The complex geometrical features of mechanical components significantly influence contact interactions and system dynamics.However,directly modeling contact forces on surfaces with intricate geometries presents consid...The complex geometrical features of mechanical components significantly influence contact interactions and system dynamics.However,directly modeling contact forces on surfaces with intricate geometries presents considerable challenges.This study focuses on the helically twisted wire rope-sheave contact and proposes a contact force model that incorporates complex geometric features through a parameter identification approach.The model's impact on contact forces and system dynamics is thoroughly investigated.Leveraging a point contact model and an elliptic integral approximation,a loss function is formulated using the finite element(FE)contact model results as the reference data.Geometric parameters are subsequently determined by optimizing this loss function via a genetic algorithm(GA).The findings reveal that the contact stiffness increases with the wire rope pitch length,the radius of principal curvature,and the elliptic eccentricity of the contact zone.The proposed contact force model is integrated into a rigid-flexible coupled dynamics model,developed by the absolute node coordinate formulation,to examine the effects of contact geometry on system dynamics.The results demonstrate that the variations in wire rope geometry alter the contact stiffness,which in turn affects dynamic rope tension through frictional energy dissipation.The enhanced model's predictions exhibit superior alignment with the experimental data,thereby validating the methodology.This approach provides new insights for deducing the contact geometry from kinetic parameters and monitoring the performance degradation of mechanical components.展开更多
This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails.The proposed approach aims to improve the Force Angle Stability...This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails.The proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various terrains.The foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization methods.By formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this issue.Simulations of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization approach.The results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion stability.In summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.展开更多
The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process o...The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process of collision that often occurs in gear system. Focus on the contact-impact events, this paper proposes an improved gear contact force model for dynamic analysis in helical gear transmission system. In this model, a new factor associated with hysteresis damping is developed for contact-impact state, whereas the traditional linear damping factor is utilized for normal meshing state. For determining the selection strategy of these two damping factors, the fundamental contact mechanics of contact-impact event a ected by supporting forces are analyzed. During this analysis, an e ect factor is proposed for evaluating the influence of supporting forces on collision. Meanwhile, a new restitution of coe cient is deduced for calculating hysteresis damping factor, which suitable for both separation and non-separation states at the end of collision. In addition, the time-varying meshing sti ness(TVMS) is obtained based on the potential energy approach and the slice theory. Finally, a dynamic analysis of a helical gear system is carried out to better understand the contact force model proposed in this paper. The analysis results show that the contribution of supporting forces to the dynamic response of contact-impact event within gear pair is important. The supporting forces and dissipative energy are the main reasons for gear system to enter a steady contact state from repeated contact-impact state. This research proposes an improved contact force model which distinguishes meshing and collision states in gear system.展开更多
A new elastic-plastic impact-contact model is proposed in this paper. By adopting the principle of minimum acceleration for elastic-plastic continue at finite deformation, and with the aid of finite difference method,...A new elastic-plastic impact-contact model is proposed in this paper. By adopting the principle of minimum acceleration for elastic-plastic continue at finite deformation, and with the aid of finite difference method, the proposed model is applied in the problem of dynamic response of a clamped thin circular plate subjected to a projectile impact centrally. The impact force history and response characteristics of the target plate is studied in detail. The theoretical predictions of the impact force and plate deflection are in good agreements with those of LDA experimental data. Linear expressions of the maximum impact force/transverse deflection versus impact velocity are given on the basis of the theoretical results.展开更多
The spindle barrel finishing is commonly used to improve the surface integrity of the important parts of the high-end equipment while it is difficult to provide enough test artifacts for the traditional trial and erro...The spindle barrel finishing is commonly used to improve the surface integrity of the important parts of the high-end equipment while it is difficult to provide enough test artifacts for the traditional trial and error experiment to obtain the desirable processing technology.The EDEM simulation of the spindle barrel finishing can provide effective help for the process design,however,the difference between the simulation and experiment is closely related to the selection of the contact model during simulation.In this paper,simulations and experiments are conducted based on the identical apparatus and conditions to facilitate the comparison and validation between each other.Based on the Hertz contact theory,the effect of the material properties of contact objects and the relative position of the workpiece on the contact force is qualified.The expression of the correlation coefficient of the contact model is deduced.Then the formula for calculating the contact force between the barrel finishing abrasive and the workpiece that includes influence coefficient of the material properties and the relative positions is established.Finally,the contact force calculation formula is verified by changing the rotating speed.The result shows that the material correction coefficient ranges from 1.41 to 2.38,which is inversely related to the equivalent modulus E.The position correction coefficient ranges from 2.0 to 2.3.The relative error value between the calculation result and the experimental test result is from 0.58%to 14.07%.This research lay a theoretical foundation for the correction theory of the core elements of the spindle barrel finishing process.展开更多
