Robust multi-objective and multi-level optimization of complex mechanical structures

This paper presents a new approach to robust multi-objective and multi-level optimization of the design of complex mechanical structures. The optimization is at two levels: system and elements. At system-level, the robust multi-objective problem has four cost functions: on the one hand the minimization of the global mass and displacement at a fixed point of the mechanical structure, and on the other hand the maximization of both the robustness and the displacement of the mass. At element-level the robust multi-objective problem has two cost functions: minimization of the element mass and maximization of its robustness. A robust condensation technique, based on an enriched Karhunen-Loève condensation, is used for complex structures which require a large finite element model. In contrast to existing formulations, this new approach takes into account uncertainties in the design parameters at system-level and element-level. It also allows for the task sharing which is commonly used in structural engineering.     

基于ADAMS的钢板弹簧多柔体建模及动特性仿真研究

钢板弹簧是悬架中力学性能比较复杂的构件,既是弹性元件,又是传递纵向、侧向地面作用力的传力元件,因此精确建立钢板弹簧模型是构造车辆多体模型的一大难点。根据钢板弹簧的结构和受载特点,考虑其工作过程中的大变形、片间摩擦迟滞性及非线性接触等因素,在ADAMS中精确建立了钢板弹簧的多柔体动力学模型。利用ADAMS软件对其进行动特性仿真,仿真分析的结果与试验数据对比,验证了模型是正确的。     

INVESTIGATION INTO EFFECT OF SPRING PRESSURE ON PERFORMANCE OF BALANCED MECHANICAL SEALS

The loads acting on the sealing elements of balanced mechanical seals are analyzed. When the balance factor approaches the back pressure factor, the spring pressure will become main part of the face pressure. The leakage model of balanced mechanical seals is established on the base of M-B model for rough surface. Several GY-70 type balanced mechanical seals are tested. The influences of the spring pressure both on the leakage rate and on the friction characteristic of balanced mechanical seals are investigated. The research results indicate that as spring pressure increases, both the clear-ance between two end faces and the leakage rate will decrease, and the friction will be more serious because lubrication medium between the rotating ring and the stationary ring reduces, though the increase of the spring pressure may not be enough to change the face friction state of mechanical seals. There exists an optimum spring pressure for mechanical seal operation. Under this spring pres-sure, not only leakage rate is small, but also the seal end surfaces have a fine friction characteristic. Under different operating conditions, identical type mechanical seals may possess different spring pressure. Appropriate selection of spring pressure is valuable to realize long-period and small leakage rate operating of balanced mechanical seals.     

Swing-attenuation for a quadrotor transporting a cable-suspended payload

This paper presents the problem of safe and fast transportation of packages by an Unmanned Aerial Vehicle (UAV) kind quadrotor. A mathematical model and a control strategy for a special class of underactuated mechanical systems, composed of a quadrotor transporting a cable-suspended payload, are proposed. The Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. Two cases are considered to obtain two different control laws, in the first case, the designed control law depends on the swing angle of the payload, in the second case the control law does not depend on it. The control objective is to transport the payload from point to point, with swing reduction along trajectory. Experimental results using monocular vision based navigation are shown to evaluate the proposed control law.     

弹簧比压对机械密封性能影响的分形分析

在考虑磨损引起端面表面形貌变化的基础上,引入分形理论分析了弹簧比压对平衡型机械密封泄漏率和端面摩擦特性的影响,并针对GY-70平衡型机械密封进行了试验研究。理论分析和试验结果表明,尽管弹簧比压的变化有时不足以改变机械密封的端面摩擦状态,但随着弹簧比压的增大,摩擦副之间的润滑介质已相对减少,端面摩擦特性逐渐恶化。机械密封存在一最佳弹簧比压,不同的工况条件下,最佳弹簧比压是不相同的。正确选择弹簧比压是实现机械密封长寿命低泄漏率的关键。     

O形线性缓冲器有限元分析与应用

针对一类无法使用液压或橡胶缓冲器的机械冲击场合,提出采用一种线性特性好、体积小、刚度高并且结构简单的O形弹簧代替普通机械弹簧做缓冲器.分析缓冲器机构的动力学模型,并就O形弹簧与普通圆柱螺旋弹簧、碟形弹簧的性能进行对比分析.结果表明,O形弹簧具有体积小刚度大的特点.建立O形缓冲器有限元力学分析模型,对不同几何尺寸的缓冲器的静载强度和屈服极限进行数值分析,并使用TableCurve 3D软件对结果做数值分析,得出缓冲器几何尺寸与弹簧刚度之间的关系.结果表明,增加O形线性缓冲器刚度的最有效方法是增加缓冲器壁厚,而不是增加缓冲器宽度或减少缓冲器外直径.对比有限元仿真结果与试验结果,两者吻合较好,证明了有限元方法的有效性.     

