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.     

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。     

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.     

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。     

基于激光多普勒效应的轴系振动综合测量

为了实现轴系的实时综合振动测量,提出了一种基于激光多普勒效应的能同时测量轴系弯曲振动与扭转振动的方法.设计了能分离轴系瞬时转速与其截面弯曲振动的多普勒外差干涉光路;针对弯扭振动特性搭建了相应地测试平台,并对贴在轴系上不同反光膜对多普勒频移影响进行了测试与对比,分析了微棱镜与玻璃微珠回归反射特性对轴系空间振动的影响;最后,在轴系表面采用回归反射强度特性显著的玻璃微珠反光膜,以削弱动态反射表面对多普勒效应的影响.针对数控立式铣床的切削转轴进行了相应的测量,结合设定的转速进行对比分析,结果表明:该原理可实现对轴系瞬时转速的波动与弯曲振动实时精确测量,其线速度的测量偏差小于±0.5 mm/s,可满足高速旋转状态下的轴系振动综合测量.     

Optimum design of mounting components of a mass property measurement system

Measurement of inertia properties of aerospace vehicle and submarine are vital to meet the intended motion objectives. The Moment of Inertia (MOI) is calculated by measuring the frequency of free torsional oscillation of the object mounted on a nearly friction less air bearing. For getting accurate measurement and to nullify the effect of undesired vibrations, the stiffness of the different components of the mounting and fixture (torsion rod, flexure) should be maintained appropriately. The optimum design of torsion rod and flexure is based on ensuring desired natural frequencies in different modes. Initiating with an analytical approach, the actual dimensions of the components are determined based on natural frequencies obtained by finite element analysis of the components. Simulated results are verified with experimental results.