To disclose the effect of contact force and electrode gap on the material transfer behavior of Ag-based contact material, arc-erosion tests of the Ag-4wt.%TiB2 contact material were performed for 5000 operations at 24...To disclose the effect of contact force and electrode gap on the material transfer behavior of Ag-based contact material, arc-erosion tests of the Ag-4wt.%TiB2 contact material were performed for 5000 operations at 24 V/16 A under resistive load on an electric contact material testing system. The arc energy and arc duration were investigated, the surface morphologies of eroded anode and cathode were characterized, the mass changes after arc-erosion tests were determined, and the material transfer behavior was discussed as well. The results show that contact force has a significant effect on the arc energy, arc duration and erosion morphology, but has no impact on the material transfer mode. However, electrode gap not only influences the arc energy, arc duration and surface morphology, but also changes the material transfer mode. At 1 mm, the material transfers from anode to cathode. Nevertheless, an opposite mode presents at 4 mm, which is from cathode to anode.展开更多
The pre-sliding regime is typically neglected in the dynamic modelling of mechanical systems. However, the change in contact state caused by static friction may decrease positional accuracy and control precision. To i...The pre-sliding regime is typically neglected in the dynamic modelling of mechanical systems. However, the change in contact state caused by static friction may decrease positional accuracy and control precision. To investigate the relationship between contact status and contact force in pre-sliding friction, an optical experimental method is presented in this paper.With this method, the real contact state at the interface of a transparent material can be observed based on the total reflection principle of light by using an image processing technique. A novel setup, which includes a pair of rectangular trapezoidal blocks, is proposed to solve the challenging issue of accurately applying different tangential and normal forces to the contact interface. The improved Otsu＇s method is used for measurement. Through an experimental study performed on polymethyl methacrylate（PMMA）, the quantity of contact asperities is proven to be the dominant factor that affects the real contact area. The relationship between the real contact area and the contact force in the pre-sliding regime is studied, and the distribution of static friction at the contact interface is qualitatively discussed. New phenomena in which the real contact area expands along with increasing static friction are identified. The aforementioned relationship is approximately linear at the contact interface under a constant normal pressure, and the distribution of friction stress decreases from the leading edge to the trailing edge.展开更多
Cold rotary forging is an advanced and complex metal forming technology with continuous local plastic deformation.Investigating the contact force between the dies and the workpiece has a great significance to improve ...Cold rotary forging is an advanced and complex metal forming technology with continuous local plastic deformation.Investigating the contact force between the dies and the workpiece has a great significance to improve the life of the dies in cold rotary forging.The purpose of this work is to reveal the contact force responses in cold rotary forging through the modelling and simulation.For this purpose,a 3D elastic-plastic dynamic explicit FE model of cold rotary forging is developed using the FE code ABAQUS/Explicit.Through the modelling and simulation,the distribution and evolution of the contact force in cold rotary forging is investigated in detail.The experiment has been conducted and the validity of the 3D FE model of cold rotary forging has been verified.The results show that: 1) The contact force distribution is complex and exhibits an obvious non-uniform characteristic in the radial and circumferential directions; 2) The maximum contact force between the upper die and the workpiece is much larger than that between the lower die and the workpiece; 3) The contact force evolution history is periodic and every period experiences three different stages; 4) The total normal contact force is much larger than the total shear contact force at any given time.展开更多
A probabilistic method based on principle of maximum entropy was employed to analyze the randomness of contact force between geomembrane and granular material.The contact force distribution is exponential according to...A probabilistic method based on principle of maximum entropy was employed to analyze the randomness of contact force between geomembrane and granular material.The contact force distribution is exponential according to the proposed method and the grain size is the most important factor that affects the distribution of contact force.The proposed method is then verified by a series of laboratory experiments using glass beads and cobbles as granular material and a very thin pressure,indicating that film is firstly used in these experiments which give a reliable method to measure the contact force at each contact point.展开更多
The migration process of the pig in oil and gas pipeline is a complex dynamic problem.During the pigging operation,the variation of friction force caused by the nonlinear contact between the sealing disc and the pipe ...The migration process of the pig in oil and gas pipeline is a complex dynamic problem.During the pigging operation,the variation of friction force caused by the nonlinear contact between the sealing disc and the pipe wall is the key factor affecting the dynamic characteristics of the pig motion.At present,the existed pigging models for predicting pigging behavior regard friction as an invariant constant.Experimental research indicates that the friction force of the pig varies with the contact force and the lubrication conditions.Therefore,the assumption that the friction force is constant cannot reflect the friction dynamic characteristics of the pig during pigging,and will also affect the accuracy of the pigging model.Exploring the variation of friction force of pig under different conditions is the basis of establishing the transient dynamic model of a pig.As a result,in this paper,a method of direct measurement of contact force between the pig and the pipeline is presented,the contact force,the friction force,as well as the friction coefficient of the pig are obtained from the experiment.Research results in this paper can help to establish a more accurate dynamic model of pig.展开更多
Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body ...Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.展开更多
