直角切口柔性平行四杆机构的输出位移分析

柔性铰链是目前被广泛用于微动机器人的主要部件之一.为了深入分析精密传动用柔性平行四杆机构的位移性能,利用材料力学弯曲变形理论的挠曲线近似微分方程,建立了计算直角切口柔性平行四杆机构输出位移的数学模型.设计了一个简单的柔性平行四杆机构模型,采用MATLAB 7.0软件对其进行理论计算,并利用商用软件ANSYS 10.0进行有限元分析.采用线切割的方法加工了一个样件,并进行了相关实验.最终结果表明：数学模型的理论值与有限元仿真值很接近,但与实际样件的实验值有一定的误差.通过误差分析,证实了存在这种误差的合理性,从而验证了所建数学模型具有较高的参考价值,可以作为柔性铰链平行四杆机构行程优化设计的指导理论.     

两级渐开线齿轮传动系统横-摆-扭耦合非线性动力学建模与试验验证

以两级渐开线齿轮传动系统为研究对象,分析了几何偏心、中心距安装误差以及齿轮中心支撑弯曲变形引起中心距的变化对啮合角和间隙的影响,引入非线性动态啮合刚度模型,得到了各级齿轮传动的非线性动态啮合力。采用拉格朗日方法建立了考虑偏心、间隙、时变啮合角以及非线性动态啮合刚度模型的两级齿轮传统系统横-摆-扭非线性动力学模型,采用4阶定步长龙哥库塔法求解非线性动力方程。针对一个两级齿轮传统系统试验装置进行理论计算和试验测试,安装在齿轮圆周对称位置的角加速度传感器,测试结果显示各工况下齿轮角加速度仿真值与实验值最大误差为23.51%;固定安装在箱体上的位移传感器测得振动位移仿真值与实验值最大误差为21.21%;粘贴在轴上的应变片测得扭转切应力仿真值与实验值最大误差为17.9%。研究结果表明:仿真结果与试验结果的变化趋势基本吻合,且误差在可接受范围内。分析了可能导致仿真结果与试验结果之间产生误差的原因,验证了渐开线直齿轮传动横-扭-摆耦合非线性动力学模型和非线性动态啮合模型的正确性。     

考虑双向流固耦合的换热器弹性管束流致振动特性三维数值模拟研究EI北大核心CSCD

为研究换热器管束的流致振动特性,开展了考虑双向流固耦合情况下的换热管束三维数值模拟研究。建立换热管及管内外流域的三维有限元模型,计算单、多跨换热管的固有频率,考虑到换热管与支撑板之间的有效支撑具有随机性,对支撑板失效情况下的四跨管固有频率及振型进行了计算。在此基础上,针对单、多管与管外流域进行双向流固耦合数值模拟分析。结果表明:计算得到的固有频率与理论值误差基本低于3%;同阶固有频率随着支撑失效个数增多而降低;单、多跨管的振动频率与之升、阻力频率一一对应;多跨管对称跨的振动位移曲线形状相似且幅值相近;管束间距越大,管子之间相互影响越小,振动位移曲线越易出现Strouhal振型。     

支撑共振法测量液体密度的研究

采用支撑共振法测量材料杨氏模量的实验装置,由分离变量法近似求解内部含液体管状材料横振动Housner方程,得到管状材料内部液体密度计算公式。通过实验测量并计算了蒸馏水及不同浓度蔗糖溶液的密度值,得到的实验值与理论值之间的相对误差在正常误差范围3%以内。     

高线性度的二维无耦合纳米压电位移系统设计

设计了一套具有高线性度的二维无耦合纳米压电位移系统。提出了一种多个压电陶瓷同步线性操作的电荷控制方案,设计采用基于非线性反馈控制和相似控制相结合的具有接地配置功能的压电控制器。控制器中引入了T型电阻网络,使电容较小的压电致动器能够进行低频线性操作。并对压电陶瓷驱动的位移平台进行了机械结构设计,平台采用嵌套式串联结构来避免耦合位移。通过解析法和ANSYS Workbench有限元仿真两方面对位移平台进行了刚度及位移分析。搭建了一套干涉位移测量系统,对压电位移台的位移、耦合误差及线性度进行了验证测试。实验结果表明:系统满行程内二维位移台的耦合误差最大仅为0.098%,可以将迟滞不对称引起的剩余轨迹偏差减小到0.79%,两个压电陶瓷间的最大轨迹偏差仅为行程范围的0.23%,理论分析和实验验证了所设计多压电电荷控制器的可行性,且系统可有效抑制耦合位移并使定位精度得到明显提高。     

