资源类型

期刊论文 81

会议视频 2

年份

2023 3

2022 4

2021 4

2020 2

2019 2

2018 6

2017 5

2016 3

2015 2

2014 1

2013 3

2012 6

2011 7

2010 10

2009 10

2008 4

2007 3

2006 2

2005 1

2004 1

展开 ︾

关键词

斜拉桥 9

悬索桥 5

苏通大桥斜拉桥 4

一阶分析法 2

主缆 2

南京长江第四大桥 2

大规格 2

安全系数 2

悬索 2

索塔 2

设计参数 2

10kV高压电力电缆 1

1860 MPa等级 1

4250 m 1

4D CAD 1

Arrhenius模型 1

CFRP索斜拉桥 1

Chebyshev多项式 1

PPWS 1

展开 ︾

检索范围：

排序： 展示方式：

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

HTML PDF 收藏

Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

《结构与土木工程前沿（英文）》 2019年 第13卷 第5期   页码 1227-1242 doi: 10.1007/s11709-019-0551-5

摘要： The cable system of cable-supported structures usually bears high tension forces, and clip joints may fail to resist cable sliding in cases of earthquake excitations or sudden cable breaks. A analytical method that considers the dynamic cable sliding effect is proposed in this paper. Cable sliding behaviors and the resultant dynamic responses are solved by combining the vector form intrinsic finite element framework with cable force redistribution calculations that consider joint frictions. The cable sliding effect and the frictional tension loss are solved with the original length method that uses cable length and the original length relations. Then, the balanced tension distributions are calculated after frictional sliding. The proposed analytical method is achieved within MATLAB and applied to simulate the dynamic response of a cable-supported plane truss under seismic excitation and sudden cable break. During seismic excitations, the cable sliding behavior in the cable-supported truss have an averaging effect on the oscillation magnitudes, but it also magnifies the internal force response in the upper truss structure. The slidable cable joints can greatly reduce the ability of a cable system to resist sudden cable breaks, while strong friction resistances at the cable-strut joints can help retain internal forces.

关键词： sliding cable     explicit solution framework     original length method     seismic response     cable rupture    

HTML PDF 收藏

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

《机械工程前沿（英文）》 2013年 第8卷 第4期   页码 350-359 doi: 10.1007/s11465-013-0271-9

摘要：

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

关键词： parallel robot     flexible cable     suspended robot     dynamic    

HTML PDF 收藏

State-of-the-art on theories and applications of cable-driven parallel robots

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0693-3

摘要： Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid–flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid–flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

关键词： cable-driven parallel robot     kinematics     optimization     dynamics     control    

HTML PDF 收藏

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

HTML PDF 收藏

Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

《结构与土木工程前沿（英文）》 2021年 第15卷 第1期   页码 253-274 doi: 10.1007/s11709-020-0639-y

摘要： The analysis of cable structures is one of the most challenging problems for civil and mechanical engineers. Because they have highly nonlinear behavior, it is difficult to find solutions to these problems. Thus far, different assumptions and methods have been proposed to solve such structures. The dynamic relaxation method (DRM) is an explicit procedure for analyzing these types of structures. To utilize this scheme, investigators have suggested various stiffness matrices for a cable element. In this study, the efficiency and suitability of six well-known proposed matrices are assessed using the DRM. To achieve this goal, 16 numerical examples and two criteria, namely, the number of iterations and the analysis time, are employed. Based on a comprehensive comparison, the methods are ranked according to the two criteria. The numerical findings clearly reveal the best techniques. Moreover, a variety of benchmark problems are suggested by the authors for future studies of cable structures.

关键词： nonlinear analysis     cable structure     stiffness matrix     dynamic relaxation method    

HTML PDF 收藏

Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

《结构与土木工程前沿（英文）》 2011年 第5卷 第4期   页码 451-457 doi: 10.1007/s11709-011-0127-5

摘要： This paper presents the first of a series of studies on the seismic design of high-rise towers for cable-stayed bridges under strong earthquakes. One practical cable-stayed bridge with a 730 m long main span and two high-rise towers over 200 m in height was selected for this study. The preliminary results show that compared with piers, the tower is more vulnerable to pulse-like earthquakes, and it may develop plasticity at certain locations. In addition, viscous dampers may not have the same effect during pulse-like earthquakes as they do under site-specific earthquakes. Hence, reoptimization of damper parameters or reconsideration of other energy dissipation devices will be needed if strong earthquakes are likely to occur.