Pantograph-catenary contact force provides the main basis for evaluation of current quality collection; however,the pantograph-catenary contact force is largely affected by the catenary irregularities.To analyze the c...Pantograph-catenary contact force provides the main basis for evaluation of current quality collection; however,the pantograph-catenary contact force is largely affected by the catenary irregularities.To analyze the correlated relationship between catenary irregularities and pantograph-catenary contact force,a method based on nonlinear auto-regressive with exogenous input(NARX) neural networks was developed.First,to collect the test data of catenary irregularities and contact force,the pantograph/catenary dynamics model was established and dynamic simulation was conducted using MATLAB/Simulink.Second,catenary irregularities were used as the input to NARX neural network and the contact force was determined as output of the NARX neural network,in which the neural network was trained by an improved training mechanism based on the regularization algorithm.The simulation results show that the testing error and correlation coefficient are 0.1100 and 0.8029,respectively,and the prediction accuracy is satisfactory.And the comparisons with other algorithms indicate the validity and superiority of the proposed approach.展开更多
A comprehension of railway dynamic behavior implies the measure of wheel-rail contact forces which are affected by disturbances and errors that are often difficult to be quantified. In this study, a benchmark test cas...A comprehension of railway dynamic behavior implies the measure of wheel-rail contact forces which are affected by disturbances and errors that are often difficult to be quantified. In this study, a benchmark test case is proposed, and a bogie with a layout used on some European locomotives such as SIEMENS El90 is studied. In this layout, an additional shaft on which brake disks are installed is used to transmit the braking torque to the wheelset through a single-stage gearbox. Using a mixed approach based on finite element techniques and statistical considerations, it is possible to evaluate an optimal layout for strain gauge positioning and to optimize the measurement system to diminish the effects of noise and disturbance. We also conducted preliminary evaluations on the precision and frequency response of the proposed system.展开更多
A theoretical model for calculating the stress and strain states of cabling structures with different loadings has been developed in this paper. We solve the problem for the first- and second-stage cable with tensile ...A theoretical model for calculating the stress and strain states of cabling structures with different loadings has been developed in this paper. We solve the problem for the first- and second-stage cable with tensile or bending strain. The contact and friction forces between the strands are presented by two-dimensional contact model. Several theoretical models have been proposed to verify the results when the triplet subjected to the tensile strain, including contact force, contact stresses, and mechanical loss. It is found that loadings will affect the friction force and the mechanical loss of the triplet. The results show that the contact force and mechanical loss are dependent on the twist pitch. A shorter twist pitch can lead to higher contact force, while the trend of mechanical loss with twist pitch is complicated. The mechanical loss may be reduced by adjusting the twist pitch reasonably. The present model provides a simple analysis method to investigate the mechanical behaviors in multistage-structures under different loads.展开更多
Crowd force by the pushing or crushing of people has resulted in a number of accidents in recent decades. The aftermath investigations have shown that the physical interaction of a highly competitive crowd could produ...Crowd force by the pushing or crushing of people has resulted in a number of accidents in recent decades. The aftermath investigations have shown that the physical interaction of a highly competitive crowd could produce dangerous pressure up to 4500 N/m, which leads to compressive asphyxia or even death. In this paper, a numerical model based on discrete element method （DEM） as referenced from granular flow was proposed to model the evacuation process of a group of highly competitive people, in which the movement of people follows Newton＇s second law and the body deformation due to compression follows Hertz contact model. The study shows that the clogs occur periodically and flow rate fluctuates greatly if all people strive to pass through a narrow exit at high enough desired velocity. Two types of contact forces acting on people are studied. The first one, i.e., vector contact force, accounts for the movement of the people following Newton＇s second law. The second one, i.e., scale contact force, accounts for the physical deformation of the human body following the contact law. Simulation shows that the forces chain in crowd flow is turbulent and fragile. A few narrow zones with intense forces are observed in the force field, which is similar to the strain localization observed in granular flow. The force acting on a person could be as high as 4500 N due to force localization, which may be the root cause of compressive asphyxia of people in many crowd incidents.展开更多
Contact force is related to the mechanical response of superconducting strands under a large electromagnetic body force,which is important for the safety of the international t hermonuclear experimen tai reac tor(ITER...Contact force is related to the mechanical response of superconducting strands under a large electromagnetic body force,which is important for the safety of the international t hermonuclear experimen tai reac tor(ITER)magne t struc ture.Due to the complex st rue ture of the cable-in-conduit conductor(CICC),the component unit of the ITER magnet,and the extreme operating environment,the research on the strand contact force caused by the electromagnetic force has been progressing slowly.In this study,a two-dimensional(2D)theoretical model based on the granular elemen t method is construe ted to compute the contac t forces among some opaque and non-photoelastic ferromagnetic particles which are placed in a non-uniform magnetic field.In the experiment,the contact deformations of these particles may be obtained by the digital image correlation method.We also propose a method,which is similar to the least-squares method,to calculate the electromagnetic body forces of different particles.Subsequently,the distributional and statistical characteristics of the contac t force chains and contact angles are presen ted.It is considered that the method proposed in this paper is suitable for the contact force analysis of the cross section of superconducting strands in the ITER CICC that is subjected to a transverse elec-tromagnetic force.In the end,this 2D theoretical model is generalized to the three-dimensional(3D)case,and the concise mathematical framework is presented.展开更多
