Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

Deformation Characteristics of Loess Landslide along the Contact between Loess and Neocene Red Mudstone

The loess landslide along the contact between loess and Neogene red mudstone (NRM) is one of those that have occurred extensively and frequently in loess areas of China. To better understand the mechanism of this type of landslides, a distressed loess slope being subjected to deformation along the loess-NRM contact was comprehensively investigated through approaches of field monitoring and laboratory physical modeling. Field observation and physical modeling shows that the slope deformation will experience two distinct processes: 1) laterally retrogressive and vertically progressive propagation, which was initiated by falling of the slope head; and 2) retrogressively separate mass sliding along the weak basal zone of the loess-NRM contact with minor sliding along the paleosols within the loess. Shear failure of the loess-NRM contact may initiate in the middle section, followed by a progressive propagation towards the slope toe and inner slope. Analysis reveals that the deformation characteristics of the distressed slope are largely constrained by slope topography, the unique structure, physical and mechanical properties of loess and paleosols, and occurrence and nature of the loess-NRM contact. Rainfall has significantly influence on the deformation characteristics of the slope through its interaction with the loess and soil of the loess-NRM contact. Additionally, improper style and intensity of cutting on the slope greatly enhance and accelerate the deformation course of the slope.

Numerical modeling of large deformation and nonlinear frictional contact of excavation boundary of deep soft rock tunnel

Roadways excavated in soft rocks at great depth are difficult to be maintained due to large deformation of surrounding rocks, which greatly influences the safety and efficiency of deep resources exploitation. During the excavation process of a deep soft rock tunnel, the rock wall may be compacted due to large deformation. In this paper, the technique to address this problem by a two-dimensional (2D) finite element software, large deformation engineering analyses software (LDEAS 1.0), is provided. By using the Lagrange multiplier method, the kinematic constraint of non-penetrating condition and static constraint of Coulomb friction are introduced to the governing equations in the form of incremental displacement. The numerical example demonstrates the efficiency of this technology. Deformations of a transportation tunnel in inclined soft rock strata at the depth of 1 000 m in Qishan coal mine and a tunnel excavated to three different depths are analyzed by two models, i.e. the additive decomposition model and polar decomposition model. It can be found that the deformation of the transportation tunnel is asymmetrical due to the inclination of rock strata. For extremely soft rock, large deformation can converge only for the additive decomposition model. The deformation of surrounding rocks increases with the increase in the tunnel depth for both models. At the same depth, the deformation calculated by the additive decomposition model is smaller than that by the polar decomposition model.

CONTACT DEFORMATION AND PRE-CONTROL OF TRANSMISSION PROPERTIES OF POINT CONJUGATE GEAR

According to spatial conjugate principle and theory of elastic contact, a method to pre-control transmission properties and contact mark of point meshing gear is presented, while the deformation of tooth surface is under consideration. A new approach to improve the quality of spiral bevel gear is illustrated emphatically.

Frictional contact algorithm study on the numerical simulation of large deformations in deep soft rock tunnels

There exist three types of nonlinear problems in large deformation processes of deep softrock engineering, i.e., nonlin- earity caused by material, geometrical and contact boundary. In this paper, the numerical method to tackle the nonlinear eontact and large deformation problem in A Software on Large Deformation Analysis for Soft Rock Engineering at Great Depth was presented. In the software, based on Lagrange multiplier method and Coulomb friction law, kinematic constraints on contact boundaries were introduced in functional function, and the finite element equations was established for two incremental large deformation analyses models, polar decomposition model and additive decomposition model. For every incremental loading step, by searching for the contact points in the potential contact interfaces （the excavation boundaries）, the Lagrange multipliers, i.e., contact forces are cal- culated iteratively by Gauss-Seidel method, and justified through satisfy the inequalities of static constraint on contact boundaries. With the software, large deformation and frictional contact of a transport roadway were analyzed numerically by the two models. The numerical examples demonstrated the efficiency of the method used in the software.

Approximate Tangent Plane Method for Calculating Surface Deformation in Elastic Contact Problems

A flew numerical method for constructing a pressure distribution to calculate surface elastic deformationcaused by normal contact pressure is developed in this paper. The pressure distribution over one of nonequidistantrectangles is fitted by an approximate tangent plane(ATP), which is formed by five pressure samples. Because thepressure distribution could be expressed as an one order linear polynomial, the iterative expression of elasticdeformation deduced by this method is simple, and the numerical accuracy is higher.

