33 results about "Collision dynamics" patented technology

The invention discloses an equivalent mass based spatial manipulator continuous collision dynamics modeling method and belongs to the manipulator modeling technical field. The equivalent mass based spatial manipulator continuous collision dynamics modeling method comprises calculating the equivalent mass of the tail end of a spatial manipulator on the basis of the establishment of a spatial manipulator kinematics equation, dynamic equation and energy equation; deducing the collision force, the duration of the collision and the amount of the compression through a continuous collision Hertz damping model between monomers, wherein the collision force, the duration of the collision and the amount of the compression are produced by monomer collision; combining with the equivalent mass of the tail end of the spatial manipulator and the monomer continuous collision Hertz damping model, establishing a spatial manipulator continuous collision dynamics model and calculating the collision force, the duration of the collision and the maximum amount of the compression in the spatial manipulator collision process. According to the equivalent mass based spatial manipulator continuous collision dynamics modeling method, the problem of spatial manipulator continuous collision dynamics modeling is solved, the modeling process by the equivalent mass based spatial manipulator continuous collision dynamics modeling method is simple and easy to understand, and the collision force, the duration of the collision and the maximum amount of the compression in the collision process can be expressed explicitly.

The invention provides a polyhedron collision dynamics analysis method for the process of a space manipulator grabbing a non-cooperative target. The method comprises the following steps of (1) establishing a dynamical model of a space manipulator; (2) expressing the tail end of the space manipulator as a combination of multiple polyhedrons, and expressing the non-cooperative target as a polyhedron; conducting collision detection on the polyhedron expressing the non-cooperative target through the multiple polyhedrons expressing the tail end of the space manipulator, and detecting whether two different polyhedrons collide or not; if not, repeating the step (2), and if yes, detecting the collision intersection point of the two different polyhedrons; (3) solving collision force in the process of the space manipulator grabbing the non-cooperative target through a non-linear damping model according to the collision intersection point of the two different polyhedrons; and (4) substituting the collision force into a dynamical equation to obtain the collision response in the grabbing process. The polyhedron collision dynamics analysis method is reasonable in design, simple in implementation, high in analytical calculation fidelity and closer to the practical situation.

The invention relates to a vehicle collision dynamic test device and method. The vehicle collision dynamic test device comprises a test bed and a tested vehicle, wherein the tested vehicle runs along a track. The vehicle collision dynamic test device is characterized by further comprising a protective device, the protective device extends in the longitudinal direction of the tested vehicle and is wholly portal-shaped, and the tested vehicle runs in the space defined by the protective device. The vehicle collision dynamic test device is simple and reasonable in whole structure and convenient to install and operate and can effectively ensure the safety of a multiple-vehicle collision dynamic test and the stability of the whole structure. Multiple-vehicle-body longitudinal dynamic test study can be performed, study on contents of longitudinal and vertical dynamic tests of multiple vehicle bodies can be further achieved through simple turnover and inversion of the protective device, study on different property tests can be completed within short time, the efficiency of test study can be improved, test cost can be effectively saved, a basis can be provided for vehicle dynamic simulating calculation, and further the reliability of a train energy distribution scheme can be ensured.

The invention relates to a train collision energy managing system and a designing method. The train collision energy managing system comprises a train hook buffering device, a crushing tube, an end energy absorbing device and a train middle structure with enough rigidity, the train hook buffering device is matched with a train, and the energy is absorbed through the cooperation of the structures in the train collision process. According to the designing method, a numerical model is established according to the actual situation, simulating calculation is carried out, the calculation result is processed and analyzed, the dynamics characters of the train in the driving direction are obtained, a curve and parameter values are output, a most reasonable output curve is obtained, and the reasonable train collision energy managing system is obtained according to the output curve. The energy in the collision process is absorbed through the cooperation of the structures, the train collision energy managing system is reasonable in structure, safe and reliable, the collision dynamics characters of the train in the driving direction are accurately simulated, the design of the train collision energy managing system is guided reasonably, the design faults are effectively reduced, the designing time is saved, and the designing efficiency is improved.