54.6 mm and 53.1 mm,respectively.Then,under the dynamic and static combined loading condition:(1)The influence of dynamic load frequency on the two-sides is more obvious;(2)The dynamic load amplitude has the greatest influence on the stress concentration degree,and the plastic failure tends to develop to the deeper;(3)With the dynamic load source distance increase,the response of surrounding rock is gradually attenuated.On this basis,empirical equations for each dynamic load conditions were obtained by using regression analysis method,and all correlation coefficients are greater than 0.99.This research provided reference for the supporting design of deep super-large section chamber under same or similar conditions.

Mechanical properties and failure behavior of rock with different flaw inclinations under coupled static and dynamic loads

The deep fissured rock mass is affected by coupled effects of initial ground stress and external dynamic disturbance.In order to study the effect of internal flaw on pre-stressed rock mechanical responses and failure behavior under impact loading,intact granite specimens and specimens with different flaw inclinations are tested by a modified split Hopkinson pressure bar(SHPB)and digital image correlation(DIC)method.The results show that peak strain and dynamic strength of intact specimens and specimens with different flaw angles(α)decrease with the increase of axial static pressure.The 90°flaw has weak reduction effect on peak strain,dynamic strength and combined strength,while 45°and 0°flaws have remarkable reduction effect.Specimens with 90°flaw are suffered combined shear and tensile failure under middle and low axial static pre-stresses,and suffered shear failure under high axial static pre-stresses.Specimens with 45°and 0°flaws are suffered oblique shear failure caused by pre-existing flaw under different axial static pre-stresses.Besides,based on digital image correlation method,it is found that micro-cracks before formation of macro fractures(include shear and tensile fractures)belong to tensile cracks.Tensile and shear strain localizations at pre-existing flaw tip for specimen with 45°and 0°flaws are produced much earlier than that at other positions.

Stability analysis of rib pillars in highwall mining under dynamic and static loads in open‑pit coal mine

The retained coal in the end slope of an open-pit mine can be mined by the highwall mining techniques.However,the instability mechanism of the reserved rib pillar under dynamic loads of mining haul trucks and static loads of the overlying strata is not clear,which restricts the safe and efcient application of highwall mining.In this study,the load-bearing model of the rib pillar in highwall mining was established,the cusp catastrophe theory and the safety coefcient of the rib pillar were considered,and the criterion equations of the rib pillar stability were proposed.Based on the limit equilibrium theory,the limit stress of the rib pillar was analyzed,and the calculation equations of plastic zone width of the rib pillar in highwall mining were obtained.Based on the Winkler foundation beam theory,the elastic foundation beam model composed of the rib pillar and roof under the highwall mining was established,and the calculation equations for the compression of the rib pillar under dynamic and static loads were developed.The results showed that with the increase of the rib pillar width,the total compression of the rib pillar under dynamic and static loads decreases nonlinearly,and the compression of the rib pillar caused by static loads of the overlying strata and trucks has a decisive role.Numerical simulation and theoretical calculation were also performed in this study.In the numerical simulation,the coal seam with a buried depth of 122 m and a thickness of 3 m is mined by highwall mining techniques.According to the established rib pillar instability model of the highwall mining system,it is found that when the mining opening width is 3 m,the reasonable width of the rib pillar is at least 1.3 m,and the safety factor of the rib pillar is 1.3.The numerical simulation results are in good agreement with the results of theoretical calculation,which verifes the feasibility of the theoretical analysis of the rib pillar stability.This research provides a reference for the stability analysis of rib pillars under highwall mining.

Constitutive model of rock under static-dynamic coupling loading and experimental investigation

The importance of study on constitutive model of statically loaded rock experiencing dynamic load is set forth, and the studying methods on dynamic constitutive model are classified according to the current studying status. By way of combining statistic damage model and viscoelastic model, uni-axial and multi-axial constitutive models of statically loaded rock experiencing dynamic load (static-dynamic coupling constitutive model) under intermediate strain rate are established. The verification experiment on 2D constitutive model under different static stress and dynamic stress with different frequencies is designed and performed. It is found that there is a good agreement between the experimental stress-strain curves and the theoretical stress-strain curves.

Damage and failure rule of rock undergoing uniaxial compressive load and dynamic load

For understanding the damage and failure rule of rock under different uniaxial compressive loads and dynamic loads, tests on red sandstone were carried out on Instron 1342 electro-servo controlled testing system with different uniaxial compressive loads of 0, 2, 4 and 6 MPa. It is found that peak stress, peak strain, elastic modulus and total strain energy decrease with the increase of static compressive stress. Based on the test results, the mechanism on damage and failure of rock was analyzed, and according to the equivalent strain hypothesis, a new constitutive model of elastic-plastic damage was established, and then the calculated results with the established model were compared with test results to show a good agreement. Furthermore the rule of releasing ratio of damage strain energy was discussed.