Study on the energy dissipation mechanism of atomic-scale friction with composite oscillator model

A model called composite oscillator model is proposed for studying energy dissipation mechanism of atomic-scale wearless friction. The model consists of the whole macroscopic oscillator and the micro oscillators of interfacial atoms. The different influences of the two oscillators on the energy dissipation process of friction are discussed. It is found that the frequency of the interfacial exciting force is the key factor to energy conversion in the friction process by analyzing the dynamics characteristic of interfacial atoms. In the equilibrium stage, the interfacial force acts integrally and uniformly on each atom because its frequency is near zero. In the non-equilibrium stage, however, the distribution of energy received by the interfacial atoms is non-uniform because the frequency of the interfacial acting force is very high. Therefore, the extra energy may be easily transferred to the adjacent atoms to have the energy dissipated. Then, the formulas are derived to calculate a frictional force. The calculated force is found to be close to the experimental one. The comparisons show that the composite oscillator model can explain energy dissipation mechanism in a frictional process and it can be used to control friction as well.     

Identification of micro-vibro-impacts at boundary condition of a nonlinear beam

Under high amplitude vibrations, contact interfaces experience micro-vibro-impacts and frictional slips. These nonlinear mechanisms can introduce response nonlinearity and energy dissipation into the structures containing them. Beams are widely used in engineering structures and almost in every application they are subjected to boundary conditions. Boundary conditions may contain nonlinear contact interfaces. Therefore, modeling accurately the micro-vibro-impacts and frictional slips developing at the boundary condition of a beam is important in structural dynamics. Ignoring this may result in major discrepancies between experimental observations and theoretical calculations. In this paper identification of micro-vibro-impacts and frictional slips at boundary condition of a nonlinear beam is considered. The structure, being modeled as an Euler-Bernoulli beam, is analyzed using nonlinear normal modes. A reduced-order model governing the dynamic response of the beam near its first resonant point is resulted from the analysis. Identification of the nonlinear boundary condition parameters can be performed by means of the reduced order model and using experimental results.     

Creating nanoscopic collagen matrices using atomic force microscopy

The atomic force microscope (AFM) is introduced as a biomolecular manipulation machine capable of assembling biological molecules into well-defined molecular structures. Native collagen molecules were mechanically directed into well-defined, two-dimensional templates exhibiting patterns with feature sizes ranging from a few nanometers to several hundreds of micrometers. The resulting nanostructured collagen matrices were only approximately 3-nm thick, exhibited an extreme mechanical stability, and maintained their properties over the time range of several months. Our results directly demonstrate the plasticity of biological assemblies and provide insight into the physical mechanisms by which biological structures may be organized by cells in vivo. These nanoscopic templates may serve as platforms on non-biological surfaces to direct molecular and cellular processes.     

基于ADAMS的下摆式递纸机构动力学仿真

利用机械系统动力学分析软件ADAMS，建立了下摆式递纸机构的虚拟样机模型，并进行了仿真分析。仿真分析结果可以判断该机构设计的合理性，也可在相同的时间内“试验”更多的设计方案，从而易于获得最优设计方案。     

仿真与实测多信息融合的机械结构外载荷反演技术

针对机械结构在复杂工况下载荷边界条件难以确定的问题,提出一种仿真与实测多信息融合的外载荷反演技术.首先建立待研究结构的有限元模型,在结构外载荷作用位置施加单位载荷,计算构件全场应变响应;然后基于D-最优设计原则得到应变测试的测点最佳布置方案和最优载荷系数矩阵,据此建立外载荷与应变间的动态响应关系;根据得到的测点布置方案...     

