665 results about "Internal forces" patented technology

The invention discloses a nonlinear beam unit analysis method considering prestressed tendon bonding slippage, which comprises the following steps: establishing an overall structure analysis model according to the geometric dimension of a prestressed concrete beam, dividing calculation units, and assembling unit stiffness matrixes into a structural overall stiffness matrix; applying load and boundary conditions to the overall structure analysis model, and solving the overall analysis model by adopting a Newton iteration method; and extracting calculation results of structural deformation, stress, section internal force, prestressed tendon relative slippage and the like, drawing a load-deformation curve, and calculating structural rigidity and bearing capacity according to the slope and peak value of the curve. The calculation unit provided by the invention is an 8-degree-of-freedom beam unit, not only is the stress characteristic of the beam structure considered, but also the bond slip characteristic of the prestressed tendon is considered, the problem that a traditional beam unit analysis model cannot consider the bond slip effect of the prestressed tendon is solved, and compared with an entity unit analysis model, the convergence is better, and the calculation efficiency is higher.

The invention discloses a cement stabilized macadam mechanical property analysis method based on maximum aggregate nominal particle size, and relates to the technical field of cement stabilized macadam mechanical property analysis, the method comprises the following steps: preparing skeleton dense type cement stabilized macadam test pieces with different nominal maximum particle sizes; carrying out a macroscopic mechanical test to obtain a stress-strain curve and a crushing value; establishing a three-dimensional discrete element numerical model corresponding to the test piece, performing uniaxial compression simulation, and ensuring the reliability through model verification; and based on the verified model, quantitatively analyzing the contact force distribution, the contact quantity characteristic and the microcrack evolution law from the microscopic level. According to the analysis method disclosed by the invention, a mechanism that the nominal maximum particle size improves the macroscopic performance of the material by regulating and controlling an internal force chain network and inhibiting damage accumulation is disclosed through a macro-micro combination means, and a scientific micro-mechanical basis and a quantitative analysis tool are provided for grading optimization and high-performance design of the cement stabilized macadam base.

The invention discloses a digital assembling method and system for a steel truss girder, and the method comprises the steps: carrying out the scanning measurement of a to-be-hoisted steel member through multi-source measurement equipment, and obtaining three-dimensional point cloud data and feature point coordinates; and fusing the data through a registration algorithm, and constructing a component digital model. Acquiring an environment temperature, a component temperature and a supporting state during scanning; on the basis of the information, temperature deformation and self-weight deformation correction is carried out on the model, and a model for assembling is obtained; geometric information is extracted and compared with a design value, and a deviation table and modification suggestions are generated. Dynamically and virtually assembling the corrected model according to an actual hoisting sequence; and simulating stay cable tensioning in a preset stage, and calculating the internal force and deformation of the structure. After virtual hoisting, three-dimensional coordinates of a non-assembly end are calculated in real time, and comparison and guidance are carried out; and actually measuring the three-dimensional coordinates and the physical postures of the hoisted rod pieces for subsequent virtual assembly of the rod pieces. According to the method, the construction quality and efficiency are improved.

The invention discloses a method for rapidly and stably solving a buckling path after multiple critical points based on a generalized displacement control method. The method comprises the steps that S1, a state variable and an anchoring type secant predictor are initialized; s2, predicting a reference displacement, a calibration displacement and a load increment factor based on the state variable and the anchored secant predictor; s3, calculating the displacement increment of the current iteration step based on the reference displacement, the calibration displacement and the load increment factor, and updating the total displacement and the total load of the structure; s4, updating the geometric state of the structure and the internal force of the unit based on the displacement increment of the current iteration step; s5, calculating the difference value between the total internal force and the external load of the structure based on the updated geometric state of the structure and the unit internal force to obtain the unbalanced force of the structure, and performing error checking based on the unbalanced force of the structure; s6, executing the steps S1 to S5 circularly until the unbalanced force of the structure meets the balance condition, and starting the next increment step; and incremental analysis is executed until user requirements are met, and a buckling path after multiple critical points is output.