Testing Studies on Rock Failure Modes of Statically Loads Under Dynamic Loading

By means of the improved split Hopkionson pressure bar(SHPB) with axial pre-pressure and confined pressure, two series of experiments on sandstone are carried out to research the failure mode of rock during the course of exploitation of resources in deep. One is under the conditions that the con-fining pressure is fixed and the axial pressure is changeable. The other is under the conditions that the confining pressure becomes and the axial pressure is fixed. It is found that samples break up evenly after impacting when axial static pressures are low, there is great disparity in size of fragments when axial static pressures are high, and the main bodies of samples after the tests under the combination of dy-namic and static loads frequently show the type of V or X. The samples are more close-grained at the elastic stage and impacts make many cracks be generated and developed, as makes samples more crackable. At the initial phase of damage stage, the static pressures make some cracks in the samples which are undeveloped and the impacts′ role is similar to that at the elastic stage. At the metaphase or anaphase of damage stage, these cracks in the samples develop adequately and the impacts mainly accelerate samples′ failure. The main bodies of samples show the type of V or X after impacting due to the confining pressures′ restraining samples′ lateral formation at the elastic stage or the initial phase of damage stage, the main bodies of samples have almost formed at the stage loading static pressures and the results after impacting usually are similar to those under the axial pressures tests.

Failure mechanism and coupled static-dynamic loading theory in deep hard rock mining: A review

Rock failure phenomena,such as rockburst,slabbing(or spalling) and zonal disintegration,related to deep underground excavation of hard rocks are frequently reported and pose a great threat to deep mining.Currently,the explanation for these failure phenomena using existing dynamic or static rock mechanics theory is not straightforward.In this study,new theory and testing method for deep underground rock mass under coupled static-dynamic loading are introduced.Two types of coupled loading modes,i.e.'critical static stress + slight disturbance' and 'elastic static stress + impact disturbance',are proposed,and associated test devices are developed.Rockburst phenomena of hard rocks under coupled static-dynamic loading are successfully reproduced in the laboratory,and the rockburst mechanism and related criteria are demonstrated.The results of true triaxial unloading compression tests on granite and red sandstone indicate that the unloading can induce slabbing when the confining pressure exceeds a certain threshold,and the slabbing failure strength is lower than the shear failure strength according to the conventional Mohr-Column criterion.Numerical results indicate that the rock unloading failure response under different in situ stresses and unloading rates can be characterized by an equivalent strain energy density.In addition,we present a new microseismic source location method without premeasuring the sound wave velocity in rock mass,which can efficiently and accurately locate the rock failure in hard rock mines.Also,a new idea for deep hard rock mining using a non-explosive continuous mining method is briefly introduced.

Mechanical properties of rock under coupled static-dynamic loads

Rock drilling machine,INSTRON testing system,and SHPB device are updated to investigate the characteristics of rocks at great depth,with high loads from overburden,tectonic stresses and dynamic impacts due to blasting and boring.It is verified that these testing systems can be used to study the mechanical properties of rock material under coupled static and dynamic loading condition and give useful guidance for the deep mining and underground cavern excavation.Various tests to determine the rock strength,fragmentation behavior,and energy absorption were conducted using the updated testing systems.It is shown that under coupled static-dynamic loads,if the axial prestress is lower than its elastic limit,the rock strength is higher than the individual static or dynamic strength.At the same axial prestress,rock strength under coupled loads rises with the increasing strain rates.Under coupled static and dynamic loads,rock is observed to fail with tensile mode.While shear failure may exist if axial prestress is high enough.In addition,it is shown that the percentage of small particles increases with the increasing axial prestress and impact load based on the analysis of the particle-size distribution of fragments.It is also suggested that the energy absorption ratio of a specimen varies with coupled loads,and the maximum energy absorption ratio for a rock can be obtained with an appropriate combination of static and dynamic loads.

Numerical experiment rock fragmentation by combined dynamic and static loads under dual-cutter head

This paper puts forward a new rock fragmentation loading method of dual-cutter head combined dynamic and static loads. By applying the numerical simulation software - RFPA2D, we have done numerical experiment about the sihstone＇ s crushing effect by dynamic load on single cutter head without confining pressure, dynamic load on single cut- ter head with confining pressure 10 MPa and different dual-cutter heads spacing by combined dynamic and static loads with confining pressure 10 MPa. Experimental results show that the confining pressure can obviously affect the rock frag- mentation effect. Combined dynamic and static loads can greatly improve the rock fragmentation effect. There exists an optimal spacing of dual-cutter head that can make the rock fragmentation achieve the desired effect. Through analyzing the acoustic emission accumulative energy and quantity, the authors make a conclusion that the optimum spacing is 30 mm.

Nonlinear analysis on dynamic buckling of eccentrically stiffened functionally graded material toroidal shell segment surrounded by elastic foundations in thermal environment and under time-dependent torsional loads

The nonlinear analysis with an analytical approach on dynamic torsional buckling of stiffened functionally graded thin toroidal shell segments is investigated. The shell is reinforced by inside stiffeners and surrounded by elastic foundations in a thermal environment and under a time-dependent torsional load. The governing equations are derived based on the Donnell shell theory with the yon Karman geometrical nonlinearity, the Stein and McElman assumption, the smeared stiffeners technique, and the Galerkin method. A deflection function with three terms is chosen. The thermal parameters of the uniform temperature rise and nonlinear temperature conduction law are found in an explicit form. A closed-form expression for determining the static critical torsional load is obtained. A critical dynamic torsional load is found by the fourth-order Runge-Kutta method and the Budiansky-Roth criterion. The effects of stiffeners, foundations, material, and dimensional parameters on dynamic responses of shells are considered.