关键词： high-rise tower     cable-stayed bridge     strong earthquake     seismic design    

HTML PDF 收藏

Influence of damages on static behavior of single-layer cable net supported glass curtain wall: full-scale

Gang SHI, Yongjiu SHI, Yuanqing WANG, Yongzhi ZUO, Xiaohao SHI, Zaoyang GUO,

《结构与土木工程前沿（英文）》 2010年 第4卷 第3期   页码 383-395 doi: 10.1007/s11709-010-0074-6

摘要： The single-layer cable net supported glass curtain wall has been applied in many building structures all over the world. In service, it will inevitably be subject to various damages. To study the influence of such damages on the static behavior of the single-layer cable net supported glass curtain wall, a full-scale model with the outside outline size of 4.85 m × 4.85 m and 4 × 4 grids is designed and tested. Two kinds of damages that are the cable prestress loss and cable anchorage end failure are led into the structure model during the test, and their influence has been investigated. The stiffness contribution of glass panels to the single-layer cable net supported glass curtain wall structure with or without damages and its change have been tested and analyzed. The results show that the maximum change rate of nodal deflection is 13.78% for the damage of cable prestress loss, while the change rate of nodal deflection is between 7% and 22% for the damage of cable anchorage end failure. The influence degree of the damages depends on the ratio of the structure initial stress stiffness change caused by damages to the total stiffness of the structure. The stiffness contribution of glass panels increases with the load increase. Under the same loading condition, the stiffness contribution of glass panels to the damaged structure is greater than that to the intact structure. The stiffness contribution of glass panels reduces the effect of the damages on the structural displacement and the cable tension force, but the glass panel could break if its stiffness contribution is too large.

关键词： single-layer plane cable net supported glass curtain wall     damage     cable prestress loss     cable anchorage end failure     stiffness contribution of glass panels    

HTML PDF 收藏

Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

《结构与土木工程前沿（英文）》 doi: 10.1007/s11709-023-0932-7

摘要： Submerged floating tunnels (SFTs) are novel structures for transportation across long- and deep-strait regions. Owing to severe wave and current excitation as well as the effects of underwater structures and corrosion, the risk of local anchor cable failure is high, which can result in the progressive failure of the entire structure. In this study, experimental and numerical investigations are conducted to analyze the dynamic behavior of an SFT with different mooring styles under local cable failure. A custom-designed cable failure device and the birth-and-death element method are used to simulate cable failure (i.e., progressive failure) via experiments and numerical simulation, respectively. A physical-scale segmental model of an SFT with different mooring styles under anchor cable failure is developed in this study. A segmental and entire-length mathematical model is developed using the ANSYS program to perform the numerical simulation. The results of the segmental numerical and experimental models indicate good agreement. The dynamic response of an SFT with different mooring styles under cable failure is comprehensively investigated by investigating the effects of key parameters (wave period, buoyant weight ratio, and cable failure mechanism). Moreover, the progressive failure of the SFT under cable failure is investigated via a segment model test and a numerical simulation of its entire length. The present study can serve as a reference for the safer designs of the SFT mooring style.

关键词： dynamic behaviors     submerged floating tunnel     cable failure     mooring style     progressive failure    

HTML PDF 收藏

Limit span of self-anchored cable-stayed suspension cooperation system bridge based on strength

Zhe ZHANG , Huili WANG , Xiaomeng GE , Sifeng QIN ,

《结构与土木工程前沿（英文）》 2009年 第3卷 第3期   页码 286-291 doi: 10.1007/s11709-009-0045-y

摘要： The limit span of self-anchored cable-stayed suspension bridge is deduced. The relations among the geometrical parameters, loads and material characteristics are also analyzed. Based on the material strength and commonly used materials, the limit spans of self-anchored cable-stayed suspension bridges with concrete girder or steel girder under vertical static load are discussed in detail. The corresponding upper limit spans and the effect of the factors on the span are given. The results indicate that increasing rise-span ratio, height-span ratio and cable-stayed segment length or reducing the second dead load could increase the cooperation system span.

