A large caliber howitzer is a complex and cumbersome assembly. Understanding its dynamics and performance attributes' sensitivity to changes in its design parameters can be a very time-consuming and expensive exer...A large caliber howitzer is a complex and cumbersome assembly. Understanding its dynamics and performance attributes' sensitivity to changes in its design parameters can be a very time-consuming and expensive exercise, as such an effort requires highly sophisticated test rigs and platforms. However, the need of such an understanding is crucially important for system designers, users, and evaluators. Some of the key performance attributes of such a system are its vertical jump, forward motion, recoil displacement, and force transmitted to ground through tires and trail after the gun has been fired. In this work, we have developed a rigid body dynamics model for a representative howitzer system, and used relatively simple experimental procedures to estimate its principal design parameters. Such procedures can help in obviating the need of expensive experimental rigs, especially in early stages of the design cycle. These parameters were subsequently incorporated into our simulation model,which was then used to predict gun performance. Finally, we conducted several sensitivity studies to understand the influence of changes in various design parameters on system performance. Their results provide useful insights in our understanding of the functioning of the overall system.展开更多
As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general par...As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.展开更多
Conventional no-till seeders should cut or remove crop straw and residue,when in operation and thus present a number of problems,including high performance requirements for the cutting component,high power consumption...Conventional no-till seeders should cut or remove crop straw and residue,when in operation and thus present a number of problems,including high performance requirements for the cutting component,high power consumption,dust raising and interference from intertwined straw.In view of this,in this study,a driving roller dibbling-type no-till seeding and hole-forming(DGR-NT-SHF)system was designed to be capable of penetrating soil and creating holes without requiring any special preparation of the surface covering.The core mechanism of this system consisted of a land wheel-driven driving roller and a duckbill-type roller seeder,which were internally tangent to one another.The rotating roller rolled the straw into a thin layer,and the duckbills extended from the roller and penetrated this thin layer of straw and subsequently formed the holes and planted the seeds.Based on kinematic analysis,a mathematical model was established to depict the relations between the rear angle of the duckbill(α),the front angle of the duckbill(β),the angular velocity of the duckbill-type roller seeder(ω0),the angular velocity of the roller(ω1),and the aperture of the duckbill outlet on the roller(θ).In contrast to a driven roller-type no-till seeding and hole-forming DNR-NT-SHF system,several parameters of the DGR-NT-SHF system were established for planting seeds at a plant spacing that was an integral multiple of 100 mm:the radius of the duckbill-type roller seeder,200 mm;radius of the roller,400 mm;α,23°;andβ,5°.Based on the analysis of the models using the MATLAB Image Processing Module with a relation betweenω1 and the number of outlets on the roller as the constraint,the optimal number of outlets on the roller and theω1/ω0 ratio were determined to be 21 and 4/7,respectively.Kinematic simulation on a digital prototype was performed using computer aided three-dimensional interactive application(CATIA)to observe the motion of the DGR-NT-SHF system,when the duckbills on the duckbill-type roller seeder were open and to determine the locations of the duckbills relative to the outlets.To ensure the duckbills could be successfully opened,the chord length of the outlets was ultimately determined to be 71 mm.The prototype test results showed that the DGR-NT-SHF system met the design requirements and that the operation was straightforward and reliable.In addition,compared to the DNR-NT-SHF system,the DGR-NT-SHF system performed better in penetration and exerted no impact on the duckbills,thus providing an effective technical option for no-till seeding.展开更多
Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network mode...Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network model and measured data,a 3-D fracture network dynamic modeling method based on error analysis was proposed.Firstly,errors of four fracture volume density estimation methods(proposed by ODA,KULATILAKE,MAULDON,and SONG)and that of four fracture size estimation methods(proposed by EINSTEIN,SONG and TONON)were respectively compared,and the optimal methods were determined.Additionally,error index representing the deviation between fracture network model and measured data was established with integrated use of fractal dimension and relative absolute error(RAE).On this basis,the downhill simplex method was used to build the dynamic modeling method,which takes the minimum of error index as objective function and dynamically adjusts the fracture density and size parameters to correct the error index.Finally,the 3-D fracture network model could be obtained which meets the requirements.The proposed method was applied for 3-D fractures simulation in Miao Wei hydropower project in China for feasibility verification and the error index reduced from 2.618 to 0.337.展开更多
Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The ...Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.展开更多
文摘A large caliber howitzer is a complex and cumbersome assembly. Understanding its dynamics and performance attributes' sensitivity to changes in its design parameters can be a very time-consuming and expensive exercise, as such an effort requires highly sophisticated test rigs and platforms. However, the need of such an understanding is crucially important for system designers, users, and evaluators. Some of the key performance attributes of such a system are its vertical jump, forward motion, recoil displacement, and force transmitted to ground through tires and trail after the gun has been fired. In this work, we have developed a rigid body dynamics model for a representative howitzer system, and used relatively simple experimental procedures to estimate its principal design parameters. Such procedures can help in obviating the need of expensive experimental rigs, especially in early stages of the design cycle. These parameters were subsequently incorporated into our simulation model,which was then used to predict gun performance. Finally, we conducted several sensitivity studies to understand the influence of changes in various design parameters on system performance. Their results provide useful insights in our understanding of the functioning of the overall system.
