According to the lower-bound theorem of limit analysis the Rigid Finite Element Meth-od(RFEM)is applied to structural limit analysis and the linear programmings for limit analysis are deducedin this paper.Moreover,the...According to the lower-bound theorem of limit analysis the Rigid Finite Element Meth-od(RFEM)is applied to structural limit analysis and the linear programmings for limit analysis are deducedin this paper.Moreover,the Thermo-Parameter Method(TPM)and Parametric Variational principles(PVP)are used to reduce the computational effort while maintaining the accuracy of solutions.A better solution isalso obtained in this paper.展开更多
The paper presents two methods for the formulation of free vibration analysis of collecting electrodes of precipitators.The first,called the hybrid finite element method, combines the finit element method used for cal...The paper presents two methods for the formulation of free vibration analysis of collecting electrodes of precipitators.The first,called the hybrid finite element method, combines the finit element method used for calculations of spring deformations with the rigid finite element method used to reflect mass and geometrical features,which is called the hybrid finite element method.As a result,a model with a diagonal mass matrix is obtained.Due to a specific geometry of the electrodes,which are long plates of complicated shapes,the second method proposed is the strip method which is a semi-analytical method.The strip method allows us to formulate the equations of motion with a considerably smaller number of generalized coordinates.Results of numerical calculations obtained by both methods are compared with those obtained using commercial software like ANSYS and ABAQUS.Good compatibility of results is achieved.展开更多
Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary cha...Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.展开更多
基金The project supported by National Natural Science Foundation of China
文摘According to the lower-bound theorem of limit analysis the Rigid Finite Element Meth-od(RFEM)is applied to structural limit analysis and the linear programmings for limit analysis are deducedin this paper.Moreover,the Thermo-Parameter Method(TPM)and Parametric Variational principles(PVP)are used to reduce the computational effort while maintaining the accuracy of solutions.A better solution isalso obtained in this paper.
基金Research is financed from the project NR03-0036-04/2008
文摘The paper presents two methods for the formulation of free vibration analysis of collecting electrodes of precipitators.The first,called the hybrid finite element method, combines the finit element method used for calculations of spring deformations with the rigid finite element method used to reflect mass and geometrical features,which is called the hybrid finite element method.As a result,a model with a diagonal mass matrix is obtained.Due to a specific geometry of the electrodes,which are long plates of complicated shapes,the second method proposed is the strip method which is a semi-analytical method.The strip method allows us to formulate the equations of motion with a considerably smaller number of generalized coordinates.Results of numerical calculations obtained by both methods are compared with those obtained using commercial software like ANSYS and ABAQUS.Good compatibility of results is achieved.
文摘Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.
