The AERORail, a new aerial transport platform, was chosen as the object of this work. Following a review of the literature on static behaviors, model tests on the basic dynamic mechanical characteristics were conducte...The AERORail, a new aerial transport platform, was chosen as the object of this work. Following a review of the literature on static behaviors, model tests on the basic dynamic mechanical characteristics were conducted. A series of 90 tests were completed with different factors, including tension force, vehicle load and vehicle speed. With regard to the proper tension and vehicle load, at a certain speed range, the tension increments of the rail's cable were proved relatively small. It can be assumed that the change of tension is small and can be reasonably ignored when the tension of an entire span is under a dynamic load. When the tension reaches a certain range, the calculation of the cable track structure using classical cable theory is acceptable. The tests prove that the average maximum dynamic amplification factor of the deflection is small, generally no more than 1.2. However, when the vehicle speed reaches a certain value, the amplified factor will reach 2.0. If the moving loads increase, the dynamic amplification factor of dynamic deflection will also increase. The tension will change the rigidity of the structure and the vibration frequency; furthermore, the resonance speed will change at a certain tension. The vibration is noticeable when vehicles pass through at the resonance speed, and this negative impact on driving comfort requires the right velocity to avoid the resonance. The results demonstrate that more design details are required for the AERORail structure.展开更多
Corrosion of PC tendon embedded in concrete deteriorates performance of PC (prestressed concrete) members. Corrosion crack observed in pretensioned PC members is different from that in reinforced concrete and post t...Corrosion of PC tendon embedded in concrete deteriorates performance of PC (prestressed concrete) members. Corrosion crack observed in pretensioned PC members is different from that in reinforced concrete and post tensioned PC members. The purpose of this study is to clarify mechanisms of corrosion crack in pretensioned PC members. Contribution of compressive stress induced by prestressing force and arrangement of PC tendons on corrosion crack in pretensioned PC members is investigated through experiment and numerical analysis. Three dimensional finite element analyses were carried out to simulate corrosion crack in PC specimen. Based on the analytical and experimental results, the influencing factor of corrosion crack in pretensioned PC members is discussed. It was concluded that the contribution of compressive stress in concrete by prestressing force on corrosion crack is not significant and that the dominant reason for wider corrosion cracks in pretensioned PC members is the arrangement of PC tendons with small intervals.展开更多
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 fram...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.展开更多
In deep ground engineering,the use of high-strength and high-toughness steels for rock bolt can significantly improve its energy absorption capacity.However,the mechanisms and effects of rock loading conditions on thi...In deep ground engineering,the use of high-strength and high-toughness steels for rock bolt can significantly improve its energy absorption capacity.However,the mechanisms and effects of rock loading conditions on this kind of high energy-absorbing steel for rock bolt remain immature.In this study,taking Muzhailing highway tunnel as the background,physically based crystal plasticity simulations were performed to understand the effect of rock loading rate and pretension on the deformation behaviors of twinning induced plasticity(TWIP)steel used for rock bolt.The material physical connecting to the underlying microscopic mechanisms of dislocation glide and deformation twinning were incorporated in numerical modeling.The rock loading conditions were mimicked by the real-time field monitoring data of the NPR bolt/cable equipment installed on the tunnel surrounding rock surface.The results indicate that the bolt rod exhibits pronounced deformation-softening behavior with decrease of the loading rate.There is also a sound deformation-relaxation phenomenon induced by the dramatic decrease of loading rate after pre-tensioning.The high pretension(>600 MPa or 224 k N)can help bolt rod steel resist deformation-softening behavior,especially at low loading rate(<10~(-1)MPa/s or 10~(-2)kN/s).The loading rate was found to be a significant factor affecting deformation-softening behavior while the pretension was found to be the major parameter accounting for the deformation-relaxation scenario.The results provide the theoretical basis and technical support for practical applications.展开更多
In coal mining roadway support design,the working resistance of the rock bolt is the key factor affecting its maximum support load.Effective improvement of the working resistance is of great significance to roadway su...In coal mining roadway support design,the working resistance of the rock bolt is the key factor affecting its maximum support load.Effective improvement of the working resistance is of great significance to roadway support.Based on the rock bolt’s tensile characteristics and the mining roadway surrounding rock deformation,a mechanical model for calculating the working resistance of the rock bolt was established and solved.Taking the mining roadway of the 17102(3)working face at the Panji No.3 Coal Mine of China as a research site,with a quadrilateral section roadway,the influence of pretension and anchorage length on the working resistance of high-strength and ordinary rock bolts in the middle and corner of the roadway is studied.The results show that when the bolt is in the elastic stage,increasing the pretension and anchorage length can effectively improve the working resistance.When the bolt is in the yield and strain-strengthening stages,increasing the pretension and anchorage length cannot effectively improve the working resistance.The influence of pretension and anchorage length on the ordinary and high-strength bolts is similar.The ordinary bolt’s working resistance is approximately 25 kN less than that of the high-strength bolt.When pretension and anchorage length are considered separately,the best pretensions of the high-strength bolt in the middle of the roadway side and the roadway corner are 41.55 and 104.26 kN,respectively,and the best anchorage lengths are 1.54 and 2.12 m,respectively.The best anchorage length of the ordinary bolt is the same as that of the high-strength bolt,and the best pretension for the ordinary bolt in the middle of the roadway side and at the roadway corner is 33.51 and 85.12 kN,respectively.The research results can provide a theoretical basis for supporting the design of quadrilateral mining roadways.展开更多
It is particularly important to evaluate natural frequencies and natural modes of the structure of bolted joints to avoid the failures of the structure due to the resonance. The vibration characteristics of bolted str...It is particularly important to evaluate natural frequencies and natural modes of the structure of bolted joints to avoid the failures of the structure due to the resonance. The vibration characteristics of bolted structures are closely connected to surface roughness of contact interfaces, the magnitude of pretension of the bolts and the number of clamping bolts. In this paper, the effect of the factors above on the natural frequencies of bolted structures is sys- tematically investigated by experiments. Then, the finite element method is applied to analyze the effect. Finally, the numerical method is validated by experimental measurements of the natural frequencies.展开更多
Wetting of a liquid droplet on another liquid substrate is governed by the well-known Neumann equations.The present work aims to develop an explicit modified version of the Neumann equations for axisymmetric wetting o...Wetting of a liquid droplet on another liquid substrate is governed by the well-known Neumann equations.The present work aims to develop an explicit modified version of the Neumann equations for axisymmetric wetting of a liquid droplet on a highly stretched elastic membrane of non-zero bending rigidity.An explicit modified form of the Neumann equations is derived to determine the two contact angles,which is reduced to Young's equation for a liquid droplet on a rigid membrane or to the Neumann equations for a liquid droplet on another liquid substrate.Further implications of the modified Neumann equations are examined by comparison with some previous results reported in the recent literature,particularly considering the ranges of material and geometrical parameters of the liquid droplet-membrane system which have not been recently addressed in the literature.展开更多
Taking the combustor composite structure of a high-strength diesel engine as the main research object,dedicated tests have been conducted to verify the accuracy of three distinct cylinder gasket pressure simulation mo...Taking the combustor composite structure of a high-strength diesel engine as the main research object,dedicated tests have been conducted to verify the accuracy of three distinct cylinder gasket pressure simulation models.Using the measured cylinder gasket compression rebound curve,a gasket unit has been designed and manufactured.For this unit,the influence of the bolt pretension,cylinder body and cylinder head material on gasket sealing pressure has been investigated systematically in conditions of thermo-mechanical coupling.The results show that the bolt pretension force is one of the most important factors affecting the cylinder gasket sealing pressure.The change of the body material has little effect on this pressure.The cylinder gasket seal pressure decreases progressively with the reduction of the elastic module of the cylinder head material.展开更多
Our objective was to evaluate the combining ability among cultivars of forage species, commonly sown in temperate regions of Argentina using a short rotation system. Three genetically diverse cultivars of prairie brom...Our objective was to evaluate the combining ability among cultivars of forage species, commonly sown in temperate regions of Argentina using a short rotation system. Three genetically diverse cultivars of prairie brome grass (Bromus catharticus, cv Copetona, cv ?andú and cv Tango), a white clover cultivar (Trifolium repens, cv Lucero) and a red clover cultivar (T. pratense, cv Tropero) were evaluated. A randomized complete block design experiment was established in 2005. The treatments included five monocultures and ten binary mixtures. The experiment was harvested 6 times over an 18-month period. Cumulative dry matter yield (kg?ha–1) was calculated as the sum of the six individual harvests. Diallel analysis provided estimates of the general combining ability (GCA) and specific combining ability (SCA). Red clover in monoculture and mixtures produced the highest yields, with significant positive GCA effects (P P P P < 0.01). Given the short-term nature of this study, we must limit our inference to short-term pastures (<2 years). Under these conditions, red clover had the best combination with prairie brome grass.展开更多
