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Nonlinear dynamics and analysis of a four-bar linkage with clearance

Yuanguang TANG, Zongyu CHANG, Xiaogang DONG, Yafei HU, Zhenjiang YU

《机械工程前沿（英文）》 2013年第8卷第2期页码 160-168 doi: 10.1007/s11465-013-0258-6

摘要：

In this paper, nonlinear dynamic behavior of a four-bar linkage considering clearance is studied. The dynamic model of the linkage with a clearance between coupler and rocker is developed firstly. Then the dynamic equations of this mechanism are solved by a numerical method. According to the calculated response, compliance, force and trajectory of pin in joint bearing are obtained. Effects of clearance magnitude and the relationship between a mechanism with clearance and without clearance are studied. By using Poincare Map, it is proved that strange attractors or chaos exist in the dynamic response. In addition, phenomena of chaos, periodic response and subharmonic response also can be found in the special condition. Bifurcation diagram is used to suggest that bifurcation and fractal phenomena exist in the dynamic response of this mechanism.

关键词： four-bar linkage chaos bifurcation strange attractors dynamics

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

《机械工程前沿（英文）》 2021年第16卷第3期页码 451-467 doi: 10.1007/s11465-021-0634-6

摘要： A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of freedom (DOFs) is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture. In this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced, which reduces the DOFs of the end-effector (EE). A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs, which maps the generalized velocities of three points on the EE to the joint velocities. A new optimization algorithm derived from this dimensionally homogeneous Jacobian is proposed for the optimal design of this type of RAPMs. As an example, this paper presents a spatial RAPM involving linkages and cam mechanisms. This RAPM has 4 DOFs and 6 translational actuations. The linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.

关键词： redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design

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The linkage mechanism between urban intelligence and low carbon innovation

Ming LIN

《工程管理前沿（英文）》 2019年第6卷第4期页码 584-586 doi: 10.1007/s42524-019-0076-6

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Ultrasonic measurement of tie-bar stress for die-casting machine

《机械工程前沿（英文）》 doi: 10.1007/s11465-021-0663-1

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Seismic behavior experimental study of frame joints with special-shaped column and dispersed steel bar

Shuchun LI, Bo DIAO, Youpo SU,

《结构与土木工程前沿（英文）》 2009年第3卷第4期页码 378-383 doi: 10.1007/s11709-009-0064-8

摘要： To overcome the problem that steel bars are put too close at a flame joint with special-shaped beam and column, mechanical performance of three groups of six RC flame joints with special-shaped (L, T and+) column and dispersed-steel bars-beam on the top floor under cyclic loads were studied. Experimental comparison was conducted between special-shaped (L, T and+) column and normal beams. The cracking load, yielding load, ultimate bearing capacity, failure patterns, and hysteretic properties at joint core area were investigated. The seismic behaviors of the joints with different proportions of dispersed-steel-bar beams were analyzed. The results of experimental analysis indicate that the mechanical and seismic behaviors of frame joints with T-shaped and+-shaped column are nearly not changed when suitable proportion steel bars are dispersed to flange plane. Stiffness degeneration of flame joint with L-shaped column is rather serious due to concrete damage stiffness. Theoretical result indicates that distributing area of the dispersed steel-bar beams in the flange plate should be strictly controlled to avoid anchor destroy.

关键词： beam with dispersed steel bar flame joints with special-shaped beam and column seismic behavior scale of dispersed steel bars

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“医养智慧联动”的养老模式研究与探索

金心宇,夏琦,张唯,李兰娟

《中国工程科学》 2018年第20卷第2期页码 92-98 doi: 10.15302/J-SSCAE-2018.02.014

摘要：

我国已进入老龄化社会，而我国的养老建设事业仍处于不成熟阶段，养老问题已然成为我国亟待解决的重大问题之一。在国家相关政策的指引下，本文从我国国情出发，提出了一种以大型医院为诊疗主导，利用互联网实现与机构养老、社区养老和居家养老三种养老模式的有机连接，并融合老年病的人工智能云诊疗康复新技术的“医养智慧联动”养老模式。相关实践证明，利用互联网和人工智能及先进有效的综合诊疗技术来解决我国目前养老产业存在的问题具有重要的研究价值，也是一次非常有前景的尝试，符合国家的发展战略和相关政策。

