Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
To determine the ultimate bearing capacity of foundations on sloping ground surface in practice, energy dissipation method was used to formulate the beating capacity as programming problem, and full-scale model experi...To determine the ultimate bearing capacity of foundations on sloping ground surface in practice, energy dissipation method was used to formulate the beating capacity as programming problem, and full-scale model experiments were investigated to analyze the performance of the soil slopes loaded by a strip footing in laboratory. The soil failure is governed by a linear Mohr-Coulomb yield criterion, and soil deformation follows an associated flow rule. Based on the energy dissipation method of plastic mechanics, a multi-wedge translational failure mechanism was employed to obtain the three bearing capacity factors related to cohesion, equivalent surcharge load and the unit gravity for various slope inclination angles. Numerical results were compared with those of the published solutions using finite element method and those of model experiments. The bearing capacity factors were presented in the form of design charts for practical use in engineering. The results show that limit analysis solutions approximate to those of model tests, and that the energy dissipation method is effective to estimate bearing capacity of soil slope.展开更多
This paper introduces a measuring method of early lateral energy fraction in the scale model experiments. According to the interference principle of half wave length making the high frequency figure-8 directional micr...This paper introduces a measuring method of early lateral energy fraction in the scale model experiments. According to the interference principle of half wave length making the high frequency figure-8 directional microphone. With the signal-processing technique, a receiving and analyzing system, for the measurements of lateral energy fraction in the scale model is realized.展开更多
Equipment systems-of-systems （SOS） effectiveness evaluation can provide important reference for construction and optimization of the equipment SoS. After discussing the basic theory and methods of parallel experimen...Equipment systems-of-systems （SOS） effectiveness evaluation can provide important reference for construction and optimization of the equipment SoS. After discussing the basic theory and methods of parallel experiments, we depict an SoS effectiveness analysis and evaluation method using parallel expe- riments theory in detail. A case study is carried out which takes the missile defense system as an example. An artificial system of the missile defense system is constructed with the multi-agent modeling method. Then, single factor, multiple factors and defense position deployment computational experiments are carried out and evaluated with the statistical analysis method. Experiment re- sults show that the altitude of the secondary interception missile is not the key factor which affects SoS effectiveness and putting the defense position ahead will increase defense effectiveness. The case study demonstrates the feasibility of the proposed method.展开更多
A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- ...A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.展开更多
In the process of thin-wall parts assembly for an antenna,the parts assembly deformation deviation is occurring due to the riveting assembly.In view of the riveting assembly deformation problems,it can be analyzed thr...In the process of thin-wall parts assembly for an antenna,the parts assembly deformation deviation is occurring due to the riveting assembly.In view of the riveting assembly deformation problems,it can be analyzed through transient and static simulation.In this work,the theoretical deformation model for riveting assembly is established with round head rivet.The simulation analysis for riveting deformation is carried out with the riveting assembly piece including four rivets,which comparing with the measuring points experiment results of riveting test piece through dealing with the experimental data using the point coordinate transform method and the space line fitting method.Simultaneously,the deformation deviation of the overall thin-wall parts assembly structure is analyzed through finite element simulation;and its results are verified by the measuring experiment for riveting assembly with the deformation deviation of some key points on the thin-wall parts.Through the comparison analysis,it is shown that the simulation results agree well with the experimental results,which proves the correctness and effectiveness of the theoretical analysis,simulation results and the given experiment data processing method.Through the study on the riveting assembly for thin-wall parts,it will provide a theoretical foundation for improving thin-wall parts assembly quality of large antenna in future.展开更多
In order to study the dynamic response of the rail embankment under different speeds and moving load of following vehicles,a model experiment with a ratio of 1:10 is established to test the time history of acceleratio...In order to study the dynamic response of the rail embankment under different speeds and moving load of following vehicles,a model experiment with a ratio of 1:10 is established to test the time history of acceleration and the earth pressure of the embankment at various train speeds.Using the ABAQUS finite element calculation software,a train load is applied through the FORTRAN subroutine,thereby establishing a three-dimensional finite element model with the same size as the model experiment.The data and conclusions of the finite element method model are verified by the model experiment.The model also makes some supplements to the model experiment.The experimental results show that with the increase of speed,the peak acceleration and earth pressure of the embankment also increase.By analyzing the experimental data,it can also be found that the vertical acceleration of the embankment is much greater than the axial acceleration and the lateral acceleration.In addition,the elastic modulus of the soil and the sleeper pitch also have some influence on the acceleration.展开更多