To study the mechanical responses of large cross-section tunnel reinforced by pretensioned rock bolts and anchor cables, an analytical model is proposed. Considering the interaction between rock mass and bolt-cable su...To study the mechanical responses of large cross-section tunnel reinforced by pretensioned rock bolts and anchor cables, an analytical model is proposed. Considering the interaction between rock mass and bolt-cable support, the strain softening characteristic of rock mass, the elastic-plastic characteristic of bolt-cable support, and the delay effect of installation are considered in the model. To solve the different mechanical cases of tunneling reinforced by bolt-cable support, an analytical approach has been put forward to get the solutions of stress and displacement associated with tunneling. The proposed analytical model is verified by numerical simulation. Moreover, parametric analysis is performed to study the effects of pretension force,cross-section area, length, and supporting density of bolt-cable support on tunnel reinforcement, which can provide references for determining these parameters in tunnel design. Based on the analytical model, a new Ground Response Curve(GRC)considering the reinforcement of bolt-cable support is obtained, which shows the pretension forces and the timely installation are important in bolt-cable support. In addition, the proposed model is applied to the analysis of the Great Wall Station Tunnel, a high-speed railway tunnel with a super large cross-section, which shows that the analytical model of bolt-cable support was a useful tool for preliminary design of large cross-section tunnel.展开更多
The provision of transverse openings in floor beams to facilitate the passage of utility pipes and service ducts not only results in a more systematic layout of pipes and ducts,it also translates into substantial econ...The provision of transverse openings in floor beams to facilitate the passage of utility pipes and service ducts not only results in a more systematic layout of pipes and ducts,it also translates into substantial economic savings in the construction of a multi-storey building.In this paper,ultimate load analysis of statically loaded simply supported pretensioned inverted T-beams with circular web openings is presented.Major findings relevant to ultimate load analysis of pretensioned beams with circular web openings are summarized.An attempt has been made to answer the frequently asked questions related to ultimate load analysis on multiple circular web open-ings.It has been shown that the analysis method for pretensioned beams with multiple large circular web openings can be further simplified without sacrificing rationality.展开更多
A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting of antagonistic muscles. The mecha- nisms can be considered as Redundant Planar Rotational Parallel Mechanisms (RPRPM) with ...A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting of antagonistic muscles. The mecha- nisms can be considered as Redundant Planar Rotational Parallel Mechanisms (RPRPM) with antagonistic flexible elements. For a typical RPRPM, its stiffness consists of the adjustable stiffness resulting from internal forces and the inherent stiffness caused by inherent com- pliances of flexible elements. In order to decouple the adjustable stiffness from the inherent stiffness and expand the range of stiffness variation, a variable-stiffness decoupled mechanism based on the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is presented and used to construct a soft robotic fish with large stiffness variation. According to the analysis of the evolution from RPRPM to MACCEPA, it can be found that MACCEPA is just a special type of RPRPM with only an adjustable stiffness. In addition, MACCEPA existed before RPRPM mechanism. The prototype of the soft robotic fish with variable- stiffness decoupled mechanisms is built to explore the relationships between the body stiffness and the swimming performance. It is validated experimentally that the stiffness variation multiple of the robotic fish is raised, the swimming performance of the robotic fish is improved when the stiffness is modulated to match the driving frequency.展开更多
基金Projects(50708072,51378385)supported by the National Natural Science Foundation of China
文摘The AERORail, a new aerial transport platform, was chosen as the object of this work. Following a review of the literature on static behaviors, model tests on the basic dynamic mechanical characteristics were conducted. A series of 90 tests were completed with different factors, including tension force, vehicle load and vehicle speed. With regard to the proper tension and vehicle load, at a certain speed range, the tension increments of the rail's cable were proved relatively small. It can be assumed that the change of tension is small and can be reasonably ignored when the tension of an entire span is under a dynamic load. When the tension reaches a certain range, the calculation of the cable track structure using classical cable theory is acceptable. The tests prove that the average maximum dynamic amplification factor of the deflection is small, generally no more than 1.2. However, when the vehicle speed reaches a certain value, the amplified factor will reach 2.0. If the moving loads increase, the dynamic amplification factor of dynamic deflection will also increase. The tension will change the rigidity of the structure and the vibration frequency; furthermore, the resonance speed will change at a certain tension. The vibration is noticeable when vehicles pass through at the resonance speed, and this negative impact on driving comfort requires the right velocity to avoid the resonance. The results demonstrate that more design details are required for the AERORail structure.
