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341.
Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying
Aiming at the workspace calculation problem of multi-joint serial manipulators, a surface enveloping and overlaying (SEO)
method is presented to identify and visualize the manipulator workspace. The SEO method is composed of two stages: the first
stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method; the second stage is to overlay these boundary surfaces to identify the final workspace. The SEO method
is basically a combination of the analytic method and the numerical method. By delineating the graphic representation of the
workspace step by step, the SEO method is easy to analyze the existence and the shape of voids and holes. The basic theory
of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator. By showing the workspace
calculation results, the SEO method is proved working correctly. 相似文献
342.
To quantify mechanical effects of plantar fascia and ligaments on the arch structure, a 3D finite element model of the foot
was created to simulate the balanced standing posture. Four cases after individual releases of plantar fascia, spring ligament,
long and short plantar ligaments were simulated respectively to compare their consequences to the predictions of the intact
structure. It was founded that the foot arch didn’t collapse obviously after any individual release of these structures. As
plantar fascia was released, tensions of plantar ligaments were largely increased. Long and short plantar ligaments performed
mutual compensation functions. 相似文献
343.
A fuzzy optimization model of storage space allocation is proposed, and a rolling-planning method is derived. The model takes
the uncertainty of departure time of import containers and arrival time of export containers into account. For each planning
horizon, the problem is decomposed into two levels: the first level minimizes the unbalanced workloads among blocks using
hybrid intelligence algorithm; based on block workloads allocated in the above level, the second level minimizes the number
of blocks to which the same group of import containers are split. Numerical results show that the model reduces workload imbalance,
and speeds up the vessel loading and discharging process. 相似文献
344.
Initial conditions of impact dynamics 总被引:1,自引:0,他引:1
The effects of the initial conditions of impact dynamics equations are investigated numerically and experimentally. The inadequacies
of previous studies on initial conditions are pointed out. Then a coefficient of velocity jump at the moment of impact is
introduced, and the experiments for the mental rods are implemented to validate the appending constraints modeling methods
for impact process. The comparisons between the experimental and simulated results at different coefficients are used to study
the effects of the velocity jump conditions to the numerical simulation. The results indicate that the physical velocity response
of bodies during impact is smooth; the different values of velocity jump only have small effects on numerical oscillation
of velocity response, and they have no effects on the time history of impact force. 相似文献
345.
Dynamic investigation on composite flexible multi-body system considering thermal effect 总被引:1,自引:0,他引:1
The dynamic performance of composite flexible multi-body system under the simultaneous action of thermal fields and driving
constraint is analyzed. Based on strain-displacement relation of the Mindlin plate theory which includes transverse shear
deformation, and considering thermal effect, variation equations of laminated plate are derived by the principle of virtual
work. The finite element method is used for discretization. According to kinematics constraint relation, dynamic equations
for spatial slider-crank system are established. Simulation results show that spatial deformation (torsion deformation) appears
in the multi-layered composite slider-crank mechanism which is simulated with planar motions. Furthermore, the influence of
coupling between thermal expansion and flexible deformations of non-symmetrical composite plates on the large overall motion
under the uniform temperature field is investigated. Finally, significant change in constraint force due to the spatial deformation
is shown. 相似文献
346.
For electromagnetic governing equations formulated by magnetic vector potential and electric scalar potential, its detailed
numerical implementation is achieved by using meshless method and Galerkin approach. And essential boundary and interface
condition of electromagnetic field are imposed by means of Lagrange multiplier method. Furthermore, the influences of interpolation
point number at essential boundary and interface on computational results are also discussed. Examples are given to validate
the effects of meshless method and Lagrange multiplier approach for electromagnetic field. 相似文献
347.
Based on Navier-Stokes equation and renormalization group (RNG) onflow model, the 3D symmetrical impinging jet model of laser
cutting is established by adopting a taper nozzle and a convergence nozzle. Numerical simulation of gas flow in laser cutting
is used to investigate the effect of workpiece thickness on flow field of assist gas in cutting slot. The isolines of static
pressure as well as the distributions of static pressure and velocity are analyzed in details with different workpiece thickness,
and the trend of dynamics characteristics of gas jet is shown in the study. For taper nozzles and convergence nozzles, the
dynamic structure of assist gas being close to the lower surface of workpiece is exacerbated while the cutting quality and
cutting efficiency become worse with the increasing of workpiece thickness. The parallel degree between assist gas and the
axis of convergence nozzle is better than that of taper nozzle after the gas goes out of the nozzles. Two typical subsonic
nozzles are designed for the cutting experiment at the end of the paper. 相似文献
348.
Novel mesh technique and its application in the wind field simulation for flexible spatial structure
In this paper, novel mesh techniques are proposed for wind field simulation of flexible spatial structure. For mesh generation,
an interpolation strategy is presented to obtain a mesh system with variable density. Two spatial structure examples are used
to examine the efficiency and applicability of this technique. Then based on the structured mesh system generated by the technique,
the mesh nodal coordinates are updated to adapt the moving boundary conditions by means of the mapping interpolation functions
and some examples are given to verify the effectiveness. Furthermore, the constrained counterforce distribution technique
and projection interpolation strategy are developed to implement the data exchange on the interaction surface of wind and
structure. Finally, the computational accuracy is numerically validated. 相似文献
349.
Greenhouse environmental management, seedling bed scheduling, and fertilizer and water management are the core technologies
of seedling nursery. Precision management and control of the whole production process guarantees high grated seedling quality.
In order to improve management efficiency of grafted watermelon seedling production and seedling quality, this paper designs
and develops a grafted watermelon seedling production management system based on process control methods by process control
strategy, seedling bed planning design, and handheld device technology. 相似文献
350.
A kind of nonsubsampled contourlet and block-based cosine transform (NSCBCT) is developed, and its application in image fusion
is studied in this paper. The construction of filtering banks is based on the nonsubsampled contourlet transform (NSCT) and
block-based discrete cosine transform (B-DCT). We combine NSCT and B-DCT to design filters that lead to NSCBCT with better
singularity representation than either of them in isolation. A design framework based on the hybrid approach is proposed,
which allows for the fast implementation based on NSCT and B-DCT respectively. In addition, a new image fusion scheme based
on NSCBCT for multispectral and panchromatic satellite images is proposed. Firstly, because it adopts NSCT, the fused satellite
images have higher spatial resolution than those based on wavelets. Secondly, based on the localized high frequency information
provided by B-DCT, the proposed fusion scheme can reduce the spectral distortion of the fused image further. Experimental
results show that the proposed fusion method is able to increase the spatial resolution and reduce the spectral distortion
of the fused image at the same time. 相似文献