关键词： “医养智慧联动” 智慧养老互联网人工智能辅助诊疗

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Landing control method of a lightweight four-legged landing and walking robot

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0707-1

摘要： The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot lunar exploration buffer landing compliance control

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Distributed fiber optic monitoring of a CFA pile with a central reinforcement bar bundle

Yi RUI, Nicholas de BATTISTA, Cedric KECHAVARZI, Xiaomin XU, Mei YIN

《结构与土木工程前沿（英文）》 2021年第15卷第1期页码 167-176 doi: 10.1007/s11709-020-0581-z

摘要： In this paper, we present an application of distributed fiber optic sensor (DFOS) technology to measure the strain of a continuous flight auger (CFA) test pile with a central reinforcement bar bundle, during a static load test carried out in London. Being distributed in nature, DFOS gives much more information about the pile performance as compared to traditional point sensors, such as identifying cross-sectional irregularities or other anomalies. The strain profiles recorded along the depth of the piles from the DFOS were used to calculate pile deformation (contraction), shaft friction, and tip resistance under various loads. Based on this pile load test, a finite element (FE) analysis was performed using a one-dimensional nonlinear load-transfer model. Calibrated by the shaft friction and tip resistance derived from the monitored data, the FE model was able to simulate the pile and soil performance during the load testing with good accuracy. The effect of the reinforcement cage and central reinforcement bar bundle were investigated, and it was found that the addition of a reinforcement cage would reduce the pile settlement by up to 20%.

关键词： continuous flight auger pile static load test central reinforcement bar bundle distributed fiber optic sensor finite element load transfer

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Modeling of dynamic response of poroelastic soil layers under wave loading

Mehmet Bar?? Can üLKER

《结构与土木工程前沿（英文）》 2014年第8卷第1期页码 1-18 doi: 10.1007/s11709-014-0233-2

摘要： In this paper, the dynamic response of saturated and layered soils under harmonic waves is modeled using the finite element method. The numerical results are then verified by corresponding analytical solutions which are also developed by the author. The equations governing the dynamics of porous media are written in their fully dynamic form and possible simplifications are introduced based on the presence of inertial terms associated with solid and fluid phases. The response variations are presented in terms of pore water pressure and shear stress distributions within the layers. It is determined that a set of non-dimensional parameters and their respective ratios as a result of layering play a major role in the dynamic response.

关键词： dynamic response of soils coupled flow-deformation finite elements analytical solution harmonic waves

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experimental study of mechanical properties on steel sheet glass fiber reinforced polymer composite bar

《结构与土木工程前沿（英文）》 2021年第15卷第4期页码 834-850 doi: 10.1007/s11709-021-0743-7

摘要： The concept of steel sheet glass fiber reinforced polymer (GFRP) composite bar (SSGCB) was put forward. An optimization plan was proposed in the combined form of SSGCB. The composite principle, material selection, and SSGCB preparation technology have been described in detail. Three-dimensional finite element analysis was adopted to perform the combination form optimization of different steel core structures and different steel core contents based on the mechanical properties. Mechanical tests such as uniaxial tensile, shear, and compressive tests were carried out on SSGCB. Parametric analysis was conducted to investigate the influence of steel content on the mechanical properties of SSGCB. The results revealed that the elastic modulus of SSGCB had improvements and increased with the rise of steel content. Shear strength was also increased with the addition of steel content. Furthermore, the yield state of SSGCB was similar to the steel bar, both of which indicated a multi-stage yield phenomenon. The compressive strength of SSGCB was lower than that of GFRP bars and increased with the increase of the steel core content. Stress-strain curves of SSGCB demonstrated that the nonlinear-stage characteristics of SSGCB-8 were much more obvious than other bars.