文摘Corrosion of PC tendon embedded in concrete deteriorates performance of PC (prestressed concrete) members. Corrosion crack observed in pretensioned PC members is different from that in reinforced concrete and post tensioned PC members. The purpose of this study is to clarify mechanisms of corrosion crack in pretensioned PC members. Contribution of compressive stress induced by prestressing force and arrangement of PC tendons on corrosion crack in pretensioned PC members is investigated through experiment and numerical analysis. Three dimensional finite element analyses were carried out to simulate corrosion crack in PC specimen. Based on the analytical and experimental results, the influencing factor of corrosion crack in pretensioned PC members is discussed. It was concluded that the contribution of compressive stress in concrete by prestressing force on corrosion crack is not significant and that the dominant reason for wider corrosion cracks in pretensioned PC members is the arrangement of PC tendons with small intervals.
基金supported by the National Natural Science Foundation of China(Nos.52074151,51927807,and 52274123)Tiandi Science and Technology Co.,Ltd.(No.2022-2-TDMS012)。
文摘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.
基金the National Natural Science Foundation of China(Grant No.41941018)the Science and Technology Major Project of Gansu Province(Grant No.19ZD2GA005)the Research Institute for Deep Underground Science and Engineering Foundation(Grant No.XD2021023)。
文摘In deep ground engineering,the use of high-strength and high-toughness steels for rock bolt can significantly improve its energy absorption capacity.However,the mechanisms and effects of rock loading conditions on this kind of high energy-absorbing steel for rock bolt remain immature.In this study,taking Muzhailing highway tunnel as the background,physically based crystal plasticity simulations were performed to understand the effect of rock loading rate and pretension on the deformation behaviors of twinning induced plasticity(TWIP)steel used for rock bolt.The material physical connecting to the underlying microscopic mechanisms of dislocation glide and deformation twinning were incorporated in numerical modeling.The rock loading conditions were mimicked by the real-time field monitoring data of the NPR bolt/cable equipment installed on the tunnel surrounding rock surface.The results indicate that the bolt rod exhibits pronounced deformation-softening behavior with decrease of the loading rate.There is also a sound deformation-relaxation phenomenon induced by the dramatic decrease of loading rate after pre-tensioning.The high pretension(>600 MPa or 224 k N)can help bolt rod steel resist deformation-softening behavior,especially at low loading rate(<10~(-1)MPa/s or 10~(-2)kN/s).The loading rate was found to be a significant factor affecting deformation-softening behavior while the pretension was found to be the major parameter accounting for the deformation-relaxation scenario.The results provide the theoretical basis and technical support for practical applications.
基金This work was supported by the National Natural Science Foundation of China(51774009,51874006,and 51904010)Key Research and Development Projects in Anhui Province(202004a07020045)+2 种基金Colleges and Universities Natural Science Foundation of Anhui(KJ2019A0134)Anhui Provincial Natural Science Foundation(2008085ME147)Anhui University of Technology and Science Graduate Innovation Foundation(2019CX2007).
