简介：

简介：

简介：Thedynamicsformulti-linkspatialflexiblemanipulatorarmsisinvestigated.ThesystemconsideredhereisanN-flexible-linkmanipulatordrivenbyNDC-motorsthroughNrevoluteflexiblejoints.Theflexibilityofeachflexiblejointismodeledasalinearlyelastictorsionalspring,andthemassofthejointisalsoconsidered.Fortheflexibilityofthelink,allofthestretchingdeformation,bendingdeformationandthetorsionaldeformationareincluded.ThecompletegoverningequationsofmotionofthesystemarederivedviatheLagrangeequations.Thenonlineardescriptionofthedeformationfieldoftheflexiblelinkisadoptedinthedynamicmodeling,andthusthedynamicstiffeningeffectsarecaptured.Basedonthismodel,ageneral-purposesoftwarepackagefordynamicsimulationofmulti-linkspatialflexiblemanipulatorarmsisdeveloped.Severalillustrativeexamplesaregiventovalidatethealgorithmpresentedinthispaperandtoindicatethatnotonlydynamicstiffeningeffectsbutalsotheflexibilityofthestructurehassignificantinfluenceonthedynamicperformanceofthemanipulator.

简介：Apolymericgelisanaggregateofpolymersandsolventmolecules,whichcanretainitsshapeafteralargedeformation.ThedeformationbehaviorofpolymericgelswasoftendescribedbasedontheFlory-Rehnerfreeenergyfunctionwithoutconsideringtheinfluenceofchainentanglementsonthemechanicalbehaviorofgels.Inthispaper,anewhybridfreeenergyfunctionforgelsisformulatedbycombiningtheEdwards-Vilgisslip-linkmodelandtheFlory-Hugginsmixingmodeltoquantifythetime-dependentconcurrentprocessoflargedeformationandmasstransport.Thefiniteelementmethodisdevelopedtoanalyzeexamplesofswelling-induceddeformation.Simulationresultsarecomparedwithavailableexperimentaldataandshowgoodagreement.Theinfluenceofentanglementsonthetime-dependentdeformationbehaviorofgelsisalsodemonstrated.Thestudyoflargedeformationkineticsofpolymericgelisusefulfordiverseapplications.

简介：Accordingtothebasicideaofclassicalyin-yangcomplementarityandmodemdual-complementarity,inasimpleandunifiednewwayproposedbyLuo,theunconven-tionalHamilton-typevariationalprinciplesforgeometricallynonlinearelastodynamicsoforthogonalcable-netstructuresareestablishedsystematically,whichcanfullycharac-terizetheinitial-boundary-valueproblemofthiskindofdynamics.Animportantin-tegralrelationismade,whichcanbeconsideredasthegeneralizedprincipleofvirtualworkforgeometricallynonlineardynamicsoforthogonalcable-netstructuresinmechan-ics.Basedonsuchrelationship,itispossiblenotonlytoobtaintheprincipleofvirtualworkforgeometricallynonlineardynamicsoforthogonalcable-netstructures,butalsotoderivesystematicallythecomplementaryfunctionaisforfive-field,four-field,three-fieldandtwo-fieldunconventionalHamilton-typevariationalprinciples,andthefunctionalfortheunconventionalHamilton-typevariationalprincipleinphasespaceandthepoten-tialenergyfunctionalforone-fieldunconventionalHamilton-typevariationalprincipleforgeometricallynonlinearelastodynamicsoforthogonalcable-netstructuresbythegeneral-izedLegendretransformationgiveninthispaper.Furthermore,theintrinsicrelationshipamongvariousprinciplescanbeexplainedclearlywiththisapproach.