Backgrounds Whether the contact force(CF)-sensing catheter could improve the efficiency of pace mapping(PM)in right ventricle outflow tract(RVOT)has not been fully studied.The present study was the first investigation...Backgrounds Whether the contact force(CF)-sensing catheter could improve the efficiency of pace mapping(PM)in right ventricle outflow tract(RVOT)has not been fully studied.The present study was the first investigation of the CF distribution in the right ventricle(RV)by using a CF-sensing catheter and the relationship between CF and capture threshold in RVOT.Methods In total,4543 mapping points with CF were recorded in 15 patients.Operators were blinded to CF data and data were analyzed according to 10 predefined RV segments.PM were performed at 6 different RVOT segments with 3 different intentional CF levels and 3 different pacing setup.The pacing threshold in RVOT and pacing capture level were recorded.The morphology matching score were recorded and analyzed.Results Median CF during RV mapping was 8(5-12)g and coefficient of variation was 71.64%.Median CF ranged from 9.5(5.8-16)g at the posterior-outflow tract freewall(OTFW)to 7(4-10)g at the apex.Distribution of CF≥20 g in RV predefined segments mainly located in the OTFW.Distribution of CF≤2 g in RV predefined segments mainly located in the inflow tract freewall(ITFW),anterior-OTFW,and apex.A total of 810 pacing were performed at RVOT with different CF and output.Stable capture rate could be significantly improved via increasing CF level under 2 mA output(46.7%/2-5 g vs.50%/6-9 g vs.91.1%/≥10 g),and no capture rate could be significantly declined simultaneously(16.7%/2-5 g vs.8.9%/6-9 g vs.2.2%/≥10 g).Conclusions A marked variability in CF was observed among the different predefined segments.CF mapping could improve the safety and efficacy of catheter ablation of premature ventricular contraction(PVC)/ventricular tachycardia(VT)in RV.CF was an essential factor in RVOT pace mapping process,especially under low-pacing output.[S Chin J Cardiol 2021;22(1):21-29]展开更多
In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic com...In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation capabilities.During the combination process,contact effects between robots,as well as between robots and the environment,are unavoidable.Therefore,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure.This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques.The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high fidelity.Additionally,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination process.This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.展开更多
The frequent or occasional impact loads pose serious threats to the service safety of conventional concrete structures in tunnel.In this paper,a novel three-dimensional mesoscopic model of steel fiber reinforced concr...The frequent or occasional impact loads pose serious threats to the service safety of conventional concrete structures in tunnel.In this paper,a novel three-dimensional mesoscopic model of steel fiber reinforced concrete(SFRC)is constructed by discrete element method.The model encompasses the concrete matrix,aggregate,interfacial transition zone and steel fibers,taking into account the random shape of the coarse aggregate and the stochastic distribution of steel fibers.It captures microscopic-level interactions among the coarse aggregate,steel fibers,and matrix.Subsequently,a comprehensive procedure is formulated to calibrate the microscopic parameters required by the model,and the reliability of the model is verified by comparing with the experimental results.Furthermore,a coupled finite difference method-discrete element method approach is used to construct the model of the split Hopkinson pressure bar.Compression tests are simulated on SFRC specimens with varying steel fiber contents under static and dynamic loading conditions.Finally,based on the advantages of DEM analysis at the mesoscopic level,this study analyzed mechanisms of enhancement and crack arrest in SFRC.It shed a light on the perspectives of interface failure process,microcrack propagation,contact force field evolution and energy analysis,offering valuable insights for related mining engineering applications.展开更多
The aim of this article is to detect the detachment between the cam and the follower using the largest Lyapunov exponent parameter,the power density function of fast Fourier transform,and Poinarémaps due to the n...The aim of this article is to detect the detachment between the cam and the follower using the largest Lyapunov exponent parameter,the power density function of fast Fourier transform,and Poinarémaps due to the nonlinear dynamics phenomenon of the follower.The detachment between the cam and the follower was investigated for different cam speeds and different internal distances of the follower guide from inside.This study focuses on the use of the cam–follower system with a bionic quadruped robot through a linkage mechanism.Multishock absorber(spring–damper–mass)systems at the very end of the follower were used to improve the dynamic performance and to reduce the detachment between the cam and the follower.The SolidWorks program was used in the numerical solution,while a high‐speed camera at the foreground of the OPTOTRAK 30/20 equipment was used to identify the follower position.The friction and impact were considered between the cam and the follower and between the follower and its guide.In general,when the cam and the follower are in permanent contact,there is no loss in potential energy,and no impact or restitution.The detachment between the cam and the follower increases with increasing coefficient of restitution in the presence of the impact.展开更多
基金supported by the National Key Research and Development Program of China(No.2023YFC3010400)。
文摘The complex geometrical features of mechanical components significantly influence contact interactions and system dynamics.However,directly modeling contact forces on surfaces with intricate geometries presents considerable challenges.This study focuses on the helically twisted wire rope-sheave contact and proposes a contact force model that incorporates complex geometric features through a parameter identification approach.The model's impact on contact forces and system dynamics is thoroughly investigated.Leveraging a point contact model and an elliptic integral approximation,a loss function is formulated using the finite element(FE)contact model results as the reference data.Geometric parameters are subsequently determined by optimizing this loss function via a genetic algorithm(GA).The findings reveal that the contact stiffness increases with the wire rope pitch length,the radius of principal curvature,and the elliptic eccentricity of the contact zone.The proposed contact force model is integrated into a rigid-flexible coupled dynamics model,developed by the absolute node coordinate formulation,to examine the effects of contact geometry on system dynamics.The results demonstrate that the variations in wire rope geometry alter the contact stiffness,which in turn affects dynamic rope tension through frictional energy dissipation.The enhanced model's predictions exhibit superior alignment with the experimental data,thereby validating the methodology.This approach provides new insights for deducing the contact geometry from kinetic parameters and monitoring the performance degradation of mechanical components.
基金The funding has been received from National Natural Science Foundation of China with Grant nos.52205013,52175012Fundamental Research Foundation for Universities of Heilongjiang Province with Grant no.2022-KYYWF-0122+1 种基金Natural Science Foundation of Heilongjiang Province with Grant no.LH2020E088Foundation of State Key Laboratory of Robotics and Systems with Grant no.SKLRS-2022-KF-18.
文摘This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails.The proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various terrains.The foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization methods.By formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this issue.Simulations of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization approach.The results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion stability.In summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.
基金Supported by National Natural Science Foundation of China(Grant No.51475263)
文摘The current research on gear system dynamics mainly utilizes linear spring damping model to calculate the contact force between gears. However, this linear model cannot correctly describe the energy transfer process of collision that often occurs in gear system. Focus on the contact-impact events, this paper proposes an improved gear contact force model for dynamic analysis in helical gear transmission system. In this model, a new factor associated with hysteresis damping is developed for contact-impact state, whereas the traditional linear damping factor is utilized for normal meshing state. For determining the selection strategy of these two damping factors, the fundamental contact mechanics of contact-impact event a ected by supporting forces are analyzed. During this analysis, an e ect factor is proposed for evaluating the influence of supporting forces on collision. Meanwhile, a new restitution of coe cient is deduced for calculating hysteresis damping factor, which suitable for both separation and non-separation states at the end of collision. In addition, the time-varying meshing sti ness(TVMS) is obtained based on the potential energy approach and the slice theory. Finally, a dynamic analysis of a helical gear system is carried out to better understand the contact force model proposed in this paper. The analysis results show that the contribution of supporting forces to the dynamic response of contact-impact event within gear pair is important. The supporting forces and dissipative energy are the main reasons for gear system to enter a steady contact state from repeated contact-impact state. This research proposes an improved contact force model which distinguishes meshing and collision states in gear system.
基金The project supported by the National Natural Science Foundation of China(10532020)
文摘A new elastic-plastic impact-contact model is proposed in this paper. By adopting the principle of minimum acceleration for elastic-plastic continue at finite deformation, and with the aid of finite difference method, the proposed model is applied in the problem of dynamic response of a clamped thin circular plate subjected to a projectile impact centrally. The impact force history and response characteristics of the target plate is studied in detail. The theoretical predictions of the impact force and plate deflection are in good agreements with those of LDA experimental data. Linear expressions of the maximum impact force/transverse deflection versus impact velocity are given on the basis of the theoretical results.
基金Supported by Program National Natural Science Foundation of China(Grant Nos.51875389,51975399,52075362)Key Program of Natural Science Foundation of Shanxi Province of China(Grant No.201801D111002)Scientific and Technological Innovation Project for Excellent Talents in Shanxi Province of China(Grant No.201805D211031).
文摘The spindle barrel finishing is commonly used to improve the surface integrity of the important parts of the high-end equipment while it is difficult to provide enough test artifacts for the traditional trial and error experiment to obtain the desirable processing technology.The EDEM simulation of the spindle barrel finishing can provide effective help for the process design,however,the difference between the simulation and experiment is closely related to the selection of the contact model during simulation.In this paper,simulations and experiments are conducted based on the identical apparatus and conditions to facilitate the comparison and validation between each other.Based on the Hertz contact theory,the effect of the material properties of contact objects and the relative position of the workpiece on the contact force is qualified.The expression of the correlation coefficient of the contact model is deduced.Then the formula for calculating the contact force between the barrel finishing abrasive and the workpiece that includes influence coefficient of the material properties and the relative positions is established.Finally,the contact force calculation formula is verified by changing the rotating speed.The result shows that the material correction coefficient ranges from 1.41 to 2.38,which is inversely related to the equivalent modulus E.The position correction coefficient ranges from 2.0 to 2.3.The relative error value between the calculation result and the experimental test result is from 0.58%to 14.07%.This research lay a theoretical foundation for the correction theory of the core elements of the spindle barrel finishing process.
基金Projects(51274163,51605146) supported by the National Natural Science Foundation of ChinaProject(U1502274) supported by Key Program of the National Natural Science Foundation of China+2 种基金Project(2018M632769) supported by the China Postdoctoral Science FoundationProject(2017SKY-WK010) supported by the Research Fund of Shaanxi Key Laboratory of Comprehensive Utilization of Tailings Resources,ChinaProject(18JK0722) supported by Special Research Program of Shaanxi Provincial Department of Education,China
文摘To disclose the effect of contact force and electrode gap on the material transfer behavior of Ag-based contact material, arc-erosion tests of the Ag-4wt.%TiB2 contact material were performed for 5000 operations at 24 V/16 A under resistive load on an electric contact material testing system. The arc energy and arc duration were investigated, the surface morphologies of eroded anode and cathode were characterized, the mass changes after arc-erosion tests were determined, and the material transfer behavior was discussed as well. The results show that contact force has a significant effect on the arc energy, arc duration and erosion morphology, but has no impact on the material transfer mode. However, electrode gap not only influences the arc energy, arc duration and surface morphology, but also changes the material transfer mode. At 1 mm, the material transfers from anode to cathode. Nevertheless, an opposite mode presents at 4 mm, which is from cathode to anode.
基金Project supported by the National Natural Science Foundation of China(Grant No.11272171)the Natural Science Foundation of Beijing City,China(Contract No.3172017)the Education Ministry Doctoral Fund of China(Grant No.20120002110070)
文摘The pre-sliding regime is typically neglected in the dynamic modelling of mechanical systems. However, the change in contact state caused by static friction may decrease positional accuracy and control precision. To investigate the relationship between contact status and contact force in pre-sliding friction, an optical experimental method is presented in this paper.With this method, the real contact state at the interface of a transparent material can be observed based on the total reflection principle of light by using an image processing technique. A novel setup, which includes a pair of rectangular trapezoidal blocks, is proposed to solve the challenging issue of accurately applying different tangential and normal forces to the contact interface. The improved Otsu＇s method is used for measurement. Through an experimental study performed on polymethyl methacrylate（PMMA）, the quantity of contact asperities is proven to be the dominant factor that affects the real contact area. The relationship between the real contact area and the contact force in the pre-sliding regime is studied, and the distribution of static friction at the contact interface is qualitatively discussed. New phenomena in which the real contact area expands along with increasing static friction are identified. The aforementioned relationship is approximately linear at the contact interface under a constant normal pressure, and the distribution of friction stress decreases from the leading edge to the trailing edge.
基金Project(51105287)supported by the National Natural Science Foundation of ChinaProject(2012BAA08003)supported by the Key Research and Development Project of New Products and New Technologies of Hubei Province,ChinaProject(2013M531750)supported by China Postdoctoral Science Foundation
文摘Cold rotary forging is an advanced and complex metal forming technology with continuous local plastic deformation.Investigating the contact force between the dies and the workpiece has a great significance to improve the life of the dies in cold rotary forging.The purpose of this work is to reveal the contact force responses in cold rotary forging through the modelling and simulation.For this purpose,a 3D elastic-plastic dynamic explicit FE model of cold rotary forging is developed using the FE code ABAQUS/Explicit.Through the modelling and simulation,the distribution and evolution of the contact force in cold rotary forging is investigated in detail.The experiment has been conducted and the validity of the 3D FE model of cold rotary forging has been verified.The results show that: 1) The contact force distribution is complex and exhibits an obvious non-uniform characteristic in the radial and circumferential directions; 2) The maximum contact force between the upper die and the workpiece is much larger than that between the lower die and the workpiece; 3) The contact force evolution history is periodic and every period experiences three different stages; 4) The total normal contact force is much larger than the total shear contact force at any given time.
基金Project(51079047)supported by the National Natural Science Foundation of ChinaProject Funded by the Priority Academic Program of Jiangsu Higher Education Institutions,China
文摘A probabilistic method based on principle of maximum entropy was employed to analyze the randomness of contact force between geomembrane and granular material.The contact force distribution is exponential according to the proposed method and the grain size is the most important factor that affects the distribution of contact force.The proposed method is then verified by a series of laboratory experiments using glass beads and cobbles as granular material and a very thin pressure,indicating that film is firstly used in these experiments which give a reliable method to measure the contact force at each contact point.
基金This work was supported by Science Foundation of China University of Petroleum,Beijing(No.2462020YXZZ046,No.2462020XKJS01)the National Natural Science Foundation of China(No.51509259).
文摘The migration process of the pig in oil and gas pipeline is a complex dynamic problem.During the pigging operation,the variation of friction force caused by the nonlinear contact between the sealing disc and the pipe wall is the key factor affecting the dynamic characteristics of the pig motion.At present,the existed pigging models for predicting pigging behavior regard friction as an invariant constant.Experimental research indicates that the friction force of the pig varies with the contact force and the lubrication conditions.Therefore,the assumption that the friction force is constant cannot reflect the friction dynamic characteristics of the pig during pigging,and will also affect the accuracy of the pigging model.Exploring the variation of friction force of pig under different conditions is the basis of establishing the transient dynamic model of a pig.As a result,in this paper,a method of direct measurement of contact force between the pig and the pipeline is presented,the contact force,the friction force,as well as the friction coefficient of the pig are obtained from the experiment.Research results in this paper can help to establish a more accurate dynamic model of pig.
