Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

25CrNi2MoV钢的微动磨损性能

采用微动摩擦磨损试验机在干摩擦条件下对新型高速重载传动轴用25CrNi2MoV钢进行微动磨损试验,研究了不同载荷(50~200N)和频率(15~30Hz)下该钢的微动磨损性能。结果表明:在频率为20Hz条件下,当载荷由50N增至200N时,25CrNi2MoV钢的平均摩擦因数由0.766减至0.661,磨损体积由19.65×10^-3 mm^3增至75.83×10^-3 mm^3;在载荷为30N条件下,当频率由15Hz增至30Hz时,平均摩擦因数由0.790增至0.905,磨损体积由11.43×10^-3 mm^3增至23.88×10^-3 mm^3;在不同试验参数下,25CrNi2MoV钢磨损表面均出现了氧化和犁沟现象,磨损机制包含氧化磨损和磨粒磨损;在频率为20Hz条件下,载荷为50,100N时,25CrNi2MoV钢的磨损机制以黏着磨损为主,载荷为150,200N时,主要磨损机制为疲劳磨损;在载荷为30N条件下,频率为15~25Hz时,磨损机制以磨粒磨损为主,当频率增至30Hz时,磨损机制以疲劳磨损为主。     

扭转参数对铜合金接触线扭转圈数影响研究

铜合金接触线在安装、使用等过程中不可避免存在扭转现象,不同的扭转参数对铜合金接触线的最大扭转圈数存在一定影响。本文通过扭转试验研究了扭转速度、张力以及扭转方向等参数对CTMH150接触线扭转圈数的影响,并分析了扭矩与扭转圈数的关系。研究发现,铜合金接触线的扭转圈数随着扭转速度、张力的增大先降低再增加,均存在一个转换点；双向扭转过程中的扭矩圈数大于单向扭转。此外,接触线的扭矩与扭转圈数成线性相关性。     

烟炱对电接触磨损的影响

选用常见的铜作为电接触材料,将烟炱溶液喷洒于试样表面,进行不同载荷下的电接触微动试验,用3D形貌仪和SEM对磨痕形貌进行分析。结果表明:载荷对材料的电接触性能影响显著,接触电阻与法向载荷成反比,即增加载荷可改善摩擦副的电接触性能;接触区域的有效导电面积是有限的,故载荷达到某一值后,随着载荷的增加,接触电阻不再有明显的下降趋势;小载荷下,烟炱的加入恶化了摩擦副的电接触性能,随着载荷的增加,这种恶化作用逐渐减小;摩擦因数随着载荷的增加而降低,载荷较低时(2～6 N),摩擦因数曲线可见明显的上升期、跑合期、下降期、稳定期;而载荷较高时(8～10 N),只有上升期和稳定期;大载荷下,触头接触区域匹配良好,摩擦副表面迅速达到了平衡点,摩擦因数较稳定。在电化学的作用下烟炱颗粒在摩擦副表面形成固体膜,起到减摩抗磨的作用。     

Post-erosion mechanical responses of internally unstable gap-graded soil under drained torsional simple shear and triaxial compression

Internal erosion is a major threat to hydraulic earth structures, such as river levees and dams. This paper focuses on suffusion and suffosion phenomena which are caused by the movement of fine particles in the granular skeleton due to seepage flow. The present study investigates the impact of internal erosion on the dynamic response under cyclic torsional shear and monotonic responses under triaxial compression and torsional simple shear. A series of experiments, using a gap-graded silica mixture with a fines content of 20%, is performed under loose, medium, and dense conditions using a novel erosion hollow cylindrical torsional shear apparatus. The erosion test results indicate that the critical hydraulic gradient and the rate of erosion are density-dependent, where a transition from suffosion to suffusion is observed as the seepage continues. Regardless of the sample density, variations in the radial strain and particle size distribution, along the specimen height after erosion, are no longer uniform. Furthermore, the dynamic shearing results show that the small-strain shear modulus increases, but the initial damping ratio decreases after internal erosion, probably due to the removal of free fines. In addition, the elastic threshold strain and reference shear strain values are found to be higher for the eroded and non-eroded specimens, respectively. Finally, based on drained monotonic loading, the post-erosion peak stress ratio increases remarkably under triaxial compression, while that under torsional simple shear depends on the relative density where the direction of loading is normal to the direction of seepage. These observations indicate that the horizontal bedding plane becomes weaker, while the vertical one becomes stronger after downward erosion.     