This article investigates the characteristics of shock wave overpressure generated by multi-layer composite charge under different detonation modes.Combining dimensional analysis and the explosion mechanism of the cha...This article investigates the characteristics of shock wave overpressure generated by multi-layer composite charge under different detonation modes.Combining dimensional analysis and the explosion mechanism of the charge,a peak overpressure prediction model for the composite charge under singlepoint detonation and simultaneous detonation was established.The effects of the charge structure and initiation method on the overpressure field characteristics were investigated in AUTODYN simulation.The accuracy of the prediction model and the reliability of the numerical simulation method were subsequently verified in a series of static explosion experiments.The results reveal that the mass of the inner charge was the key factor determining the peak overpressure of the composite charge under single-point detonation.The peak overpressure in the radial direction improved apparently with an increase in the aspect ratio of the charge.The overpressure curves in the axial direction exhibited a multi-peak phenomenon,and the secondary peak overpressure even exceeded the primary peak at distances of 30D and 40D(where D is the charge diameter).The difference in peak overpressure among azimuth angles of 0-90°gradually decreased with an increase in the propagation distance of the shock wave.The coupled effect of the detonation energy of the inner and outer charge under simultaneous detonation improved the overpressure in both radial and axial directions.The difference in peak overpressure obtained from model prediction and experimental measurements was less than 16.4%.展开更多
In order to study the mechanism of the vortex generation at the bottom of the pump sump below the flare tube,twenty pressure pulsation monitoring points were arranged at the bottom of the pump sump below the flare tub...In order to study the mechanism of the vortex generation at the bottom of the pump sump below the flare tube,twenty pressure pulsation monitoring points were arranged at the bottom of the pump sump below the flare tube,and the pressure fluctuation experiments were carried out under different flow conditions.The experimental results show that the frequency of pressure fluctuation at the bottom of the pump sump is twice of the rotational frequency of the impeller blade.The vortex below the flare tube is easy to generate under the large flow conditions and mainly concentrates at the right front position below the flare tube.The position of the vortex occurring is corresponding to the position of the low-pressure region below flare tube.展开更多
Taking CL-20(Hexanitrohexaazaisowurtzitane)-based aluminized explosives with high gurney energy as the research object, this research experimentally investigates the work capability of different aluminized explosive f...Taking CL-20(Hexanitrohexaazaisowurtzitane)-based aluminized explosives with high gurney energy as the research object, this research experimentally investigates the work capability of different aluminized explosive formulations when driving metal flyer plates in the denotation wave propagation direction.The research results showed that the formulations with 43 μm aluminum(Al) powder particles(The particle sizes of Al powder were in the range of 2~43 μm) exhibited the optimal performance in driving flyer plates along the denotation wave propagation direction. Compared to the formulations with Al powder 13 μm, the formulations with Al powder 2 μm delivered better performance in accelerating metal flyer plates in the early stage, which, however, turned to be poor in the later stage. The CL-20-based explosives containing 25% Al far under-performed those containing 15% Al. Based on the proposed quasi-isentropic hypothesis, relevant isentropy theories, and the functional relationship between detonation parameters and entropy as well as Al reaction degree, the characteristic lines of aluminized explosives in accelerating flyer plates were theoretically studied, a quasi-isentropic theoretical model for the aluminized explosive driving the flyer plate was built and the calculation methods for the variations of flyer plate velocity, Al reaction degree, and detonation product parameters with time and axial positions were developed. The theoretical model built is verified by the experimental results of the CL-20-based aluminized explosive driving flyer plate. It was found that the model built could accurately calculate the variations of flyer plate velocity and Al reaction degree over time. In addition, how physical parameters including detonation product pressure and temperature varied with time and axial positions was identified. The action time of the positive pressure after the detonation of aluminized explosives was found prolonged and the downtrend of the temperature was slowed down and even reversed to a slight rise due to the aftereffect reaction between the Al powder and the detonation products.展开更多
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金Project(50408020) supported by the National Natural Science Foundation of Chinaproject(05-0686) supported by the Program of New Century Excellent Talents in Universityproject(200550) supported by the Foundation for the Author of National Excellent Doctoral Dissertation of China
文摘To determine the ultimate bearing capacity of foundations on sloping ground surface in practice, energy dissipation method was used to formulate the beating capacity as programming problem, and full-scale model experiments were investigated to analyze the performance of the soil slopes loaded by a strip footing in laboratory. The soil failure is governed by a linear Mohr-Coulomb yield criterion, and soil deformation follows an associated flow rule. Based on the energy dissipation method of plastic mechanics, a multi-wedge translational failure mechanism was employed to obtain the three bearing capacity factors related to cohesion, equivalent surcharge load and the unit gravity for various slope inclination angles. Numerical results were compared with those of the published solutions using finite element method and those of model experiments. The bearing capacity factors were presented in the form of design charts for practical use in engineering. The results show that limit analysis solutions approximate to those of model tests, and that the energy dissipation method is effective to estimate bearing capacity of soil slope.