Non-contact monitoring and analysis system for tunnel surrounding rock deformation of underground engineering

It is very important to monitor surrounding rock deformation in tunnel construction. The principle, function, development and application of the system composed of a total station and computer for monitoring and analyzing surrounding rock deformation were discussed. The new methods of two free station of 3D measurement and its mathematic adjustment mode were presented. The development of software for total station on-board and post for computer were also described. Without centering it and measuring its height, the total station controlled by the software on-board can fulfill the whole measurements to target points. Monitoring data can be processed by the post software and results of regression analysis, forecasting information of the tunnel surrounding rock deformation can be provided in time. The practical use shows that this system is practicable, highly accurate and efficient. It satisfies the needs of safety and information construction in tunnel construction of underground engineering.

Time-varying baseline error correction method for ground-based micro-deformation monitoring radar

In recent years, ground-based micro-deformation monitoring radar has attracted much attention due to its excellent monitoring capability. By controlling the repeated campaigns of the radar antenna on a fixed track, ground-based micro-deformation monitoring radar can accomplish repeat-pass interferometry without a space baseline and thus obtain highprecision deformation data of a large scene at one time. However, it is difficult to guarantee absolute stable installation position in every campaign. If the installation position is unstable, the stability of the radar track will be affected randomly, resulting in time-varying baseline error. In this study, a correction method for this error is developed by analyzing the error distribution law while the spatial baseline is unknown. In practice, the error data are first identified by frequency components, then the data of each one-dimensional array(in azimuth direction or range direction) are grouped based on numerical distribution period, and finally the error is corrected by the nonlinear model established with each group.This method is verified with measured data from a slope in southern China, and the results show that the method can effectively correct the time-varying baseline error caused by rail instability and effectively improve the monitoring data accuracy of groundbased micro-deformation radar in short term and long term.

ON LARGE DEFORMATION UNILATERAL CONTACT PROBLEM WITH FRICTION(Ⅰ)—INCREMENTAL VARIATIONAL EQUATIONS

Based on the theory and technique of nonlinear geometric field theory of continuum, a more general incremental variational equation for elastic and plastic large deformation in co-moving coordinate is established in this paper. An expression for two and three-ditnensicnal continua is derived, and the incremental variational equation for large deformation of changing boundary contact and the variational inequality in rate form tire obtained, which provides the theoretical basis for the computation of elastic-plastic large deformation contact problem with friction.

FORMULATIONS OF THE THREE-DIMENSIONAL DISCONTINUOUS DEFORMATION ANALYSIS METHOD

This paper extends the original 2D discontinuous deformation analysis(DDA)method proposed by Shi to 3D cases,and presents the formulations of the 3D DDA.The formulations maintain the characteristics of the original 2D DDA approach.Contacts between the blocks are detected by using Common-Plane (C-P) approach and the non-smooth contact,such as of vertex-to-vertex,vertex- to-edge and edge-to-edge types,can be handled easily based on the C-P method.The matrices of equilibrium equations have been given in detail for programming purposes.The C program codes for the 3D DDA are developed.The ability and accuracy of the formulations and the program are verified by the analytical solutions of several dynamic examples.The robustness and versatility of the algorithms presented in this paper are demonstrated with the aid of an example of scattering of densely packed cubes.Finally,implications and future extensions are discussed.

Mechanical behavior and deformation mechanism of ballast bed with various fouling materials

In order to study the interaction between various fouling particles and ballast,a multi-layer and multi-scale discrete element model(DEM)including the sleeper,ballast bed and the surface layer of subgrade was developed.Two typical fouling particles,the hard particles(sand)and soft ones(coal fines),are considered.A support stiffness test of the ballast bed under various fouling conditions was conducted to calibrate the microscopic parameters of the contact model.With the model,the influence of fouling particles on the mechanical behavior and deformation of the ballast bed was analyzed from macro and micro perspectives.The results show that the increase in the strength of the fouling particles enlarges the stiffness of the ballast bed.Hard particles increase the uniformity coefficient of the contact force bondγof ballast by 50.4%.Fouling particles increase the average stress in the subgrade,soft particles by 2 kPa and hard particles by 1 kPa.Hard particles can reduce the elasticity,plastic deformation and energy dissipation in the track structure.As the fouling particle changes from hard to soft,the proportion of the settlement in ballast bed increases to 40.5%and surface layer of swbgrade settlement decreases to 59.5%.Thus,the influence of fouling particles should be considered carefully in railway design and maintenance.

