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Comprehensive study on fail-safe topological design method for 3D structures
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作者 Hongxin Wang Yujun Liao +2 位作者 Guilin Wen Liangliang Chen Jie Liu 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2024年第6期87-99,共13页
Fail-safe topology optimization is valuable for ensuring that optimized structures remain operable even under damaged conditions.By selectively removing material stiffness in patches with a fixed shape,the complex phe... Fail-safe topology optimization is valuable for ensuring that optimized structures remain operable even under damaged conditions.By selectively removing material stiffness in patches with a fixed shape,the complex phenomenon of local failure is modeled in fail-safe topology optimization.In this work,we first conduct a comprehensive study to explore the impact of patch size,shape,and distribution on the robustness of fail-safe designs.The findings suggest that larger sizes and finer distribution of material patches can yield more robust fail-safe structures.However,a finer patch distribution can significantly increase computational costs,particularly for 3D structures.To keep computational efforts tractable,an efficient fail-safe topology optimization approach is established based on the framework of multi-resolution topology optimization(MTOP).Within the MTOP framework,the extended finite element method is introduced to establish a decoupling connection between the analysis mesh and the topology description model.Numerical examples demonstrate that the developed methodology is 2 times faster for 2D problems and over 25 times faster for 3D problems than traditional fail-safe topology optimization while maintaining similar levels of robustness. 展开更多
关键词 Robust design Fail-safe structures Multi-resolution topology optimization Computational efficiency XFEM
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基于鸟类脖颈结构的仿生超冗余机器人
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作者 何俊峰 文桂林 刘杰 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2023年第5期132-143,共12页
一些鸟类的脖颈具有出色的柔性弯曲能力,模仿其特性可以设计仿生机器人.该类仿生设计的主要挑战是如何处理鸟类脖颈固有的灵活性和冗余的自由度.本文以鸡的脖颈结构为例,提出了一种模仿其脖颈结构特征的仿生超冗余机器人的设计方法.在... 一些鸟类的脖颈具有出色的柔性弯曲能力,模仿其特性可以设计仿生机器人.该类仿生设计的主要挑战是如何处理鸟类脖颈固有的灵活性和冗余的自由度.本文以鸡的脖颈结构为例,提出了一种模仿其脖颈结构特征的仿生超冗余机器人的设计方法.在我们的设计中,首先研究鸡脖颈的多骨节连接与运动特性,并定义了一个具有弹簧和万向节组合的仿生椎骨单元(BVU)来模拟鸡脖颈结构.然后,由三根钢丝平行驱动的三个仿生椎骨单元形成单个颈椎节段.最后,连接四个相同的颈椎节段构成了所提出的仿生超冗余机器人.结合几何分析法和Denavit-Hartemberg(D-H)参数法,研究了仿生超冗余机器人的驱动空间、关节空间和任务空间的运动学关系.通过蒙特卡洛方法进一步计算了可达工作空间.此外,原型样机的单平面运动实验的最大位置偏差约为四个颈椎节段总长度的5.8%.同时,一系列空间形状的展示,包括S形仿生弯曲配置和对兴趣目标体的成功缠绕和提升,证明了所提出的设计方法的有效性、机器人具有优异的灵活性和应用潜力. 展开更多
关键词 Bird’s neck Bionic hyper-redundant robot Kinematic analysis Physical model experiment
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