The invention relates to the technical field of data processing, and discloses a shipyard steel framed bent scheme automatic optimization method and system based on a genetic algorithm. The method comprises the following steps: acquiring shipyard steel bent frame structure parameters and establishing an engineering experience database to obtain initial component section parameters; carrying out structure parametric modeling based on the initial parameters, generating a structure calculation model and carrying out load condition analysis; importing finite element software to carry out internal force analysis, and carrying out component standard checking calculation to obtain a stress ratio; performing multi-objective optimization through an NSGA-II algorithm to obtain a Pareto optimal solution set; and finally carrying out three-dimensional modeling and document generation to obtain an optimization design result. According to the method, the design scheme of the steel bent frame structure is automatically optimized while multiple load working conditions and design targets are considered, and it is ensured that the design result meeting the safety standard and with the optimal cost is obtained within the shortest time. By solving the problem, the design efficiency can be greatly improved, the design cost is reduced, and the structural safety is ensured.

The utility model provides a steel support servo supporting system capable of intelligently controlling inner support axial force and deformation, which comprises a building envelope, a plurality of layers of bidirectional #-shaped steel supports are fixed on the inner side of the building envelope at intervals, and steel support axial force servo devices are arranged in the bidirectional #-shaped steel supports. The steel support axial force servo device is used for adjusting the radial supporting force of the bidirectional #-shaped steel support; the plurality of displacement sensors are arranged on the outer wall of the enclosure structure and are used for measuring the lateral deformation of the enclosure structure; and the displacement sensor and the steel support axial force servo device are connected with a control system. According to the utility model, the active adjustment of the axial force of the inner support is realized, and the internal force and deformation of a support system are controlled in real time to meet the construction requirements of different construction stages.

The utility model discloses a steel structure cooling tower consisting of double-layer trilateral and quadrilateral units. The cooling tower consists of an upper part and a lower part, the lower part is formed by connecting and combining double-layer trilateral units according to a certain rule, and each double-layer trilateral unit is a double-layer reticulated shell formed by connecting a trilateral outer side chord member and a trilateral inner side chord member through a series of web members; the upper part is formed by connecting and combining double-layer quadrilateral units according to a certain rule, and each double-layer quadrilateral unit is a double-layer reticulated shell formed by connecting a quadrilateral outer side chord member and a quadrilateral inner side chord member through a series of web members. According to the double-layer steel structure cooling tower, the internal force conduction path of the double-layer steel structure cooling tower under the action of lateral force is optimized, the space stress performance is good, the stability of the structure is guaranteed, and the overall steel consumption is further reduced. Through connection and assembly of modular unit assemblies, standardized design, industrial production and fabricated construction of the cooling tower structure are achieved.

The invention discloses a non-linear analysis method in a multi-arch structural plane considering translation and rotation of arch feet. The non-linear analysis method comprises the following steps: 1) deducing a geometric non-linear equilibrium equation in the multi-arch structural plane under the action of a vertical uniformly distributed load; 2) introducing a multi-arch boundary condition, and deducing to obtain a vertical displacement approximate analysis in a balance path considering translation and rotation nonlinearity of an adjacent arch structure; 3) further obtaining a relational expression between the dimensionless load of the multiple arches and the dimensionless load parameters; 4) deducing a multi-arch nonlinear branch point buckling equilibrium differential equation, and obtaining a critical load approximate analysis according to an internal force condition of multi-arch branch point buckling; 5) deducing to obtain approximate analysis of the multi-arch nonlinear jump buckling critical load.By means of the method, complex solving through finite element software can be avoided, and the calculation cost and workload of multi-span arch structure analysis are reduced.