弹簧蓄能密封圈中蓄能弹簧的有限元计算及等效建模研究

弹簧蓄能密封圈是一种性能优良的密封装置,其中的蓄能弹簧可以为密封圈提供初始密封压力,起到辅助密封的作用。但目前对弹簧蓄能密封圈的研究多是在有限元软件中建立二维轴对称模型进行仿真实验,对蓄能弹簧的力学特性和建模计算方法的认识尚有不足。为实现不同结构的弹簧蓄能密封圈的参数化仿真设计,推导环形蓄能弹簧的空间曲线参数方程,建立双层螺旋蓄能弹簧的三维有限元模型,并仿真分析其力学特性。定义蓄能弹簧的内侧刚度和外侧刚度,研究弹簧不同结构参数对其刚度的影响。结果表明,弹簧的厚度和弹簧截面外径对刚度的影响较大,而弹簧中径和匝数对刚度影响可忽略不计。提出轴对称等效模型的建立原则,建立轴对称等效模型的经验公式,为弹簧蓄能密封圈的参数化仿真设计提供了参考。     

离合器操纵机构扭转弹簧参数优化

为了评估某品牌汽车离合器性能,构建了离合器系统台架测试平台,通过模拟离合器系统在整车上的安装状态进行测试,得到踏板特性曲线及相关试验数据。针对台架测试中出现最大踏板力过大、预紧力过小、踏板下降力过小等问题,对离合器操纵机构进行力学建模,并分析影响离合器性能的相关因素。从工程实用的角度提出优化扭转弹簧的结构参数来改变踏板力学特性,保证离合器系统满足性能要求。对扭转弹簧进行运动分析并建立其力学模型,以扭转弹簧能够达到最大助力效果为原则,优化扭转弹簧安装角度;根据离合器设计约束条件,以扭转弹簧疲劳安全系数最大为目标函数,优化弹簧线径、中径、臂长和圈数等参数。将改进后的扭转弹簧重新装入踏板总成,通过测试平台验证了优化方案的可行性和合理性。     

双质量块调谐输出式硅MEMS陀螺仪

硅MEMS陀螺仪成本低、体积小、功耗低,是微小型无人系统及制导武器的核心惯性器件,本文提出一种双质量块调谐输出式硅MEMS陀螺仪,采用两块反相、同频、等幅振动质量块作为敏感单元,通过测量谐振器谐振频率变化来计算转速的大小,通过动力学分析,推导了哥氏力与输入转速的传递函数,用瑞利－里茨法求得在轴向力作用下梁的固有频率方程,利用马蒂厄方程分析了双端音叉谐振器的运动数学表达式及陀螺仪标度因数方程。最后利用ANSYS有限元软件对谐振器进行了稳定性及有预载荷的模态分析,验证了理论推导的正确性。该陀螺仪通过端部支撑结构将两质量块的振动能量相互抵消,减少了振动噪声及能量损耗,利用杠杆反相差分效应,消除了外界加速度引起的误差。     

Research of design and analysis integrated information modeling framework for multibody mechanical system: with its application in the LHD design

Many complex mechanical products can be considered as multibody systems; 3D computer-aided design (CAD), multibody dynamics, finite element-based strength and fatigue analyses, optimization, and other CAE tools, are often used to develop this kind of product. But design is difficult and challenging because of information inconsistence among different engineering domains, and isolated information model islands exist. Lots of research are attracted to design and analysis information integration, but attentions are mainly focused on integration of CAD–finite element analysis (FEA), supporting the bottom-up design principle, while multibody dynamics analysis for analyzing global performance of a mechanical system is rarely considered, which follows the top-down design principle. In this paper, a novel multilevel system representation modeling framework for supporting both bottom-up and top-down or mixed design methods is proposed. It can integrate the product design CAD models with multibody dynamics, finite element-based strength and fatigue analyses, realizing a CAD–dynamic–FEA–fatigue analysis integration. It can also support data exchange and transfer in multidomain analyses. The framework is illustrated with a case study of a load haul dump (LHD) design using currently available software tools. Furthermore, a design case study of the working unit of the LHD is given to highlight the applicability of the modeling framework for multibody mechanical systems. It has been demonstrated that the framework can describe information exchanging and integration among CAD, FEA-based strength and fatigue analyses, and multibody dynamics analysis during a multibody mechanical product design process.     