核用2.25Cr-1Mo钢在不同环境下的微动磨损性能

目的 研究核用2.25Cr-1Mo钢在不同环境下的微动磨损性能。方法 采用自制的切向微动磨损试验设备,在4种环境(温室RT/大气、RT/水、450℃/大气和450℃/液态钠)下对2.25Cr-1Mo钢进行了切向微动磨损试验。试验参数为：法向载荷20 N,运动频率5 Hz,位移幅值50μm,循环次数10⁵和2×10⁵。试验前,采用维氏硬度仪测量了2.25Cr-1Mo钢在室温和450℃高温下的硬度。试验后,采用Bruker白光干涉显微镜测量了磨痕的三维形貌并获得了截面轮廓和磨损量。采用扫描电子显微镜(SEM)、能谱仪(EDS)分析磨痕表面和横截面的微观形貌以及摩擦化学反应。结果 2.25Cr-1Mo钢在不同环境下表现出不同的磨损性能。450℃液态钠环境下的磨损量最大,大于450℃和室温大气环境下的磨损量;室温水环境下的磨损最小。经过10⁵微动循环后,2.25Cr-1Mo钢在450℃液态钠和室温水环境下表现出最大和最小的磨损率,分别为4.17×10^-6 mm³/(N·m)和0.32×...     

错层结构扭转及地震反应分析

以错层住宅为研究对象,讨论了错层对结构的影响.在水平地震作用下,错层区域结构受力变得非常复杂.文中,对该类结构引起扭转振动因数和扭转效应进行分析,同时提出该种结构的地震反应分析计算方法.     

A study of elastic-plastic buckling of cylindrical shells under torsion

The elastic-plastic buckling of cylindrical shells under torsion is analysed with a deep thick-shell model under various boundary conditions. The word ‘deep’ means that in the general equations of equilibrium the three non-linear terms that involve the torsional force are all retained for the buckling analysis. In the Donnell-type shallow-shell theory, however, only one of such terms is retained. The word ‘thick’ means that in calculating strains and stress resultants the factor (1+z/R) is retained. This factor results from the trapezoid-like shape of the cross-section and is usually neglected in the thin-shell theory. For boundary conditions, not only the conventional geometrical boundary conditions, which are in terms of displacements and rotations, but also the mechanical boundary conditions, which are in terms of forces and moments, are considered. The numerical results of examples assess the effect of the additional non-linear terms, the effect of the factor (1+z/R), and the effect of the mechanical boundary conditions.     

Ti6Al4V 合金在Saline溶液中的扭动微动磨损

在球/面接触中存在四种微动模式,即切向、径向、转动和扭动微动,在生理介质中扭动微动是人工关节失效的主要原因之一。本文成功建立了一种可在恒温液体介质中实现球/面接触扭动微动的新的试验系统。利用该系统,在37℃的Saline溶液中进行了钛合金/二氧化锆陶瓷球的扭动微动试验,详细讨论了扭动微动的运行行为和损伤机理。结果表明,扭动微动动力学行为在很大程度上取决于扭动角位移振幅和周期数。研究建立了扭动微动运行工况图（RCFM）,包括3个区域,即：部分滑移区（PSR）,混合区（MFR）和完全滑移区（SR）。在部分滑移区,接触中心没有发现任何损伤,接触边缘上只观察到轻微的擦伤和磨损。在混合区,损坏区域从接触边缘向中心扩展,接触中心无损伤,接触边缘区域出现氧化磨损和损伤。在滑移区,整个接触区域均发生损伤,损伤机理主要是磨蚀磨损、氧化磨损、和粘着磨损。