文摘In coal mining roadway support design,the working resistance of the rock bolt is the key factor affecting its maximum support load.Effective improvement of the working resistance is of great significance to roadway support.Based on the rock bolt’s tensile characteristics and the mining roadway surrounding rock deformation,a mechanical model for calculating the working resistance of the rock bolt was established and solved.Taking the mining roadway of the 17102(3)working face at the Panji No.3 Coal Mine of China as a research site,with a quadrilateral section roadway,the influence of pretension and anchorage length on the working resistance of high-strength and ordinary rock bolts in the middle and corner of the roadway is studied.The results show that when the bolt is in the elastic stage,increasing the pretension and anchorage length can effectively improve the working resistance.When the bolt is in the yield and strain-strengthening stages,increasing the pretension and anchorage length cannot effectively improve the working resistance.The influence of pretension and anchorage length on the ordinary and high-strength bolts is similar.The ordinary bolt’s working resistance is approximately 25 kN less than that of the high-strength bolt.When pretension and anchorage length are considered separately,the best pretensions of the high-strength bolt in the middle of the roadway side and the roadway corner are 41.55 and 104.26 kN,respectively,and the best anchorage lengths are 1.54 and 2.12 m,respectively.The best anchorage length of the ordinary bolt is the same as that of the high-strength bolt,and the best pretension for the ordinary bolt in the middle of the roadway side and at the roadway corner is 33.51 and 85.12 kN,respectively.The research results can provide a theoretical basis for supporting the design of quadrilateral mining roadways.
文摘It is particularly important to evaluate natural frequencies and natural modes of the structure of bolted joints to avoid the failures of the structure due to the resonance. The vibration characteristics of bolted structures are closely connected to surface roughness of contact interfaces, the magnitude of pretension of the bolts and the number of clamping bolts. In this paper, the effect of the factors above on the natural frequencies of bolted structures is sys- tematically investigated by experiments. Then, the finite element method is applied to analyze the effect. Finally, the numerical method is validated by experimental measurements of the natural frequencies.
基金Project supported by the Natural Science&Engineering Research Council(NSERC)of Canada(No.NSERC-RGPIN204992)。
文摘Wetting of a liquid droplet on another liquid substrate is governed by the well-known Neumann equations.The present work aims to develop an explicit modified version of the Neumann equations for axisymmetric wetting of a liquid droplet on a highly stretched elastic membrane of non-zero bending rigidity.An explicit modified form of the Neumann equations is derived to determine the two contact angles,which is reduced to Young's equation for a liquid droplet on a rigid membrane or to the Neumann equations for a liquid droplet on another liquid substrate.Further implications of the modified Neumann equations are examined by comparison with some previous results reported in the recent literature,particularly considering the ranges of material and geometrical parameters of the liquid droplet-membrane system which have not been recently addressed in the literature.
基金the Medium and Heavy Duty High Power-Density Clean Energy Power of National 863 Project。
文摘Taking the combustor composite structure of a high-strength diesel engine as the main research object,dedicated tests have been conducted to verify the accuracy of three distinct cylinder gasket pressure simulation models.Using the measured cylinder gasket compression rebound curve,a gasket unit has been designed and manufactured.For this unit,the influence of the bolt pretension,cylinder body and cylinder head material on gasket sealing pressure has been investigated systematically in conditions of thermo-mechanical coupling.The results show that the bolt pretension force is one of the most important factors affecting the cylinder gasket sealing pressure.The change of the body material has little effect on this pressure.The cylinder gasket seal pressure decreases progressively with the reduction of the elastic module of the cylinder head material.
基金Commercial cultivars seed used in this research were kindly provided by GAPP semillas S.A.and Gentos S.A,Argentina.Anonymous suggestions are acknowledged.