The invention belongs to the technical field of robot cooperative control, and particularly relates to a distributed self-adaptive control method and system for cooperation of multiple mechanical arms, and the method comprises the steps: decoupling a pure internal force vector from the data of a six-dimensional force sensor at the tail end through pre-identified kinetic parameters; calculating a cooperative confrontation index according to the pure internal force vector and the relative position vector, calculating a self-adaptive internal force penalty weight through nonlinear mapping based on the cooperative confrontation index, establishing a state-space equation of the system based on a double-integral model, introducing an equivalent environment stiffness matrix, mapping a prediction error vector in a prediction time domain into a prediction internal force vector, and obtaining a prediction internal force vector; and a cost function containing the product of the self-adaptive internal force penalty weight and the predicted internal force vector is constructed, an optimal control increment sequence is obtained by minimizing the cost function, and a speed instruction is updated to drive the mechanical arm to move. According to the method, the robustness and the execution stability of the system are effectively improved, and the cooperation safety is guaranteed.

This invention discloses a method for calculating the vibration response of a delaminated composite laminate, belonging to the field of structural defect calculation and analysis. The method includes: dividing the composite laminate with delamination defects into delaminated and intact regions based on the damage condition; decoupling the delaminated regions dynamically; describing the vibration characteristics of each component in both the delaminated and intact regions using elastic waves based on elastic wave propagation theory, and establishing vibration state vector expressions for each region; determining the compatibility relationship based on the displacement continuity and internal force equilibrium conditions at the coupling point between the delaminated and intact regions, and establishing structural dynamic equilibrium equations in wave space based on the boundary conditions of the composite laminate; solving the structural dynamic equilibrium equations to obtain the amplitudes of elastic waves of each order; and calculating the vibration response of each region of the composite laminate based on elastic wave theory and amplitude calculation. This invention solves the problem of low computational efficiency in existing methods.

The invention discloses an accurate prediction method for vertical deformation of adjacent tunnels caused by foundation pit excavation under the action of lateral soil mass, which comprises the following steps: firstly, determining size parameters of a foundation pit and an existing tunnel and physical and mechanical parameters of the tunnel and the soil mass, determining a stress mode of the tunnel and a model sketch of interaction between the foundation pit and the tunnel, and determining additional stress of the tunnel; then establishing a total energy formula of a tunnel upheaval deformation system of a Pasternak foundation model considering the influence of a lateral soil body and axial internal force of the tunnel, and obtaining a tunnel upheaval deformation w matrix analysis based on an energy variation principle; and finally, according to an Euler-Bernoulli beam theory, a bending moment expression and a shearing force expression of the tunnel are obtained. According to the method, the influence of the lateral soil body and the axial internal force of the tunnel on tunnel deformation is considered on the basis of the Pasternak foundation model, so that the data obtained through calculation more conforms to the measured value, matrix analysis is simple and practical, and the method has guiding significance on prediction of vertical deformation of the adjacent tunnel caused by foundation pit excavation.

The invention relates to a space curve prestress composite beam column and a design method thereof. The bottom of the space curve composite beam column is vertically upward, the tail end overhanging part is approximately horizontal, and the middle part is connected with the horizontal prestressed concrete closed beam to form a space structure. The horizontal closed prestressed beam and the space curve composite beam column support each other, the constraint boundary condition of the space curve composite beam column is changed, and the internal force distribution and magnitude of the space curve composite beam column are changed. According to the space curve composite beam column with the horizontal closed prestressed beam, the anti-cracking and anti-bending performance of a component is improved, and the deformation performance of the component is also improved. Therefore, the structure is particularly suitable for large cantilever structures with high deformation and bearing capacity.