Experimental investigation on surface deformation of soft half plane indented by rigid wedge

In this work, the mechanical behavior of a block of soft material subject to large deformation from a series of wedge-shaped indenters is evaluated. Data fields acquired from digital image correlation （DIC） are compared with the existing theoretical models. The slope angles of the wedges vary from 5° to 73.5°, and the minimum measure- ment uncertainties of the DIC system are established in advance to define the accuracy. It is concluded that the assumptions underpinning the analytical theory make it difficult to characterize large deformation of soft materials during contact. The strain fields are also obtained from the measured displacement field and verify the previously postulated existence of two deformation sectors, namely, a so-called shrinkage sector symmetric to the loading axis and an expansion sector, which become smaller with the increasing load and decreasing wedge angle.

Surrounding rock deformation analysis of underground caverns with multi-body finite element method

Discontinuous deformation problems are common in rock engineering. Numerical analysis methods based on system models of the discrete body can better solve these problems. One of the most effective solutions is discontinuous deformation analysis （DDA） method, but the DDA method brings about rock embedding problems when it uses the strain assumption in elastic deformation and adopts virtual springs to simulate the contact problems. The multi-body finite element method （FEM） proposed in this paper can solve the problems of contact and deformation of blocks very well because it integrates the FEM and multi-body system dynamics theory. It is therefore a complete method for solving discontinuous deformation problems through balance equations of the contact surface and for simulating the displacement of whole blocks. In this study, this method was successfully used for deformation analysis of underground caverns in stratified rock. The simulation results indicate that the multi-body FEM can show contact forces and the stress states on contact surfaces better than DDA, and that the results calculated with the multi-body FEM are more consistent with engineering practice than those calculated with DDA method.

Substrate elastic deformation due to vertical component of liquid-vapor interfacial tension

Young＇s equation is a fundamental equation in capillarity and wetting, which reflects the balance of the horizontal components of the three interracial tensions with the contact angle （CA）. However, it does not consider the vertical component of the liquid-vapor interracial tension （VCLVIT）. It is now well understood that the VCLVIT causes the elastic deformation of the solid substrate, which plays a significant role in the fabrication of the microfluidic devices because of the wide use of the soft materials. In this paper, the theoretical, experimental, and numerical aspects of the problem are reviewed. The effects of the VCLVIT-induced surface deformation on the wetting and spreading, the deflection of the microcantilever, and the elasto.capillarity and electro- elasto.capillarity are discussed. Besides a brief review on the historical development and the recent advances, some suggestions on the future research are also provided. Key words

Load distribution of involute gears along time-varying contact line

Base on the theory of energy minimization, a numerical algorithm is established to calculate load distribution, and the relationship curve of spur gear load distribution is obtained, and the load distribution ratio changes from 033 to 067 in double contact zone. This theory is adopted to compute the load distribution of helical gear along time-varying contact line, and the load distribution varies with the instantaneous position of the meshing point and the length of contact line, and the maximum value of load appears at the pitch point. Compared with the load distribution results, the helical gear changes more smoothly than spur gear. The load distribution provides a basis for calculate tooth bending deformation and critical stress.

Three-Dimensional Conjugate Tooth Surface Design and Contact Analysis of Harmonic Drive with Double-Circular-Arc Tooth Profle

A three-dimensional conjugate tooth surface design method for Harmonic Drive with a double-circular-arc tooth profle is proposed. The radial deformation function of the fexspline (FS), obtained through Finite Element (FE) analysis, is incorporated into the kinematics model. By analyzing the FS tooth enveloping process, the optimization of the overlapping conjugate tooth profle is achieved. By utilizing the hobbing process, the three-dimensional machinable tooth surface of FS can be acquired. Utilizing the coning deformation of the FS, simulations are conducted to analyze the multi-section assembly and meshing motion of the machinable tooth surface. The FE method is utilized to analyze and compare the loaded contact characteristics. Results demonstrate that the proposed design method can achieve an internal gear pair consisting of a circular spline with a spur gear tooth surface and the FS with a machinable tooth surface. With the rated torque, approximately 24% of the FS teeth are engaged in meshing, and more than 4/5 of the tooth surface in the axial direction carries the load. The contact patterns, maximum contact pressure, and transmission error of the machinable tooth surface are 227.2%, 40.67%, and 71.24% of those on the spur gear tooth surface, respectively. It clearly demonstrates exceptional transmission performance.