基金This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013in part by the“111”Project under Grant B08043.
文摘Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.
基金Project(20120009110035)supported by Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2011BAG01B05)supported by National Key Technology Research and Development Program of ChinaProject(2011AA110501)supported by National High-tech Research and Development Program of China
文摘Pantograph-catenary contact force provides the main basis for evaluation of current quality collection; however,the pantograph-catenary contact force is largely affected by the catenary irregularities.To analyze the correlated relationship between catenary irregularities and pantograph-catenary contact force,a method based on nonlinear auto-regressive with exogenous input(NARX) neural networks was developed.First,to collect the test data of catenary irregularities and contact force,the pantograph/catenary dynamics model was established and dynamic simulation was conducted using MATLAB/Simulink.Second,catenary irregularities were used as the input to NARX neural network and the contact force was determined as output of the NARX neural network,in which the neural network was trained by an improved training mechanism based on the regularization algorithm.The simulation results show that the testing error and correlation coefficient are 0.1100 and 0.8029,respectively,and the prediction accuracy is satisfactory.And the comparisons with other algorithms indicate the validity and superiority of the proposed approach.
文摘A comprehension of railway dynamic behavior implies the measure of wheel-rail contact forces which are affected by disturbances and errors that are often difficult to be quantified. In this study, a benchmark test case is proposed, and a bogie with a layout used on some European locomotives such as SIEMENS El90 is studied. In this layout, an additional shaft on which brake disks are installed is used to transmit the braking torque to the wheelset through a single-stage gearbox. Using a mixed approach based on finite element techniques and statistical considerations, it is possible to evaluate an optimal layout for strain gauge positioning and to optimize the measurement system to diminish the effects of noise and disturbance. We also conducted preliminary evaluations on the precision and frequency response of the proposed system.
基金supported by National Natural Science Foundation of China (Grants 11202087, 11472120, 11421062)the National Key Project of Scientific Instrument and Equipment Development (Grant 11327802)+1 种基金the National Key Project of Magneto-Constrained Fusion Energy Development Program (Grant 2013GB110002)New Century Excellent Talents in University of Ministry of Education of China (Grant NCET-13-0266)
文摘A theoretical model for calculating the stress and strain states of cabling structures with different loadings has been developed in this paper. We solve the problem for the first- and second-stage cable with tensile or bending strain. The contact and friction forces between the strands are presented by two-dimensional contact model. Several theoretical models have been proposed to verify the results when the triplet subjected to the tensile strain, including contact force, contact stresses, and mechanical loss. It is found that loadings will affect the friction force and the mechanical loss of the triplet. The results show that the contact force and mechanical loss are dependent on the twist pitch. A shorter twist pitch can lead to higher contact force, while the trend of mechanical loss with twist pitch is complicated. The mechanical loss may be reduced by adjusting the twist pitch reasonably. The present model provides a simple analysis method to investigate the mechanical behaviors in multistage-structures under different loads.
基金supported by the National Natural Science Foundation of China(Grant No.71473207)China Fundamental Research Funds for Central Universities(Grant No.2682016cx082)
文摘Crowd force by the pushing or crushing of people has resulted in a number of accidents in recent decades. The aftermath investigations have shown that the physical interaction of a highly competitive crowd could produce dangerous pressure up to 4500 N/m, which leads to compressive asphyxia or even death. In this paper, a numerical model based on discrete element method （DEM） as referenced from granular flow was proposed to model the evacuation process of a group of highly competitive people, in which the movement of people follows Newton＇s second law and the body deformation due to compression follows Hertz contact model. The study shows that the clogs occur periodically and flow rate fluctuates greatly if all people strive to pass through a narrow exit at high enough desired velocity. Two types of contact forces acting on people are studied. The first one, i.e., vector contact force, accounts for the movement of the people following Newton＇s second law. The second one, i.e., scale contact force, accounts for the physical deformation of the human body following the contact law. Simulation shows that the forces chain in crowd flow is turbulent and fragile. A few narrow zones with intense forces are observed in the force field, which is similar to the strain localization observed in granular flow. The force acting on a person could be as high as 4500 N due to force localization, which may be the root cause of compressive asphyxia of people in many crowd incidents.
基金This work is supported by the fund of Natural Science Foundation of China(Nos.11872196,11902130).
文摘Contact force is related to the mechanical response of superconducting strands under a large electromagnetic body force,which is important for the safety of the international t hermonuclear experimen tai reac tor(ITER)magne t struc ture.Due to the complex st rue ture of the cable-in-conduit conductor(CICC),the component unit of the ITER magnet,and the extreme operating environment,the research on the strand contact force caused by the electromagnetic force has been progressing slowly.In this study,a two-dimensional(2D)theoretical model based on the granular elemen t method is construe ted to compute the contac t forces among some opaque and non-photoelastic ferromagnetic particles which are placed in a non-uniform magnetic field.In the experiment,the contact deformations of these particles may be obtained by the digital image correlation method.We also propose a method,which is similar to the least-squares method,to calculate the electromagnetic body forces of different particles.Subsequently,the distributional and statistical characteristics of the contac t force chains and contact angles are presen ted.It is considered that the method proposed in this paper is suitable for the contact force analysis of the cross section of superconducting strands in the ITER CICC that is subjected to a transverse elec-tromagnetic force.In the end,this 2D theoretical model is generalized to the three-dimensional(3D)case,and the concise mathematical framework is presented.
基金supported by National Nature Science Foundation of China(No.81370295)Science and Technology Program of Guangdong(No.201508020261/No.2017A020215054)Science and Technology Planning of Guangzhou(No.2014B070705005)
文摘Backgrounds Whether the contact force(CF)-sensing catheter could improve the efficiency of pace mapping(PM)in right ventricle outflow tract(RVOT)has not been fully studied.The present study was the first investigation of the CF distribution in the right ventricle(RV)by using a CF-sensing catheter and the relationship between CF and capture threshold in RVOT.Methods In total,4543 mapping points with CF were recorded in 15 patients.Operators were blinded to CF data and data were analyzed according to 10 predefined RV segments.PM were performed at 6 different RVOT segments with 3 different intentional CF levels and 3 different pacing setup.The pacing threshold in RVOT and pacing capture level were recorded.The morphology matching score were recorded and analyzed.Results Median CF during RV mapping was 8(5-12)g and coefficient of variation was 71.64%.Median CF ranged from 9.5(5.8-16)g at the posterior-outflow tract freewall(OTFW)to 7(4-10)g at the apex.Distribution of CF≥20 g in RV predefined segments mainly located in the OTFW.Distribution of CF≤2 g in RV predefined segments mainly located in the inflow tract freewall(ITFW),anterior-OTFW,and apex.A total of 810 pacing were performed at RVOT with different CF and output.Stable capture rate could be significantly improved via increasing CF level under 2 mA output(46.7%/2-5 g vs.50%/6-9 g vs.91.1%/≥10 g),and no capture rate could be significantly declined simultaneously(16.7%/2-5 g vs.8.9%/6-9 g vs.2.2%/≥10 g).Conclusions A marked variability in CF was observed among the different predefined segments.CF mapping could improve the safety and efficacy of catheter ablation of premature ventricular contraction(PVC)/ventricular tachycardia(VT)in RV.CF was an essential factor in RVOT pace mapping process,especially under low-pacing output.[S Chin J Cardiol 2021;22(1):21-29]
基金Supported by National Natural Science Foundation of China(Grant Nos.T2121003 and 91748201).
文摘In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation capabilities.During the combination process,contact effects between robots,as well as between robots and the environment,are unavoidable.Therefore,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure.This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques.The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high fidelity.Additionally,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination process.This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.
基金financial support by the National Natural Science Foundation of China(52174101&52408310)Guangdong Basic and Applied Basic Research Foundation(2023A1515011634&2024A1515012528)Guangdong Provincial Department of Science and Technology(2021ZT09G087)for the research.
文摘The frequent or occasional impact loads pose serious threats to the service safety of conventional concrete structures in tunnel.In this paper,a novel three-dimensional mesoscopic model of steel fiber reinforced concrete(SFRC)is constructed by discrete element method.The model encompasses the concrete matrix,aggregate,interfacial transition zone and steel fibers,taking into account the random shape of the coarse aggregate and the stochastic distribution of steel fibers.It captures microscopic-level interactions among the coarse aggregate,steel fibers,and matrix.Subsequently,a comprehensive procedure is formulated to calibrate the microscopic parameters required by the model,and the reliability of the model is verified by comparing with the experimental results.Furthermore,a coupled finite difference method-discrete element method approach is used to construct the model of the split Hopkinson pressure bar.Compression tests are simulated on SFRC specimens with varying steel fiber contents under static and dynamic loading conditions.Finally,based on the advantages of DEM analysis at the mesoscopic level,this study analyzed mechanisms of enhancement and crack arrest in SFRC.It shed a light on the perspectives of interface failure process,microcrack propagation,contact force field evolution and energy analysis,offering valuable insights for related mining engineering applications.
文摘The aim of this article is to detect the detachment between the cam and the follower using the largest Lyapunov exponent parameter,the power density function of fast Fourier transform,and Poinarémaps due to the nonlinear dynamics phenomenon of the follower.The detachment between the cam and the follower was investigated for different cam speeds and different internal distances of the follower guide from inside.This study focuses on the use of the cam–follower system with a bionic quadruped robot through a linkage mechanism.Multishock absorber(spring–damper–mass)systems at the very end of the follower were used to improve the dynamic performance and to reduce the detachment between the cam and the follower.The SolidWorks program was used in the numerical solution,while a high‐speed camera at the foreground of the OPTOTRAK 30/20 equipment was used to identify the follower position.The friction and impact were considered between the cam and the follower and between the follower and its guide.In general,when the cam and the follower are in permanent contact,there is no loss in potential energy,and no impact or restitution.The detachment between the cam and the follower increases with increasing coefficient of restitution in the presence of the impact.