大范围运动刚体-柔性梁刚柔耦合动力学分析

对自由大范围运动情况下刚体-柔性梁系统的刚柔耦合动力学特性进行了研究.考虑系统作平面大范围运动及柔性梁的纵向和横向变形,在纵向变形位移中计及横向弯曲引起的轴向缩短,即耦合变形项.采用假设模态法对柔性梁进行离散,运用拉格朗日方程推导出系统刚柔耦合动力学方程.分大范围运动为转动、平动,平面运动进行了动力学仿真,重点探讨了大范围平动下的刚体-柔性梁系统的刚柔耦合动力学特性.首先研究了系统在外界激励作用下的耦合动力学,其次分析了已知大范围平动对柔性梁小变形运动的影响.结果表明:零次近似模型不能反映大范围平动和柔性梁小变形运动之间的耦合作用;在不同的大范围平动加速度下,柔性梁中既可存在动力刚化效应,也可存在动力柔化效应.     

双簧片导向机构的传递误差分析

双簧片导向机构是接触式测量常用的核心部件,广泛应用于自动检测中,其传递误差的模型直接影响传感器的测量精度.传统的建模方法采用悬臂梁整体柔性建模,不符合实际物理结构,在测量中会引起较大的传递误差.在建立导向机构整体力学模型的基础上,提出簧片机构柔-刚-柔悬臂梁分段建模方法,推导出簧片作用力和弯矩表达式,继而得出平动板寄生转角和传递误差表达式.最后通过有限元计算仿真技术,对悬臂梁分段模型与悬臂梁整体柔性模型进行仿真分析.仿真结果表明,柔-刚-柔悬臂梁分段建模方法比传统悬臂梁整体柔性建模方法的传递误差明显减小,验证了模型的有效性,从而为双簧片导向机构的设计、测量精度的动态补偿以及测量后数据处理提供了理论依据.     

用迈克尔逊干涉仪测微定位工作台的位移

将迈克尔逊干涉实验装置用于用压电陶瓷驱动和柔性铰链导向的一体化微定位工作台,通过实验研究了其位移与电压的关系.实验结果表明它们在限定的工作范围内具有良好的二次曲线关系.另外,还对影响系统定位的误差作了相关分析.     

三自由度并联分拣机器人的动力学建模与仿真

目的 针对自动化生产线上分拣机器人的动力可控性问题,提出一种2UU-UPU三自由度并联分拣机器人,以提高分拣的精度可控性。方法 分析该机器人的机构自由度,以及各参数之间的关系,基于闭环矢量法建立并联机构的运动学逆解模型;利用拉格朗日动力学方程推导该机器人的动力学表达式,并进行数值计算,采用Matlab Simulink和Adams进行动力学联合仿真,对理论值和仿真值进行误差分析。结果 揭示了该机器人动平台的运动规律,得到了驱动力矩曲线,理论值与仿真值的误差较小,3个驱动力矩的最大误差分别为0.379%、0.283%、0.146%。结论 通过验证可知,该机构具有较好的动力学特性,这为后续电机的选型和精准控制奠定了基础。     

压电式二维微动工作台的迟滞补偿与解耦控制

为了提高压电式二维微动工作台的定位精度,基于改进的Prandtl-Ishlinskii模型设计了前馈与解耦控制器,并结合反馈控制器开发了复合控制系统.在分析x与y方向电压与位移之间迟滞关系的基础上,前馈控制器通过改进的Prandtl-Ishlinskii模型描述迟滞的逆过程,分别补偿了x与y方向的迟滞.解耦控制器通过改进型Prandtl-Ishlinskii模型估算耦合位移值,修正驱动电压,抵消耦合效应引起的位移.复合控制系统结合了前馈与解耦控制器,并加入PID反馈控制进一步提高定位精度.实验结果表明:控制前,x方向与y方向定位误差的最大绝对值分别是4.16μm和4.18μm,而采用复合控制后定位误差的最大绝对值降为0.06μm和0.07μm.这种复合控制方法能够补偿压电式微动工作台的迟滞非线性,无需改变结构或更换零件就能减小耦合效应,有效地提高微动工作台定位精度.     

基于SYSNOISE的建筑模板耦合振动及声辐射特性研究

基于有限元和边界元理论的结合，利用大型有限元分析软件ANSYS和声振分析软件SYSNOISE，建立了重流体介质与半封闭结构的耦合振动声辐射模态分析模型，并采用结构有限元和流体有限元相结合，以建筑圆柱钢模板的振动声辐射为例进行模态分析、振动响应以及声辐射特性分析，得到了在流体加载下模板的耦合模态振型、结构的节点位移、结构能量等等。还利用CAE软件结果的可移植性，考虑了半封闭加筋圆柱结构内外分布不同介质时，实现了双边耦合振动声辐射分析求解。这一求解方法的实现对今后该类振动声辐射分析提供了重要的参考。     

爆破地震作用下CFG桩复合地基动力特性的数值分析

该文以CFG桩复合地基在爆破地震作用下的现场动力试验为背景,应用有限元软件建立有限元动力分析的数值模拟模型,从水平加速度、竖向加速度、水平位移、竖向位移及应力几个方面对复合地基同一位置不同深度和同一深度不同位置的动力响应进行了分析,其分析结果与试验结果吻合较好。通过数值模拟对动力响应的影响因素进行了比较研究。并与天然地基的动力响应结果进行对比,得出了有指导意义的结论。为今后探讨CFG桩复合地基的承载力、变形和动力特性提供了研究基础。     

Efficient laminated composite beam element subjected to variable axial force for coupled stability analysis

A numerically efficient laminated composite beam element subjected to a variable axial force is presented for a coupled stability analysis. The analytical technique is used to present the thin-walled laminated composite beam theory considering the transverse shear and the restrained warping-induced shear deformation based on an orthogonal Cartesian coordinate system. The elastic strain energy and the potential energy due to the variable axial force are introduced. The equilibrium equations are derived from the energy principle, and explicit expressions for the displacement parameters are presented using the power series expansions of displacement components. Finally, the member stiffness matrix is determined using the force–displacement relations. In order to verify accuracy and efficiency of the beam element developed in this study, numerical results are presented and compared with results from other researchers and the finite beam element results, and the detailed finite shell element analysis results using ABAQUS; especially, the influence of variable axial forces, the fiber orientation, and boundary conditions on the buckling behavior of the laminated composite beams is parametrically investigated.     

Study of crack growth in solid propellants

The stress and displacement fields in an edge-cracked sheet specimen made of a solid propellant and subjected to a uniform displacement along its upper and lower faces was studied. The solid propellant was simulated as a hyperelastic material with constitutive behaviour described by the Ogden strain energy potential. A non-linear finite deformation analysis was performed based on the finite element code ABAQUS. A detailed analysis of the stress field in the vicinity of the crack tip was undertaken. The deformed profiles of the crack faces near the crack tip were determined. The results of stress analysis were coupled with the strain energy density theory to predict the crack growth behaviour including crack initiation, stable crack growth and final termination for two specimens with different dimensions. Crack growth resistance curves representing the variation of crack growth increment versus applied displacement were drawn.     

TORSIONAL STRESS ANALYSIS OF CORD-RUBBER COMPOSITE LAMINATES

SUMMARY

The structural response of two-ply cord-rubber composite laminates subjected to torsional loading is investigated using non-linear three-dimensional finite element analysis. The present model treats a two-ply composite as an equivalent three/six-ply system with rubber and cord-rubber elements. The present finite element model is validated by comparing the results obtained to the existing experimental and analytical solutions. The effects of torque and bias angle on twist angle, axial displacement, coupled strain ratio, and interply and interface shear stresses are presented. Also, the effects of interply thickness and rubber elasticity were studied. The presented results illustrate the torsional behaviour of two-ply cord-rubber composites from three-dimensional analysis.     

Comparison of barrel-stave sonar transducer simulations between a coupled FE-BEM and ATILA

An acoustic analysis of a barrel-stave sonar transducer has been performed using a coupled finite element-boundary element method developed by the author. The dynamics of the piezoelectric flextensional sonar transducer is modeled in three dimensions and is analyzed with external electrical excitation conditions. Different results are available such as steady-state displacement modes, underwater directivity patterns, resonant frequencies, and transmitting voltage responses. The results of this analysis were then compared and found to be in good agreement to the same analysis performed using ATILA.     

基于参数变分原理的含夹杂Voronoi单元法及非均质材料弹塑性计算

含夹杂Voronoi单元通过在基体单元中引入一任意夹杂, 可以更好地反映非均质材料中微结构特性。基于参数势能和余能原理, 推导了无夹杂和含夹杂Voronoi单元有限元列式, 并在此基础上形成二次规划求解模型。将含夹杂Voronoi单元应用于非均质材料宏观弹塑性性能预测计算中, 分析了非均质材料中夹杂对其宏观等效弹塑性力学性能的影响。数值结果与其它方法所得结果的比较证明了本文中所给出模型的正确性和工程可适用性。     

Finite element model of efficient zig-zag theory for static analysis of hybrid piezoelectric beams

Finite element model is presented for the analysis of hybrid piezoelectric beams under static electromechanical load, using the one-dimensional (1D) coupled zig-zag theory developed recently by the authors. Two noded elements are used with cubic Hermite interpolation for deflection and electric potentials at the sub-layers and with linear interpolation for axial displacement and shear rotation. The expressions for the variationally consistent stiffness matrix and load vector are derived and evaluated in closed form using exact integration. The formulation is validated by comparison with the analytical solution for simply-supported beam. The finite element model is free of shear locking. The present zig-zag finite element results for cantilever beams are compared with the 2D finite element results using ABAQUS to establish the accuracy of the zig-zag theory for these boundary conditions.S. Kapuria is grateful to Department of Science and Technology, Government of India, for providing financial assistance for this work.     

机电耦合载荷下的压电层合板瞬态响应分析

针对压电层合板在机电耦合激振下的瞬态响应问题, 提出一种高效混合数值计算方法。经过位移场、 电势场在厚度方向的离散, 利用机电耦合理论和哈密顿原理, 推导出结构的运动方程。引入傅里叶变换, 得到波数域内运动控制方程。应用模态分析方法求解波数域内的位移场和电势场, 对结果进行傅里叶逆变换, 得到空间域内的瞬态响应。以PZT-5A/0° PVDF铺层两相材料复合压电层合板为算例, 分析了力、 电耦合线载荷激励下, 位移场和电势场的瞬态响应历程与分布规律, 计算结果给出了该结构的动力学基本特征。该方法结合了有限元法、 傅里叶变换和模态分析法, 计算高频载荷激振下的压电层合板瞬态响应较一般有限元法大幅减少了单元的划分。该方法可推广至分析任意机电载荷下的各类铺层材料压电层合板瞬态响应问题。     

Super convergent shear deformable finite elements for stability analysis of composite beams

The super convergent finite beam elements are newly presented for the spatially coupled stability analysis of composite beams. For this, the theoretical model applicable to the thin-walled laminated composite I-beams subjected to the axial force is developed. The present element includes the transverse shear and the warping induced shear deformation by using the first-order shear deformation beam theory. The stability equations and force–displacement relationships are derived from the principle of minimum total potential energy. The explicit expressions for the seven displacement parameters are then presented by applying the power series expansions of displacement components to simultaneous ordinary differential equations. Finally, the element stiffness matrix is determined using the force–displacement relationships. In order to demonstrate the accuracy and the superiority of the beam element developed by this study, the numerical solutions are presented and compared with the results obtained from other researchers, the isoparametric beam elements based on the Lagrangian interpolation polynomial, and the detailed three-dimensional analysis results using the shell elements of ABAQUS. The effects of shear deformation, boundary condition, fiber angle change, and modulus ratios on buckling loads are investigated in the analysis.