硬度耦合刚度增强型软体夹持器设计研究

软体夹持器具有良好的顺应性、无损伤和安全的人机交互性能等优点,但由于其材料的特性限制,往往存在刚度不足和夹持力小等问题。文中基于传统的快速气动网络结构,提出了一种硬度耦合结构的刚度增强型软体夹持器的结构方案。首先,结合硅橡胶材料的Yeoh本构模型和静力平衡及虚功原理,建立了刚度增强型软体夹持器的运动学和力学模型,描述了夹持器手指弯曲角度和末端接触力与压强之间的关系;其次,运用ABAQUS软件对不同硬度结构的夹持器进行了有限元分析,制作了夹持器实体,搭建实验台测定了夹持器手指实际变形和末端接触力数据,并通过实际抓取对比试验验证了实际抓取效果。结果表明:相较于传统结构,硬度耦合结构在同为20 kPa的驱动气压下,弯曲角度最大可减小120°;极限压力下,末端接触力最大增加0.1 N;最优设计为05HA结构,抓取物的质量是传统型的3.42倍。

光滑粒子法中的摩擦接触算法及其在含界面土体变形问题中的应用

光滑粒子流体动力学(smoothed particle hydrodynamics,简称SPH)方法作为拉格朗日型的无网格粒子类方法,在固体极大变形问题的数值求解分析中具有显著优势。针对包含界面接触的固体大变形问题的SPH模拟,基于一种能改善边界精度的光滑粒子插值格式——有限粒子法(finiteparticlemethod,简称FPM),提出了一种新的点对体积的离散(point-to-volume discretization,简称PTVD)界面接触算法。该算法实际是将界面接触力等价转换为接触点附近两组粒子间的外部相互作用力。具体是根据接触界面特点将接触面两侧物体离散后的粒子划分为主体粒子和从属粒子,对于每个接触点附近的从属粒子,根据其影响域所包含的主体粒子情况确定该粒子与接触面的相对关系计算法向接触力,根据其影响域内两类粒子的相对切向速度和界面摩擦系数计算切向接触力。PTVD接触算法可避免界面粒子识别及精确模拟等相关的复杂接触力计算,充分体现了光滑粒子法的非局部特点。在利用经典界面接触和摩擦算例进行验证的基础上,将PTVD算法应用于颗粒土拟静力坍塌和弹体侵彻软土等涉及接触界面的大变形土力学问题SPH数值分析,结果表明PTVD算法在摩擦接触问题的SPH数值分析中具有有效性和广泛适用性。

特高压换流变阀侧油浸表带触指劣化失效机制

油浸表带触指作为特高压换流变阀侧升高座区域绕组引出线与套管的关键载流连接件,其过热失效导致的阀侧直阻超标构成了电力系统的严重安全隐患。为此基于油浸表带触指的劣化分布特征,明确了引发其过热失效的外部原因;通过扫描电镜、能量色散光谱、X射线衍射、电感耦合等离子体及模拟试验等手段,探究了油浸表带触指的劣化失效机制。结果表明:不对中引起的表带触指压力不均导致部分触指片过流并引发局部高温;高温环境下,镀银铜触指片发生孔蚀,铜基底通过微孔与银镀层、绝缘油构成银铜原电池,生成腐蚀性硫银-油与铜-油配合物、铜银硫矿及硫化亚铜等产物,造成触指片银镀层破坏、粘附性降低、接触电阻增大;电接触区域的磨损以及高温下不锈钢骨架的塑性变形则加速了表带触指的劣化。该研究结论可为油浸电接触部件设计、故障分析和进一步研究提供参考。

考虑结合部热变形的滚动导轨刚度特性分析

为提高滚动导轨副动态刚度,基于弹性力学中Hertz接触理论,考虑外载荷、预紧力、热变形等因素的影响下,对滚动导轨副进行了动态Hertz接触刚度建模。从单个滚珠-滚道接触特性出发,对比分析了滚珠-滚道接触变形关系。以某NSK直线导轨为对象,分析了导轨副在3种预紧力等级下不同垂直载荷对导轨副刚度特性影响规律。运用有限元软件对比仿真分析了不同垂直载荷下导轨副Hertz接触变形以及热变形对导轨副接触刚度的影响,结果表明:预紧力对临界载荷的影响较大从而影响滚动导轨副的刚度;摩擦热变形随着载荷的增加使导轨副接触刚度降低,对比验证了考虑热变形的接触刚度建模方法的合理性以及模型的准确性。