用波动方程建立蠕动爬行攻泥机器人海底土力学运动模型
|
摘要
针对目前国内海底蠕动爬行机器人攻打千斤洞的特点 ,在对海洋沉积土的工程性质进行分析的基础上 ,利用流变力学的理论 ,提出用波动方程来建立攻泥机器人周期性冲击土壤的力学模型 ,用后向差分法解波动方程 ,得到土壤的位移和变形公式 ,确定土壤对攻泥机的阻力 .通过对模型的仿真 ,证明了用该模型计算阻力的可行性 .
according to the characteristics of the present move-in-soil robot based on creeping principle, a seabed soil mechanics model of rheology is proposed by wave equation, as far as the engineering behavior of seabed soil under the periodical impact is concerned. During the solution of the wave equation with backward difference, we work out the displacement and distortion of the soil unit. After that, a simulation is provided on plastic and solid mud, and the feasibility of using this way to calculate the resistance generated by soil is also studied.
according to the characteristics of the present move-in-soil robot based on creeping principle, a seabed soil mechanics model of rheology is proposed by wave equation, as far as the engineering behavior of seabed soil under the periodical impact is concerned. During the solution of the wave equation with backward difference, we work out the displacement and distortion of the soil unit. After that, a simulation is provided on plastic and solid mud, and the feasibility of using this way to calculate the resistance generated by soil is also studied.
引文
[1]林扬,孙斌.水下自动攻泥机蠕动爬行工具关键技术研究报告.中国科学院沈阳自动化研究所水下机器人研究室,1999
[2]魏洪兴,王立权,袁鹏,杨青梅,孟庆鑫.基于蠕动原理拱泥机器人的海洋土力学模型研究.哈尔滨工程大学学报,2000,21(4)
[3]APPARARUS FOR DRILLING A HORIZONTAL CON-TROLLED BOREHOL E IN THE EARTH,UnitedStatesPatent,PatentNumber5148880,WilliamJ.McDonald;GerardT.Pittard,CharlesG.Steele,Sep.22.1992
[4]ROTARY PAPID EXCAVATION SYSTEM UnitedStatesPatent,PatentNumber4949795WilliamC.McDonald;GerardT.Pittard;JohnH.Cohen,Aug.21.1990
[5]IN-SITU PORTABLE BORING REAMING SYSTEM UnitedStatesPatent,PatentNumber:4856945,RobertBarriosAug.15.1989
[6]钱家欢,殷宗泽.土工原理与计算.中国水利水电出版社,1996.5
[7]ASTM (D1194-72)StandardMethod forBearingCapacity ofSoil forStaticLoad onSpreadFootings(Reproved1997)
[8]Basavanna,B M,V H Joshi,S Prakash.DynamicBearingCa-pacity ofSoilsUnderTransientL oading.BullIndSocEarthqTechl,1974,2(3):67-84
[9]ChummarA V.DynamicBearingCapacity ofFootings.MasterofEngineeringDissertation.University ofRoorkee,India,1965
[10]ConverseF J.Compaction ofSand atResonantFrequency.Symp onDynamicTesting ofSoils,ASTM,SpecTechPubMo150
[11]CunnyT W,R cSloan.DynamicL oading machine andResultsofPreliminarySmall_ScaleFootingTests.SympOnSoilDy-namics,ASTM SpecTechPubNo.305
[12]陈希哲.土力学.[M]北京:清华大学出版社,1998
[13]粘塑性力学及工程应用.地震出版社,2000
[14]土动力学.中国建材工业出版社,2000
[2]魏洪兴,王立权,袁鹏,杨青梅,孟庆鑫.基于蠕动原理拱泥机器人的海洋土力学模型研究.哈尔滨工程大学学报,2000,21(4)
[3]APPARARUS FOR DRILLING A HORIZONTAL CON-TROLLED BOREHOL E IN THE EARTH,UnitedStatesPatent,PatentNumber5148880,WilliamJ.McDonald;GerardT.Pittard,CharlesG.Steele,Sep.22.1992
[4]ROTARY PAPID EXCAVATION SYSTEM UnitedStatesPatent,PatentNumber4949795WilliamC.McDonald;GerardT.Pittard;JohnH.Cohen,Aug.21.1990
[5]IN-SITU PORTABLE BORING REAMING SYSTEM UnitedStatesPatent,PatentNumber:4856945,RobertBarriosAug.15.1989
[6]钱家欢,殷宗泽.土工原理与计算.中国水利水电出版社,1996.5
[7]ASTM (D1194-72)StandardMethod forBearingCapacity ofSoil forStaticLoad onSpreadFootings(Reproved1997)
[8]Basavanna,B M,V H Joshi,S Prakash.DynamicBearingCa-pacity ofSoilsUnderTransientL oading.BullIndSocEarthqTechl,1974,2(3):67-84
[9]ChummarA V.DynamicBearingCapacity ofFootings.MasterofEngineeringDissertation.University ofRoorkee,India,1965
[10]ConverseF J.Compaction ofSand atResonantFrequency.Symp onDynamicTesting ofSoils,ASTM,SpecTechPubMo150
[11]CunnyT W,R cSloan.DynamicL oading machine andResultsofPreliminarySmall_ScaleFootingTests.SympOnSoilDy-namics,ASTM SpecTechPubNo.305
[12]陈希哲.土力学.[M]北京:清华大学出版社,1998
[13]粘塑性力学及工程应用.地震出版社,2000
[14]土动力学.中国建材工业出版社,2000
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心