文摘This paper introduces a measuring method of early lateral energy fraction in the scale model experiments. According to the interference principle of half wave length making the high frequency figure-8 directional microphone. With the signal-processing technique, a receiving and analyzing system, for the measurements of lateral energy fraction in the scale model is realized.
文摘Equipment systems-of-systems （SOS） effectiveness evaluation can provide important reference for construction and optimization of the equipment SoS. After discussing the basic theory and methods of parallel experiments, we depict an SoS effectiveness analysis and evaluation method using parallel expe- riments theory in detail. A case study is carried out which takes the missile defense system as an example. An artificial system of the missile defense system is constructed with the multi-agent modeling method. Then, single factor, multiple factors and defense position deployment computational experiments are carried out and evaluated with the statistical analysis method. Experiment re- sults show that the altitude of the secondary interception missile is not the key factor which affects SoS effectiveness and putting the defense position ahead will increase defense effectiveness. The case study demonstrates the feasibility of the proposed method.
文摘A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.
基金Project(51675100)supported by the National Natural Science Foundation of ChinaProject(2016ZX04004008)supported by the National Numerical Control Equipment Major Project of ChinaProject(6902002116)supported by the Foundation of Certain Ministry of China
文摘In the process of thin-wall parts assembly for an antenna,the parts assembly deformation deviation is occurring due to the riveting assembly.In view of the riveting assembly deformation problems,it can be analyzed through transient and static simulation.In this work,the theoretical deformation model for riveting assembly is established with round head rivet.The simulation analysis for riveting deformation is carried out with the riveting assembly piece including four rivets,which comparing with the measuring points experiment results of riveting test piece through dealing with the experimental data using the point coordinate transform method and the space line fitting method.Simultaneously,the deformation deviation of the overall thin-wall parts assembly structure is analyzed through finite element simulation;and its results are verified by the measuring experiment for riveting assembly with the deformation deviation of some key points on the thin-wall parts.Through the comparison analysis,it is shown that the simulation results agree well with the experimental results,which proves the correctness and effectiveness of the theoretical analysis,simulation results and the given experiment data processing method.Through the study on the riveting assembly for thin-wall parts,it will provide a theoretical foundation for improving thin-wall parts assembly quality of large antenna in future.
基金Project(2018YFE0207100)supported by the National Key R&D Program of ChinaProject(52078426)supported by the National Natural Science Fundation of China+4 种基金Projects(2020YJ0253,2020YFSY0060,2019JDRC0133,2019JDRC0134)supported by the Sichuan Provincial Science and Technology Support Project,ChinaProject(K2019G009)supported by the Science and Technology Research and Development Plan of China National Railway Corporation LimitedProjects(SY2016G003,N2020T004)supported by the China National Railway Group Co.Ltd.Scientific Research ProjectProject(LNTCCMA-20210109)supported by the Key Laboratory of New Technology for Construction of Cities in Mountain Area,ChinaProject(2021M692689)supported by the China Postdoctoral Science Foundation。
文摘In order to study the dynamic response of the rail embankment under different speeds and moving load of following vehicles,a model experiment with a ratio of 1:10 is established to test the time history of acceleration and the earth pressure of the embankment at various train speeds.Using the ABAQUS finite element calculation software,a train load is applied through the FORTRAN subroutine,thereby establishing a three-dimensional finite element model with the same size as the model experiment.The data and conclusions of the finite element method model are verified by the model experiment.The model also makes some supplements to the model experiment.The experimental results show that with the increase of speed,the peak acceleration and earth pressure of the embankment also increase.By analyzing the experimental data,it can also be found that the vertical acceleration of the embankment is much greater than the axial acceleration and the lateral acceleration.In addition,the elastic modulus of the soil and the sleeper pitch also have some influence on the acceleration.
