一种6自由度柔索并联机器人的动力学研究

采用串联约束 /并联驱动的原理 ,通过加入约束机构 ,设计一种新型柔索驱动并联机器人。然而由于约束机构的引入 ,机器人的动力学分析变得更为复杂。在对机器人进行运动学分析的基础上 ,利用牛顿 欧拉法建立机器人动力学方程。仿真结果证明了该方法的有效性

A Lagrangian lattice Boltzmann method for Euler equations

A Lagrangian lattice Boltzmann method for solving Euler equations is proposed. The key step in formulating this method is the introduction of the displacement distribution function. The equilibrium distribution function consists of macroscopic Lagrangian variables at time steps n and n + 1. It is different from the standard lattice Boltzmann method. In this method the element, instead of each particle, is required to satisfy the basic law. The element is considered as one large particle, which results in simpler version than the corresponding Eulerian one, because the advection term disappears here. Our numerical examples successfully reproduce the classical results.

Hybrid numerical methods for exponential models of growth

A series of novel numerical methods for the exponential models of growth are proposed. Based on these methods, hybrid predictor-corrector methods are constructed. The hybrid numerical methods can increase the accuracy and the computing speed obviously, as well as enlarge the stability domain greatly. (c) 2005 Published by Elsevier Inc.

一种易于并行求解Euler方程组的分区技术

在具有复杂边界的计算区域内,求解偏微分方程组时,经常需要分区和并行计算,分区方法直接关系到数值计算的并行化程度,本文在应用时间算子分裂方法求解Euler方程组的过程中,提出了一种非常容易实现并行化计算的分区技术.

H4 exponential finite-difference scheme for convective diffusion-equations

Perturbations are applied to the convective coefficients and source term of a convection-diffusion equation so that second-order corrections may be applied to a second-order exponential scheme. The basic Structure of the equations in the resulting fourth-order scheme is identical to that for the second order. Furthermore, the calculations are quite simple as the second-order corrections may be obtained in a single pass using a second-order scheme. For one to three dimensions, the fourth-order exponential scheme is unconditionally stable. As examples, the method is applied to Burgers' and other fluid mechanics problems. Compared with schemes normally used, the accuracies are found to be good and the method is applicable to regions with large gradients.

Domain decomposition hybrid method for numerical simulation of bluff body flows:theoretical model and application

The discrete vortex method is not capable of precisely predicting the bluff body flow separation and the fine structure of flow field in the vicinity of the body surface. In order to make a theoretical improvement over the method and to reduce the difficulty in finite-difference solution of N-S equations at high Reynolds number, in the present paper, we suggest a new numerical simulation model and a theoretical method for domain decomposition hybrid combination of finite-difference method and vortex method. Specifically, the full flow. field is decomposed into two domains. In the region of O(R) near the body surface (R is the characteristic dimension of body), we use the finite-difference method to solve the N-S equations and in the exterior domain, we take the Lagrange-Euler vortex method. The connection and coupling conditions for flow in the two domains are established. The specific numerical scheme of this theoretical model is given. As a preliminary application, some numerical simulations for flows at Re=100 and Re-1000 about a circular cylinder are made, and compared with the finite-difference solution of N-S equations for full flow field and experimental results, and the stability of the solution against the change of the interface between the two domains is examined. The results show that the method of the present paper has the advantage of finite-difference solution for N-S equations in precisely predicting the fine structure of flow field, as well as the advantage of vortex method in efficiently computing the global characteristics of the separated flow. It saves computer time and reduces the amount of computation, as compared with pure N-S equation solution. The present method can be used for numerical simulation of bluff body flow at high Reynolds number and would exhibit even greater merit in that case.

基于CE/SE方法的二维Euler型多物质流体弹塑性问题计算

将CE/SE方法推广到二维固体流体弹塑性问题的数值计算,同时结合杂交粒子水平集方法追踪物质界面和合适的边界条件,提出一套完整的二维Euler型流体弹塑性计算方案.通过长钨杆侵彻装甲钢实验的数值模拟,对方法的精度和有效性进行验证.

A Multiscale-Domain Decomposition Method for High Reynolds Number Flows

The high Reynolds number flow contains a wide range of length and time scales, and the flow domain can be divided into several sub-domains with different characteristic scales. In some sub-domains, the viscosity dissipation scale can only be considered in a certain direction; in some sub-domains, the viscosity dissipation scales need to be considered in all directions; in some sub-domains, the viscosity dissipation scales are unnecessary to be considered at all. For laminar boundary layer region, the characteristic length scales in the streamwise and normal directions are L and L Re-1/ 2 , respectively. The characteristic length scale and the velocity scale in the outer region of the boundary layer are L and U, respectively. In the neighborhood region of the separated point, the length scale l<Euler equations, NS- and diffusion parabolized (DP) NS equations. In this paper, a new multiscale-domain decomposition method is developed for the high Reynolds number flow. First, the whole domain is decomposed to different sub-domains with the different characteristic scales. Then the different dominant equation of all sub-domains is defined according to the diffusion parabolized (DP) theory of viscous flow. Finally these different equations are solved simultaneously in whole computational region. For numerical tests of high Reynolds numerical flows, two-dimensional supersonic flows over rearward and frontward steps as well as an interaction flow between shock wave and boundary layer were solved numerically. The pressure distributions and local coefficients of skin friction on the wall are given. The numerical results obtained by the multiscale-domain decomposition algorithm are well agreement with those by NS equations. Comparing with the usual method of solving the Navier-Stokes equations in the whole flow, under the same numerical accuracy, the present multiscale domain decomposition method decreases CPU consuming about 20% and reflects the physical mechanism of practical flow more accurately.

Euler Solution Using Adaptive Cartesian Grid With A Gridless Boundary Treatment

A quadtree-based adaptive Cartesian grid generator and flow solver were developed. The grid adaptation based on pressure or density gradient was performed and a gridless method based on the least-square fashion was used to treat the wall surface boundary condition, which is generally difficult to be handled for the common Cartesian grid. First, to validate the technique of grid adaptation, the benchmarks over a forward-facing step and double Mach reflection were computed. Second, the flows over the NACA 0012 airfoil and a two-element airfoil were calculated to validate the developed gridless method. The computational results indicate the developed method is reasonable for complex flows.

A HYBRID METHOD OF FRACTIONAL STEPS WITH PREDICTOR-CORRECTOR DIFFERENCE-PSEUDOSPECTRUM FOR NUMERICAL-SOLUTION OF THE CONVECTION-DOMINATED FLOW PROBLEMS

A fractional-step method of predictor-corrector difference-pseudospectrum with unconditional L(2)-stability and exponential convergence is presented. The stability and convergence of this method is strictly proved mathematically for a nonlinear convection-dominated flow. The error estimation is given and the superiority of this method is verified by numerical test.