基金supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 52075467)the Natural Science Foundation of Hebei Province of China(Grant No.E2021203109)+1 种基金the State Key Laboratory of Robotics and Systems(HIT)(Grant No.SKLRS-2021-KF-15)the Industrial Robot Control and Reliability Technology Innovation Center of Hebei Province(Grant No.JXKF2105).
文摘As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.
基金Foundation Item：National Science Foundation （DMS 1025417）, Desert Research Institute （IR＆ D）Acknowledgments： This paper does not necessarily reflect the view of the NSF or DRI.
基金Supported by the Postdoctoral Scientific Research Developmental Fund of Heilongjiang Province(LBH-Q14024)
文摘Conventional no-till seeders should cut or remove crop straw and residue,when in operation and thus present a number of problems,including high performance requirements for the cutting component,high power consumption,dust raising and interference from intertwined straw.In view of this,in this study,a driving roller dibbling-type no-till seeding and hole-forming(DGR-NT-SHF)system was designed to be capable of penetrating soil and creating holes without requiring any special preparation of the surface covering.The core mechanism of this system consisted of a land wheel-driven driving roller and a duckbill-type roller seeder,which were internally tangent to one another.The rotating roller rolled the straw into a thin layer,and the duckbills extended from the roller and penetrated this thin layer of straw and subsequently formed the holes and planted the seeds.Based on kinematic analysis,a mathematical model was established to depict the relations between the rear angle of the duckbill(α),the front angle of the duckbill(β),the angular velocity of the duckbill-type roller seeder(ω0),the angular velocity of the roller(ω1),and the aperture of the duckbill outlet on the roller(θ).In contrast to a driven roller-type no-till seeding and hole-forming DNR-NT-SHF system,several parameters of the DGR-NT-SHF system were established for planting seeds at a plant spacing that was an integral multiple of 100 mm:the radius of the duckbill-type roller seeder,200 mm;radius of the roller,400 mm;α,23°;andβ,5°.Based on the analysis of the models using the MATLAB Image Processing Module with a relation betweenω1 and the number of outlets on the roller as the constraint,the optimal number of outlets on the roller and theω1/ω0 ratio were determined to be 21 and 4/7,respectively.Kinematic simulation on a digital prototype was performed using computer aided three-dimensional interactive application(CATIA)to observe the motion of the DGR-NT-SHF system,when the duckbills on the duckbill-type roller seeder were open and to determine the locations of the duckbills relative to the outlets.To ensure the duckbills could be successfully opened,the chord length of the outlets was ultimately determined to be 71 mm.The prototype test results showed that the DGR-NT-SHF system met the design requirements and that the operation was straightforward and reliable.In addition,compared to the DNR-NT-SHF system,the DGR-NT-SHF system performed better in penetration and exerted no impact on the duckbills,thus providing an effective technical option for no-till seeding.
基金Project(51321065)supported by the Innovative Research Groups of the National Natural Science Foundation of ChinaProject(2013CB035904)supported by the National Basic Research Program of China(973 Program)Project(51439005)supported by the National Natural Science Foundation of China
文摘Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network model and measured data,a 3-D fracture network dynamic modeling method based on error analysis was proposed.Firstly,errors of four fracture volume density estimation methods(proposed by ODA,KULATILAKE,MAULDON,and SONG)and that of four fracture size estimation methods(proposed by EINSTEIN,SONG and TONON)were respectively compared,and the optimal methods were determined.Additionally,error index representing the deviation between fracture network model and measured data was established with integrated use of fractal dimension and relative absolute error(RAE).On this basis,the downhill simplex method was used to build the dynamic modeling method,which takes the minimum of error index as objective function and dynamically adjusts the fracture density and size parameters to correct the error index.Finally,the 3-D fracture network model could be obtained which meets the requirements.The proposed method was applied for 3-D fractures simulation in Miao Wei hydropower project in China for feasibility verification and the error index reduced from 2.618 to 0.337.
文摘Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.