基金funded by the National Natural Science Foundation of China(Grant No.11972018,No.12002336)China Postdoctoral Science Foundation(Grant No.2021M701710)。
文摘This article investigates the characteristics of shock wave overpressure generated by multi-layer composite charge under different detonation modes.Combining dimensional analysis and the explosion mechanism of the charge,a peak overpressure prediction model for the composite charge under singlepoint detonation and simultaneous detonation was established.The effects of the charge structure and initiation method on the overpressure field characteristics were investigated in AUTODYN simulation.The accuracy of the prediction model and the reliability of the numerical simulation method were subsequently verified in a series of static explosion experiments.The results reveal that the mass of the inner charge was the key factor determining the peak overpressure of the composite charge under single-point detonation.The peak overpressure in the radial direction improved apparently with an increase in the aspect ratio of the charge.The overpressure curves in the axial direction exhibited a multi-peak phenomenon,and the secondary peak overpressure even exceeded the primary peak at distances of 30D and 40D(where D is the charge diameter).The difference in peak overpressure among azimuth angles of 0-90°gradually decreased with an increase in the propagation distance of the shock wave.The coupled effect of the detonation energy of the inner and outer charge under simultaneous detonation improved the overpressure in both radial and axial directions.The difference in peak overpressure obtained from model prediction and experimental measurements was less than 16.4%.
基金China Nature Science Funds(51279173)“The 12th Five-year”Key Project of National Science and Technology Support Plan(2015BAD20B01)Jiangsu Water Conservancy Science and Technology Project(2017031)
文摘In order to study the mechanism of the vortex generation at the bottom of the pump sump below the flare tube,twenty pressure pulsation monitoring points were arranged at the bottom of the pump sump below the flare tube,and the pressure fluctuation experiments were carried out under different flow conditions.The experimental results show that the frequency of pressure fluctuation at the bottom of the pump sump is twice of the rotational frequency of the impeller blade.The vortex below the flare tube is easy to generate under the large flow conditions and mainly concentrates at the right front position below the flare tube.The position of the vortex occurring is corresponding to the position of the low-pressure region below flare tube.
基金National Natural Science Foundation of China(Grant No.11872120).
文摘Taking CL-20(Hexanitrohexaazaisowurtzitane)-based aluminized explosives with high gurney energy as the research object, this research experimentally investigates the work capability of different aluminized explosive formulations when driving metal flyer plates in the denotation wave propagation direction.The research results showed that the formulations with 43 μm aluminum(Al) powder particles(The particle sizes of Al powder were in the range of 2~43 μm) exhibited the optimal performance in driving flyer plates along the denotation wave propagation direction. Compared to the formulations with Al powder 13 μm, the formulations with Al powder 2 μm delivered better performance in accelerating metal flyer plates in the early stage, which, however, turned to be poor in the later stage. The CL-20-based explosives containing 25% Al far under-performed those containing 15% Al. Based on the proposed quasi-isentropic hypothesis, relevant isentropy theories, and the functional relationship between detonation parameters and entropy as well as Al reaction degree, the characteristic lines of aluminized explosives in accelerating flyer plates were theoretically studied, a quasi-isentropic theoretical model for the aluminized explosive driving the flyer plate was built and the calculation methods for the variations of flyer plate velocity, Al reaction degree, and detonation product parameters with time and axial positions were developed. The theoretical model built is verified by the experimental results of the CL-20-based aluminized explosive driving flyer plate. It was found that the model built could accurately calculate the variations of flyer plate velocity and Al reaction degree over time. In addition, how physical parameters including detonation product pressure and temperature varied with time and axial positions was identified. The action time of the positive pressure after the detonation of aluminized explosives was found prolonged and the downtrend of the temperature was slowed down and even reversed to a slight rise due to the aftereffect reaction between the Al powder and the detonation products.