Stability Analysis of Cylindrical Tanks under Static and Earthquake Loading

Large thin walled cylindrical above ground tanks have become more susceptible to failure by buckling during earthquakes. In this study, three different geometries of tanks with H/D （height to diameter） ratios of 2.0, 0.56, 1.0, and D/t （depth to thickness） ratios of 960.0, 1,706.67 and 640.0 respectively were analyzed for stability when subjected to the E1 Centro earthquake at the base. The Budiansky and Roth procedure was used to find the buckling loads when the tanks were empty and when they were filled with liquid up to 90% of their depth. Also, nonlinear time history analysis using ANSYS finite element computer program was performed. Analysis results show that the dynamic buckling occurs for empty tanks at very high PGA （peak ground accelerations） which are unrealistic even for major earthquakes. Furthermore, when the tanks filled with water up to 90% of its height, analysis results show that when the H/D ratio reduced by two times （i.e., from 2 to 1）, the PGA for the buckling increased by six times （increase from 0.25g to 1 .Sg）. Hence, H/D ratio plays an important role in the earthquake stability design of over ground steel tanks.

Structural Design and Dynamic Characteristics of Overloaded Horizontal Servo Cylinder for Resisting Dynamic Partial Load

When an output curve force is applied to a horizontal servo cylinder with a heavy load, the piston rod bears a dynamic partial load based on the installation and load characteristics, which significantly a ects the frequency response and control accuracy of the servo cylinder. Based on this partial load, increased friction can lead to cylinder bore scu ng, leakage, lack of output power, or even system failure. In this paper, a novel asymmetric static-pressure support structure is proposed based on the principle of hydrostatic support. The radial component force of a dynamic partial load is balanced by cooperation between the support oil cushion of the variable hydraulic pressure support structure, oil cushion of the supportive force, and the damper. Adaptive control of the servo cylinder piston rod, guide sleeve, and piston, as well as the cylinder oil film friction between lubricated surfaces is achieved. In this paper, theoretical design and analysis of the traditional hydrostatic bearing structure and novel structure are presented. A hydraulic dynamic shear scissor is used as a research target to derive a structural dynamic model. Comparative simulations are performed using Matlab Simulink. Additionally, flow field analysis of the novel structure is performed, which verifies the rationality and feasibility of the proposed structure and system.

Supporting characteristics analysis of constant resistance bolts under coupled static-dynamic loading

To study the tensile mechanical properties of constant resistance bolts, the RFPA(Rock Failure Process Analysis) statics software is used to perform a uniaxial tensile test on a constant resistance bolt. The numerical test results show that the plastic strain value is 12 times the magnitude of the elastic strain. During plastic deformation, the fluctuation in the stress magnitude is relatively stable, indicating that the bolt has good constant resistance characteristics. The numerical test results are in good agreement with the laboratory test results of M.C. He, and the accuracy and reliability of the numerical test method are verified. Therefore, the RFPA software with coupled static-dynamic loading is further adopted to study the supporting effects of traditional bolts and constant resistance bolts under coupled staticdynamic loading. The numerical comparison of the test results show that the constant resistance bolts can effectively control the deformation amount and rate of the laneway surrounding rock, reduce the total and rate of increase in the accumulated acoustic emissions,decrease the stress on the units in the model and protect the stability of the laneway. This paper verifies that a constant resistance bolt has better impact resistance mechanical properties than those of a traditional bolt and provides an effective way to control rock burst and soft rock that is prone to large deformation damage.

Dynamic mechanical characteristics of deep Jinping marble in complex stress environments

To reveal the dynamic mechanical characteristics of deep rocks,a series of impact tests under triaxial static stress states corresponding to depths of 300-2400 m were conducted.The results showed that both the strain rates and the stress environments in depth significantly affect the mechanical characteristics of rocks.The sensitivity of strain rate to the dynamic strength and deformation modulus shows a negative correlation with depth,indicating that producing penetrative cracks in deep environments is more difficult when damage occurs.The dynamic strength shows a tendency to decrease and then increase slightly,but decreases sharply finally.Transmissivity demonstrates a similar trend as that of strength,whereas reflectivity indicates the opposite trend.Furthermore,two critical depths with high dynamically induced hazard possibilities based on the China Jinping Underground Laboratory(CJPL)were proposed for deep engineering.The first critical depth is 600-900 m,beyond which the sensitivity of rock dynamic characteristics to the strain rate and restraint of circumferential stress decrease,causing instability of surrounding rocks under axial stress condition.The second one lies at 1500-1800 m,where the wave impedance and dynamic strength of deep surrounding rocks drop sharply,and the dissipation energy presents a negative value.It suggests that the dynamic instability of deep surrounding rocks can be divided into dynamic load dominant and dynamic load induced types,depending on the second critical depth.