Time-dependent characteristics of the nonequilibrium condensation in subsonic flows

High-speed moist air or steam flow has long been of important subject in engineering and industrial applications. Of many complicated gas dynamics problems involved in moist air flows, the most challenging task is to understand the nonequilibrium condensation phenomenon when the moist air rapidly expands through a flow device. Many theoretical and experimental studies using supersonic wind tunnels have devoted to the understanding of the nonequilibrium condensation flow physics so far. However, the nonequilibrium condensation can be also generated in the subsonic flows induced by the unsteady expansion waves in shock tube. The major flow physics of the nonequilibrium condensation in this application may be different from those obtained in the supersonic wind tunnels. In the current study, the nonequilibrium condensation phenomenon caused by the unsteady expansion waves in a shock tube is analyzed by using the two-dimensional, unsteady, Navier-Stokes equations, which are fully coupled with a droplet growth equation. The third-order TVD MUSCL scheme is applied to solve the governing equation systems. The computational results are compared with the previous experimental data. The time-dependent behavior of nonequilibrium condensation of moist air in shock tube is investigated in details. The results show that the major characteristics of the nonequilibrium condensation phenomenon in shock tube are very different from those in the supersonic wind tunnels.     

Study of moist air flow through the ludwieg tube

The time-dependent behavior of unsteady condensation of moist air through the Ludwieg tube is investigated by using a computational fluid dynamics (CFD) work. The twodimensional, compressible, Navier-Stokes equations, fully coupled with the condensate droplet growth equations, are numerically solved by a third-order MUSCL type TVD finite-difference scheme, with a second-order fractional time step. Baldwin-Lomax turbulence model is employed to close the governing equations. The predicted results are compared with the previous experiments using the Ludwieg tube with a diaphragm downstream. The present computations represent the experimental flows well. The time-dependent unsteady condensation charac-teristics are discussed based upon the present predicted results. The results obtained clearly show that for an initial relative humidity below 30% there is no periodic oscillation of the condensation shock wave, but for an initial relative humidity over 40% the periodic excursions of the condensation shock occurs in the Ludwieg tube, and the frequency increases with the initial relative humidity. It is also found that total pressure loss due to unsteady condensation in the Ludwieg tube should not be ignored even for a very low initial relative humidity and it results from the periodic excursions of the condensation shock wave.     

Hydrogen exchange mass spectrometry for the analysis of protein dynamics

Hydrogen exchange coupled to mass spectrometry (MS) has become a valuable analytical tool for the study of protein dynamics. By combining information about protein dynamics with more classical functional data, a more thorough understanding of protein function can be obtained. In many cases, protein dynamics are directly related to specific protein functions such as conformational changes during enzyme activation or protein movements during binding. The method is made possible because labile backbone hydrogens in a protein will exchange with deuterium atoms when the protein is placed in a D2O solution. The subsequent increase in protein mass over time is measured with high-resolution MS. The location of the deuterium incorporation is determined by monitoring deuterium incorporation in peptic fragments that are produced after the labeling reaction. In this review, we will summarize the general principles of the method, discuss the latest variations on the experimental protocol that probe different types of protein movements, and review other recent work and improvements in the field.     

基于曲柄滑块机构变刚度关节的设计与分析

为了解决人机交互中的物理接触带来的刚性碰撞和安全隐患问题,以机器人关节模块为出发点,提出了一种新型变刚度关节。设计了变刚度关节的曲柄滑块刚度调节机构,分析了变刚度原理,建立了数学模型,搭建了样机,分别就关节刚度与关节偏转角度、板簧有效长度、调节机构输入角等参数关系进行了实验分析。实验证明,该方案可实现关节刚度的调节。     

弹性约束下颗粒碰撞阻尼器的理论与实验研究

为进一步研究弹性约束颗粒碰撞阻尼器的减振性能,提出了该阻尼系统的动力学模型,并模拟了该阻尼器对悬臂梁的减振效果。同时,对5种不同刚度的弹性约束颗粒碰撞阻尼器的减振效果进行了实验研究。结果表明：理论计算与实验的结果基本吻合,证明所建立的弹性约束下的颗粒碰撞阻尼系统的计算模型是可靠的;在弹性约束下的颗粒碰撞阻尼系统中,其刚度比对减振效果的影响是非线性的,且弹簧刚度对该碰撞系统的共振点存在影响。