微间隙共形圆柱接触力模型的适用性分析

针对目前间隙铰接副接触力模型无法有效表述不同材料耗散阻尼效应,以及不适用于微间隙共形接触的问题,分析各种接触力模型中弹性接触力和耗散阻尼力计算方法的优缺点,提出一种普适性的圆柱内接触力分析模型。该模型将接触力描述为接触深度的显式函数,并将其适用范围有效地扩展至微间隙和低恢复系数工况。采用含间隙铰接副的曲柄-滑块机构进行动力学分析,对所提出接触力进行验证,计算结果表明:所提出的普适性接触力模型体现了微间隙时更高的接触刚度和低恢复系数时显著的阻尼效应,从而可为不同材料和间隙尺寸的间隙铰接副力学分析提供更为完备的计算模型。     

The vibration and pull-in mechanism of two coupled elastically restrained beams assembly subjected to electrostatic force

ABSTRACT

The novel model of the coupled beam-type electrodes with elastic roots, subjected to the AC and DC voltages is constructed. The exact critical pull-in voltage of the two coupled elastically restrained beams with size effect is presented. The analytical method of the general system subjected to the AC and DC voltages simultaneously is presented. The characteristic mechanism of coupled vibration is investigated.     

Pressure sensor matrix for indirect measurement of grip and push forces exerted on a handle

To date, a large part of workers is exposed to vibrations (23% in Europe) which can negatively impact on their health. This work discusses the importance of measuring grip and push forces in the context of hand-arm vibration tests, bearing in mind the state-of-art of current standards. It proposes a method for indirect measurement of coupling forces using a matrix of polymeric pressure capacitive sensors and discusses the model used for defining these quantities. The matrix of pressure sensors is wrapped around the tool handle and the acting forces, exchanged with the handle, are derived from the pressure values measured by the matrix. Calibration is presented and the effect of curvature is discussed. The work continues with the experimental validation of the model proposed for push force measurements carried out through lifting tests using known masses with a cylindrical handle. An experimental correction coefficient is defined in correlation to the type of grip. The method for measuring the push force, thus corrected, is assessed by means of push force tests on an instrumented handle. Finally the experimental data are analysed in order to assess the uncertainty of the proposed method for measuring the push force, highlighting the contribution of the different sources of uncertainty. The proposed measurement method allows to measure the push and the grip force (known influencing quantities for the measurement of the hand-arm vibration) during tool test and without modifying the handles.     

A multi-start central force optimization for global optimization

Central force optimization (CFO) is an efficient and powerful population-based intelligence algorithm for optimization problems. CFO is deterministic in nature, unlike the most widely used metaheuristics. CFO, however, is not completely free from the problems of premature convergence. One way to overcome local optimality is to utilize the multi-start strategy. By combining the respective advantages of CFO and the multi-start strategy, a multi-start central force optimization (MCFO) algorithm is proposed in this paper. The performance of the MCFO approach is evaluated on a comprehensive set of benchmark functions. The experimental results demonstrate that MCFO not only saves the computational cost, but also performs better than some state-of-the-art CFO algorithms. MCFO is also compared with representative evolutionary algorithms. The results show that MCFO is highly competitive, achieving promising performance.     

On the equilibrium of funicular polyhedral frames and convex polyhedral force diagrams

This paper presents a three-dimensional extension of graphic statics using polyhedral form and force diagrams for the design of compression-only and tension-only spatial structures with externally applied loads. It explains the concept of 3D structural reciprocity based on Rankine’s original proposition for the equilibrium of spatial frames. It provides a definition for polyhedral reciprocal form and force diagrams that allows including external forces and discusses their geometrical and topological characteristics. This paper furthermore provides a geometrical procedure for constructing a pair of reciprocal polyhedral diagrams from a given polyhedron representing either the form or force diagram of a structural system. Using this method, this paper furthermore suggests a design strategy for finding complex funicular spatial forms in pure compression (or tension), based on the construction of force diagrams through the aggregation of convex polyhedral cells. Finally, it discusses the effect of changes in the geometry of the force diagram on the geometry of the form diagram and the distribution of forces in it.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.     

Control-faced dynamics with deformation compatibility for a 5-DOF active over-constrained spatial parallel manipulator 6PUS–UPU

Taking into account the effect of structural compliance, inverse dynamics of the active over-constrained parallel manipulator 6PUS–UPU with five degrees of freedom is solved in this article. Firstly, the relationship between driving forces and actuated force screws of each limb is derived. Then the coordination of elastic deformation between limbs which consider the effect of gravity and inertia is acquired. Finally the unique solution of driving forces for the active over-constrained parallel manipulator is derived by incorporating the force equilibrium equation of the moving platform. To validate the theoretical derivation, dynamics simulation model of manipulator based on rigid–flexible mixed structure is shown and numerical examples are given. Comparison with the traditional method of dynamics based on pseudo-inverse is also made. Finally, a feasible experimental method, as an effective test to the theoretical calculation, is proposed and applied on the prototype.     

Thin‐film nanostructure and polymer architecture in semicrystalline syndiotactic poly(p‐methylstyrene)–(cis‐1,4‐polybutadiene) multiblock copolymers

The thin‐film morphology of stereoregular syndiotactic poly(p‐methylstyrene)–(cis‐1,4‐polybutadiene) (sP(pMS–B)) multiblock copolymers has been investigated using tapping mode atomic force microscopy with variation of the polymer composition and monomer block lengths. The morphology of the thin films ranges from isolated circular domains of sP(pMS) embedded into a matrix of polybutadiene (PB) to isolated domains of PB embedded into a matrix of sP(pMS), passing through bicontinuous (jagged) lamellae when the pMS concentration is in the range 20–67 mol%. Multiple folding of the polymer segments, i.e. where reciprocal inclusions of polymer segments to each other phase are able to generate greater domain, has been postulated and validated by considerations on the polymer architecture and the thermal and crystalline behaviour. © 2019 Society of Chemical Industry     

轧机两侧刚度差的数字化分析与改善措施

轧机两侧刚度差是轧机功能精度的最重要指标之一，以弹跳方程为基础定量计算了轧机两侧刚度差对轧制稳定性的影响，主要包括调平值、调平值随轧制力的变化以及甩尾3个方面。以此为基础在某热轧线建立了轧机刚度评价体系，对轧机功能精度进行管控。同时，还分析了轧机两侧刚度差的影响因素，并在定量分析的基础上采取了一系列的改善措施，包括衬板、垫片维护、最大压靠轧制力和标定轧制力的调整等，使轧机刚度和轧制稳定性得到大幅提升。     

基于Kӧtter方程的盾构掘进面上被切削土体受力研究

为了计算不同土体性质与不同掘进参数下盾构刮刀与土体之间的作用力以及由此带来的切削扭矩,引入了修正后的Kӧtter方程作为补充方程,求解出开挖面上土体在被动切削至破坏时滑动面上的应力分布,建立了被切削土体受力模型,求解出刮刀刃面与土体之间的正压力p、摩擦力Q与侧向土体间抗剪阻力U,进而推导出刀盘切削扭矩T的计算公式。分析得到特定刀盘上刮刀的p,Q,U值随土体c,φ值增大而增大,通过适当提高刮刀刃面粗糙度来增大摩擦可使土体更易被切至破坏;p,Q,U值随刀盘转速ω增大而减小,p,Q随支护荷载p线性增大且p对于被切削土体受力的影响在砂性土中较大,最终给出特定刀盘掘进至部分种类土体中的切削扭矩值作为工程参考。