关键词： steel sheet GFRP composite bar combination form numerical modeling mechanical properties test strength

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

《机械工程前沿（英文）》 2021年第16卷第3期页码 504-527 doi: 10.1007/s11465-020-0626-y

摘要： Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots (FWIDSMRs) due to the flexible allocation of multiple maneuver modes. To address this problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking control. To reduce the calculation burden and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planning method, which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm, is designed. By utilizing the sampled subgoals and the constructed global path, local planning is then performed to avoid unexpected obstacles and potential collisions. With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following precision. The tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual neural network optimization technique is used to solve the QP problem. Experimental results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot multiple maneuvering mode motion planning tracking control receding horizon control

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Pollution of NPEOs in four municipal sewage treatment plants in the north of China

HOU Shaogang, SUN Hongwen

《环境科学与工程前沿（英文）》 2007年第1卷第2期页码 196-201 doi: 10.1007/s11783-007-0034-0

摘要： The concentration and distribution of nonylphenol polyethoxylates (NPEOs represents the mixture, and NPEO represents the monomer) and its metabolites in the influent and effluent of four municipal sewage treatment plants (STPs) in the north of China were measured. Moreover, the concentration and distribution of the above chemicals in the sludge of two STPs were also determined, and the transfer and fate of NPEOs in the sewage treatment process were discussed primarily by analyzing the distribution of the products in the effluent and the sludge. The results showed that NPEOs and its metabolites existed in all the samples of the influent, effluent, and sludge. NPEOs were degraded in the sewage treatment process with the removal efficiency in the range of 23.38% 77.11%, or an average of 52.86%. However, the large analogs of NPEO were only degraded to small ones, whose degradation rate was rather slow, and consequently the degradation was not complete. Hence, the concentrations of some small metabolites, such as nonylphenol (NP), nonylphenol monoethoxylate (NP1EO), and nonylphenol diethoxylate (NP2EO) were elevated in the effluent. These small metabolites are more toxic than the large NPnEO analogs, and some of them were reported to exhibit environmental endocrine disrupting activity. From this point of view, the process of sewage treatment does not reduce but elevate the risk of NPEOs, which becomes the main source of these small NPEO in the environment. The sludge exhibited good adsorption ability for NPEOs, especially for the small analogs, which led to the high level of NPEOs in the sludge. Hence, reasonable disposal of the surplus sludge to avoid re-pollution is very important.

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Experimental study on slender buckling-restrained knee braces with round steel bar cores

《结构与土木工程前沿（英文）》 2023年第17卷第1期页码 99-121 doi: 10.1007/s11709-022-0875-4

摘要： This study aimed to investigate a novel slender buckling-restrained knee brace damper (BRKB) for welded and weld-free steel framing systems. The proposed BRKB adopts steel bar cores connected by a central coupler and restrained by tube buckling restrainers with a cover tube supporter. The advantages of the proposed damper include easy assembly compared to conventional buckling restrained braces, and high architectural flexibility for the retrofitting of large-span weld-free or welded steel moment-resisting systems. Specifically, by increasing the number of contraction allowances, undesirable failure mechanisms that are global instability and local buckling of the restrainer ends can be effectively suppressed because the more uniform plastic deformation of the core bar can be achieved longitudinally. In this study, displacement-controlled compression and cyclic loading tests were carried out to investigate the deformation capacities of the proposed BRKBs. Structural performance metrics associated with both loading tests, such as strength capacities, strains at the cover tubes and buckling restrainers, and hysteretic behaviors of the proposed damper under cyclic loads, were measured and discussed. Test results revealed that the geometrical characteristics of the cover tubes and adopted contraction allowances at the dampers play essential roles in their load-bearing capacities.

关键词： weld-free beam-to-column connections moment-resisting frame cyclic and compression loading tests buckling-restrained knee brace cover tube

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Shaking-moment balancing of mechanisms with principal vectors and momentum

V. van der WIJK

《机械工程前沿（英文）》 2013年第8卷第1期页码 10-16 doi: 10.1007/s11465-013-0359-2

摘要：

The design of shaking-moment-balanced linkages still is challenging. Considering moment balance in the very beginning of the design process of mechanisms is important for finding applicable solutions. For this purpose, the method of principal vectors is investigated, showing a compact notation of the angular momentum with respect to the center of mass. The moment balance conditions are derived for three elements in series from which balance solutions are synthesized and illustrated. From the application for moment balancing of a 4R four-bar linkage it is shown that the moment balancing of closed kinematic chains remains challenging.

关键词： shaking-moment balancing principal vector linkage angular momentum

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance