Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the ...Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.展开更多
In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint o...In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.展开更多
This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain...This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain is not available, certain simplifications have to be introduced. The pipeline in the paper has been divided to a cascaded network of n segments so that a model with lumped parameters could be reached. For segment modeling, a standard library of bond graphs element has been used. On the basis of models with lumped parameters, the effect of the number of segments, pipeline length and effective bulk modulus on the dynamics of long transmission line have been analyzed.展开更多
In this paper we have shown that the invariance of energy(kinetic energy,potential energy)and virtual work is the common feature of vector bond graph and finite element method in struc-tural dynamics.Then we have disc...In this paper we have shown that the invariance of energy(kinetic energy,potential energy)and virtual work is the common feature of vector bond graph and finite element method in struc-tural dynamics.Then we have discussed the vector bond graph representation of finite elementmethod in detail,there are:(1)the transformation of reference systems,(2)the transformation ofinertia matrices,stiffness matrices and vectors of joint force,(3)verctor bond graph representationof Lagrangian dynamic equation of structure.展开更多
In this paper we have disucced the analogy between transfer matrix and bond graph, chiefly asfollows: ① Power or energy flow is their common characteristic, ② Lumped masses and elasticmembers in transfer matrix just...In this paper we have disucced the analogy between transfer matrix and bond graph, chiefly asfollows: ① Power or energy flow is their common characteristic, ② Lumped masses and elasticmembers in transfer matrix just correspond respectively to the inertia and the capacitance elementsin the bond graph, ③ Point transfer matrix and field transfer matrix behave respectively as 1-and0-junction in bond graph,展开更多
A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operat...A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operators enable the embryo bond graph to evolve towards the target graph according to the fitness function. Better simulation requires analysis of the optimization of the eigenvalue and the filter circuit evolution. The open topological design and optimized convergence for the operation, but also the design of nonlinear multi-domain systems. space search ability of this method not only gives a more reduces the generation time for the new circuit graph for展开更多
The atom-bond connectivity（ABC） index provides a good model for the stability of linear and branched alkanes as well as the strain energy of cycloalkanes,which is defined as ABC（G） =∑ uv∈E（G） √d u＋dv-2 dudv,...The atom-bond connectivity（ABC） index provides a good model for the stability of linear and branched alkanes as well as the strain energy of cycloalkanes,which is defined as ABC（G） =∑ uv∈E（G） √d u＋dv-2 dudv,where du denotes the degree of a vertex u in G.A chemical graph is a graph in which no vertex has degree greater than 4.In this paper,we obtain the sharp upper and lower bounds on ABC index of chemical bicyclic graphs.展开更多
Another version of atom-bond connectivity index was defined by Graovac and Ghorbani, and called the second atom-bond connectivity index(ABC_2), which can provide convenience for molecular feature and its extreme value...Another version of atom-bond connectivity index was defined by Graovac and Ghorbani, and called the second atom-bond connectivity index(ABC_2), which can provide convenience for molecular feature and its extreme values are the focus of study. In this paper, by fractional comparison, we give the structural properties of the extremal graphs which attain the minimal ABC_2 index of unicyclic graphs of order n.展开更多
Two methods for determining the supereulerian index of a graph G are given. A sharp upper bound and a sharp lower bound on the supereulerian index by studying the branch bonds of G are got.
The atom-bond connectivity（ABC） index of a graph G, introduced by Estrada,Torres, Rodr′？guez and Gutman in 1998, is defined as the sum of the weights√1/di＋1/dj-2/didj of all edges vivj of G, where di denotes th...The atom-bond connectivity（ABC） index of a graph G, introduced by Estrada,Torres, Rodr′？guez and Gutman in 1998, is defined as the sum of the weights√1/di＋1/dj-2/didj of all edges vivj of G, where di denotes the degree of the vertex vi in G. In this paper, we give an upper bound of the ABC index of a two-tree G with n vertices, that is, ABC（G） ≤（2n- 4）√2/2＋√2n-4/n-1. We also determine the two-trees with the maximum and the second maximum ABC index.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51275438,51405421)Hebei Provincial Natural Science Foundation of China(Grant No.E2015203101)
文摘Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.
文摘In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.
文摘This paper addresses the issue of modeling of the hydraulic long transmission line. In its base, such model is nonlinear with distributed parameters. Since general solution in closed-form for such model in time-domain is not available, certain simplifications have to be introduced. The pipeline in the paper has been divided to a cascaded network of n segments so that a model with lumped parameters could be reached. For segment modeling, a standard library of bond graphs element has been used. On the basis of models with lumped parameters, the effect of the number of segments, pipeline length and effective bulk modulus on the dynamics of long transmission line have been analyzed.
文摘In this paper we have shown that the invariance of energy(kinetic energy,potential energy)and virtual work is the common feature of vector bond graph and finite element method in struc-tural dynamics.Then we have discussed the vector bond graph representation of finite elementmethod in detail,there are:(1)the transformation of reference systems,(2)the transformation ofinertia matrices,stiffness matrices and vectors of joint force,(3)verctor bond graph representationof Lagrangian dynamic equation of structure.
文摘In this paper we have disucced the analogy between transfer matrix and bond graph, chiefly asfollows: ① Power or energy flow is their common characteristic, ② Lumped masses and elasticmembers in transfer matrix just correspond respectively to the inertia and the capacitance elementsin the bond graph, ③ Point transfer matrix and field transfer matrix behave respectively as 1-and0-junction in bond graph,
基金Supported by the Basic and Frontier Technology Research Program of Henan Province (No.082300410390)Backbone of Young Teachers in University Plan to Subsidize Projects of Henan Province (No.2005-174)
文摘A dynamic simulation method for non-linear systems based on genetic programming （GP） and bond graphs （BG） was developed to improve the design of nonlinear multi-domain energy conversion systems. The genetic operators enable the embryo bond graph to evolve towards the target graph according to the fitness function. Better simulation requires analysis of the optimization of the eigenvalue and the filter circuit evolution. The open topological design and optimized convergence for the operation, but also the design of nonlinear multi-domain systems. space search ability of this method not only gives a more reduces the generation time for the new circuit graph for
基金Supported by the National Natural Science Foundation of China(11071272,10831001,11171279,11101087)the Young Talent Foundation of Fuzhou University(XRC-1154)
文摘The atom-bond connectivity（ABC） index provides a good model for the stability of linear and branched alkanes as well as the strain energy of cycloalkanes,which is defined as ABC（G） =∑ uv∈E（G） √d u＋dv-2 dudv,where du denotes the degree of a vertex u in G.A chemical graph is a graph in which no vertex has degree greater than 4.In this paper,we obtain the sharp upper and lower bounds on ABC index of chemical bicyclic graphs.
文摘Another version of atom-bond connectivity index was defined by Graovac and Ghorbani, and called the second atom-bond connectivity index(ABC_2), which can provide convenience for molecular feature and its extreme values are the focus of study. In this paper, by fractional comparison, we give the structural properties of the extremal graphs which attain the minimal ABC_2 index of unicyclic graphs of order n.
文摘Two methods for determining the supereulerian index of a graph G are given. A sharp upper bound and a sharp lower bound on the supereulerian index by studying the branch bonds of G are got.
基金Supported by the National Natural Science Foundation of China(Grant Nos.6116400561440005+6 种基金11161037)the Program for Changjiang Scholars and Innovative Research Team in Universities(Grant No.IRT-15R40)Key Laboratory of Tibetan Information Processing of Ministry of Education of Chinathe Research Fund for the Chunhui Program of Ministry of Education of China(Grant No.Z2014022)the Nature Science Foundation of Qinghai Province(Grant Nos.2013-Z-Y172014-ZJ-9072014-ZJ-721)
文摘The atom-bond connectivity（ABC） index of a graph G, introduced by Estrada,Torres, Rodr′？guez and Gutman in 1998, is defined as the sum of the weights√1/di＋1/dj-2/didj of all edges vivj of G, where di denotes the degree of the vertex vi in G. In this paper, we give an upper bound of the ABC index of a two-tree G with n vertices, that is, ABC（G） ≤（2n- 4）√2/2＋√2n-4/n-1. We also determine the two-trees with the maximum and the second maximum ABC index.