关键词： cable-stayed suspension     self-anchored     limit span    

HTML PDF 收藏

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

Huaxin LIU,Marco CECCARELLI,Qiang HUANG

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 170-183 doi: 10.1007/s11465-016-0383-0

摘要：

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs     ankle joints     cable-pulley transmissions     multi-body dynamic simulation     numerical characterization    

HTML PDF 收藏

Seismic experimental study on a concrete pylon from a typical medium span cable-stayed bridge

Yan XU, Shijie ZENG, Xinzhi DUAN, Dongbing JI

《结构与土木工程前沿（英文）》 2018年 第12卷 第3期   页码 401-411 doi: 10.1007/s11709-018-0464-8

摘要：

According to the current seismic design codes of bridges in China, cable-stayed bridges have been usually required to remain elastic even subjected to strong earthquakes. However, the possibilities of pylon plastic behavior were revealed in recent earthquake damages. The lack of due diligence in the nonlinear seismic behavior of the pylon has caused a blurry understanding about the seismic performance of such widely built though less strong earthquake experienced structures. In light of this point, a 1/20 scaled concrete pylon model which from a typical medium span cable-stayed bridge was designed and tested on the shaking table longitudinally. The dynamic response and seismic behavior of the pylon were measured, evaluated and compared to reveal its vulnerable parts and nonlinear seismic performance. The results show that most parts of the concrete pylon remain elastic even under very strong excitations, which means a sufficient safety margin for current pylon longitudinal design. The most vulnerable parts of the pylon appeared first at the pylon bottom region, cracks opening and closing at the pylon bottom were observed during the test, and then extended to the lower column and middle column around the lower strut.

关键词： cable-stayed bridge     pylon     shaking table test     seismic behavior    

HTML PDF 收藏

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

《机械工程前沿（英文）》 2015年 第10卷 第4期   页码 344-351 doi: 10.1007/s11465-015-0364-8

摘要：

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

关键词： accuracy     cable-driven parallel robot     linear quadratic optimal control    

HTML PDF 收藏

Vehicle-bridge coupled vibrations in different types of cable stayed bridges

Lingbo WANG,Peiwen JIANG,Zhentao HUI,Yinping MA,Kai LIU,Xin KANG

《结构与土木工程前沿（英文）》 2016年 第10卷 第1期   页码 81-92 doi: 10.1007/s11709-015-0306-x

摘要： Numerical analyses of the coupled vibrations of vehicle-bridge system and the effects of different types of cable stayed bridges on the coupled vibration responses have been presented in this paper using ANSYS. The bridge model and vehicle model were independently built which have no internal relationship in the ANSYS. The vehicle-bridge coupled vibration relationship was obtained by using the APDL program which subsequently imposed on the vehicle and bridge models during the numerical analysis. The proposed model was validated through a field measurements and literature data. The judging method, possibility, and criterion of the vehicle-bridge resonance (coupled vibrations) of cable stayed bridges (both the floating system and half floating system) under traffic flows were presented. The results indicated that the interval time between vehicles is the main influence factor on the resonance excitation frequency under the condition of equally spaced traffic flows. Compared to other types of cable stayed bridges, the floating bridge system has relatively high possibility to cause vehicle-bridge resonance.

关键词： vehicle-bridge coupled vibration     cable stayed bridge     resonances of vehicle-bridge system    

HTML PDF 收藏

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 45-60 doi: 10.1007/s11465-011-0205-3

摘要：

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.

关键词： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

HTML PDF 收藏

标题 作者 时间 类型 操作

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

期刊论文

Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss

Yujie YU, Zhihua CHEN, Renzhang YAN

期刊论文

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

期刊论文

State-of-the-art on theories and applications of cable-driven parallel robots

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

期刊论文

Seismic design of high-rise towers for cable-stayed bridges under strong earthquakes

Yan XU, Shide HU

期刊论文

Influence of damages on static behavior of single-layer cable net supported glass curtain wall: full-scale

Gang SHI, Yongjiu SHI, Yuanqing WANG, Yongzhi ZUO, Xiaohao SHI, Zaoyang GUO,

期刊论文

Dynamic performance of submerged floating tunnel with different mooring styles subjected to anchor cable

期刊论文

Limit span of self-anchored cable-stayed suspension cooperation system bridge based on strength

Zhe ZHANG , Huili WANG , Xiaomeng GE , Sifeng QIN ,

期刊论文

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

Huaxin LIU,Marco CECCARELLI,Qiang HUANG

期刊论文

Seismic experimental study on a concrete pylon from a typical medium span cable-stayed bridge

Yan XU, Shijie ZENG, Xinzhi DUAN, Dongbing JI

期刊论文

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

期刊论文

Vehicle-bridge coupled vibrations in different types of cable stayed bridges

Lingbo WANG,Peiwen JIANG,Zhentao HUI,Yinping MA,Kai LIU,Xin KANG

期刊论文

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

期刊论文