Understanding the physical,mechanical behavior,and seepage characteristics of coal under hydro-mechanical coupling holds significant importance for ensuring the stability of surrounding rock formations and preventing ...Understanding the physical,mechanical behavior,and seepage characteristics of coal under hydro-mechanical coupling holds significant importance for ensuring the stability of surrounding rock formations and preventing gas outbursts.Scanning electron microscopy,uniaxial tests,and triaxial tests were conducted to comprehensively analyze the macroscopic and microscopic physical and mechanical characteristics of coal under different soaking times.Moreover,by restoring the stress path and water injection conditions of the protective layer indoors,we explored the coal mining dynamic behavior and the evolution of permeability.The results show that water causes the micro-surface of coal to peel off and cracks to expand and develop.With the increase of soaking time,the uniaxial and triaxial strengths were gradually decreased with nonlinear trend,and decreased by 63.31%and 30.95%after soaking for 240 h,respectively.Under different water injection pressure conditions,coal permeability undergoes three stages during the mining loading process and ultimately increases to higher values.The peak stress of coal,the deviatoric stress and strain at the permeability surge point all decrease with increasing water injection pressure.The results of this research can help improve the understanding of the coal mechanical properties and seepage evolution law under hydro-mechanical coupling.展开更多
A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to cons...A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.展开更多
基金Project(52225403)supported by the National Natural Science Foundation of ChinaProject(2023YFF0615401)supported by the National Key Research and Development Program of China+1 种基金Projects(2023NSFSC0004,2023NSFSC0790)supported by Science and Technology Program of Sichuan Province,ChinaProject(2021-CMCUKFZD001)supported by the Open Fund of State Key Laboratory of Coal Mining and Clean Utilization,China。
文摘Understanding the physical,mechanical behavior,and seepage characteristics of coal under hydro-mechanical coupling holds significant importance for ensuring the stability of surrounding rock formations and preventing gas outbursts.Scanning electron microscopy,uniaxial tests,and triaxial tests were conducted to comprehensively analyze the macroscopic and microscopic physical and mechanical characteristics of coal under different soaking times.Moreover,by restoring the stress path and water injection conditions of the protective layer indoors,we explored the coal mining dynamic behavior and the evolution of permeability.The results show that water causes the micro-surface of coal to peel off and cracks to expand and develop.With the increase of soaking time,the uniaxial and triaxial strengths were gradually decreased with nonlinear trend,and decreased by 63.31%and 30.95%after soaking for 240 h,respectively.Under different water injection pressure conditions,coal permeability undergoes three stages during the mining loading process and ultimately increases to higher values.The peak stress of coal,the deviatoric stress and strain at the permeability surge point all decrease with increasing water injection pressure.The results of this research can help improve the understanding of the coal mechanical properties and seepage evolution law under hydro-mechanical coupling.
文摘A 6-DOF micro-manipulation robot based on a 3-PPTTRS mechanism is proposed in this paper.Its static stiffness is an important index to evaluate load capacity and positioning accuracy.However,it is insufficient to consider the static stiffness only when the robot is in its initial pose.The stiffness in different positions and poses in its work space must be analyzed also.Thus a method to analyze the relationship between static stiffness and poses in the whole work space is presented.A static stiffness model is proposed first,and the relationship between structural parameters and static stiffness in different poses is discussed.The static stiffness analysis provides foundation for structural parameter design.