文摘Our objective was to evaluate the combining ability among cultivars of forage species, commonly sown in temperate regions of Argentina using a short rotation system. Three genetically diverse cultivars of prairie brome grass (Bromus catharticus, cv Copetona, cv ?andú and cv Tango), a white clover cultivar (Trifolium repens, cv Lucero) and a red clover cultivar (T. pratense, cv Tropero) were evaluated. A randomized complete block design experiment was established in 2005. The treatments included five monocultures and ten binary mixtures. The experiment was harvested 6 times over an 18-month period. Cumulative dry matter yield (kg?ha–1) was calculated as the sum of the six individual harvests. Diallel analysis provided estimates of the general combining ability (GCA) and specific combining ability (SCA). Red clover in monoculture and mixtures produced the highest yields, with significant positive GCA effects (P P P P < 0.01). Given the short-term nature of this study, we must limit our inference to short-term pastures (<2 years). Under these conditions, red clover had the best combination with prairie brome grass.
基金supported by the National Key Research and Development Program of China (Grant No. 2017YFC0805401)the National Natural Science Foundation of China (Grant No. 51738002)+1 种基金the China Railway Corporation Research and Development Program of Science and Technology (Grant No. 2014004-C)the Fundamental Research Funds for the Central Universities (Grant No. C17JB00030)。
文摘To study the mechanical responses of large cross-section tunnel reinforced by pretensioned rock bolts and anchor cables, an analytical model is proposed. Considering the interaction between rock mass and bolt-cable support, the strain softening characteristic of rock mass, the elastic-plastic characteristic of bolt-cable support, and the delay effect of installation are considered in the model. To solve the different mechanical cases of tunneling reinforced by bolt-cable support, an analytical approach has been put forward to get the solutions of stress and displacement associated with tunneling. The proposed analytical model is verified by numerical simulation. Moreover, parametric analysis is performed to study the effects of pretension force,cross-section area, length, and supporting density of bolt-cable support on tunnel reinforcement, which can provide references for determining these parameters in tunnel design. Based on the analytical model, a new Ground Response Curve(GRC)considering the reinforcement of bolt-cable support is obtained, which shows the pretension forces and the timely installation are important in bolt-cable support. In addition, the proposed model is applied to the analysis of the Great Wall Station Tunnel, a high-speed railway tunnel with a super large cross-section, which shows that the analytical model of bolt-cable support was a useful tool for preliminary design of large cross-section tunnel.
基金The authors gratefully acknowledge the financial support from the Universiti Malaysia Pahang(UMP)through a short-term grant(Grant No.FR56398)from the Ministry of Science,Technology and Innovation(MOSTI)through an e-science fund(Grant No.03-02-03 SF0115).
文摘The provision of transverse openings in floor beams to facilitate the passage of utility pipes and service ducts not only results in a more systematic layout of pipes and ducts,it also translates into substantial economic savings in the construction of a multi-storey building.In this paper,ultimate load analysis of statically loaded simply supported pretensioned inverted T-beams with circular web openings is presented.Major findings relevant to ultimate load analysis of pretensioned beams with circular web openings are summarized.An attempt has been made to answer the frequently asked questions related to ultimate load analysis on multiple circular web open-ings.It has been shown that the analysis method for pretensioned beams with multiple large circular web openings can be further simplified without sacrificing rationality.
基金This study was funded by the National Natural Science Foundation of China (No. 51275127).
文摘A Body and/or Caudal Fin (BCF) fish modulate its body stiffness by mechanisms consisting of antagonistic muscles. The mecha- nisms can be considered as Redundant Planar Rotational Parallel Mechanisms (RPRPM) with antagonistic flexible elements. For a typical RPRPM, its stiffness consists of the adjustable stiffness resulting from internal forces and the inherent stiffness caused by inherent com- pliances of flexible elements. In order to decouple the adjustable stiffness from the inherent stiffness and expand the range of stiffness variation, a variable-stiffness decoupled mechanism based on the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is presented and used to construct a soft robotic fish with large stiffness variation. According to the analysis of the evolution from RPRPM to MACCEPA, it can be found that MACCEPA is just a special type of RPRPM with only an adjustable stiffness. In addition, MACCEPA existed before RPRPM mechanism. The prototype of the soft robotic fish with variable- stiffness decoupled mechanisms is built to explore the relationships between the body stiffness and the swimming performance. It is validated experimentally that the stiffness variation multiple of the robotic fish is raised, the swimming performance of the robotic fish is improved when the stiffness is modulated to match the driving frequency.