The embodiment of the invention provides a robot, an operation method and device of the robot, a storage medium and a program product. The method comprises the steps that sensing force data of a mechanical arm is received; the external force and the internal force are distributed based on the sensing force data of each mechanical arm in the at least two mechanical arms, so that the corresponding sensing external force and sensing internal force of each mechanical arm are determined; based on the sensing external force and the sensing internal force corresponding to each mechanical arm, the expected external force and the expected internal force of the target object and the expected position of the target object, calculating the force and the position so as to determine the expected position of each mechanical arm; and according to the expected position of each mechanical arm, inverse kinematics solution based on whole-body control is carried out on the robot, so that the joint positions of each mechanical arm and each joint in the waist are determined, and each mechanical arm is controlled to operate the target object based on the joint positions. According to the embodiment of the invention, a multi-arm force control framework based on whole-body control is constructed, the force control effect is good, and the operation stability of the robot can be improved.

The invention discloses a cooperative control method for stay cable force and main beam line shape of an extradosed cable-stayed bridge. The cooperative control method comprises the steps that cable force data, main beam line shape data and main beam section internal force monitoring data in the construction stage are collected; based on a preset cable force adjustment judgment criterion, whether cable force adjustment needs to be started or not is judged; when triggering conditions are met, a geometric nonlinear analysis model considering cable-beam-tower cooperative deformation is established, and a cable force-main beam line shape sensitivity influence matrix is generated; screening K stay cables as key adjustment objects by adopting an influence matrix column vector L2 norm sorting method, and performing global optimization based on a simulated annealing algorithm to obtain an optimal displacement mean square error and an optimal cable force adjustment amount; and according to the key adjustment object and the cable force adjustment amount, multi-cable synchronous grading tensioning work is carried out. The invention provides a systematic and intelligent solution for the construction control of the extradosed cable-stayed bridge, and has remarkable economic benefits and social benefits.

The invention belongs to the technical field of robot control, and discloses a control method for controlling an over-constrained robot by calculating branch force based on six-dimensional force feedback and a shaft hole assembly system.The control method comprises the steps that an assembly system is built, and the mapping relation between generalized external force of an over-constrained six-dimensional force sensor and the branch force of the over-constrained six-dimensional force sensor is built; a branch force signal of the over-constrained six-dimensional force sensor is collected in real time, generalized external force borne by a shaft part at the tail end of the over-constrained six-dimensional force sensor is calculated, the calculated generalized external force of the shaft part is transmitted to a hole part, and then the hole part transmits the generalized external force to the tail end of the over-constrained robot. And the mapping relation between the over-constrained robot tail end stress and the branch driving force of the over-constrained robot is established, the generalized external force borne by the over-constrained robot serves as an input parameter, the branch driving force of the over-constrained robot is calculated, and the over-constrained robot is controlled to complete shaft hole assembling according to the calculated branch driving force. The shaft hole assembling system comprises an over-constrained six-dimensional force sensor used for fixing the shaft part and an over-constrained robot used for fixing the hole part. According to the method, the statically indeterminate branch internal force can be accurately solved, universal and efficient feedback control is achieved, and the method can be widely applied to high-precision force control scenes such as spacecraft docking devices and precision assembly robots.

The invention discloses a foundation pit supporting structure deformation and internal force calculation method. In the calculation method, an out-pit constraint stiffness matrix is introduced as a calculation factor, and a stiffness coefficient is iteratively calculated; the calculation method comprises the following steps: S1, constructing a foundation pit supporting structure calculation model; s2, a displacement-load total balance equation of the supporting structure under the undetermined supporting working condition of the foundation pit is determined; s3, a servo support is installed, prestress is loaded, a constraint stiffness matrix is introduced, a stiffness coefficient is calculated in an iterative mode, a displacement-load total balance equation of the supporting structure is established step by step, and the deformation condition of the supporting structure is analyzed and calculated; s4-5, the steps S2 to S3 are repeated until installation of all servo supports and prestress loading are completed, and displacement and internal force of the supporting structure are calculated; and S6, the foundation pit continues to be excavated to the pit bottom, deformation and internal force under all working conditions are calculated, and regulation and control calculation can be conducted in the process. By means of the calculation method, accurate calculation of deformation and internal force of the foundation pit supporting structure under the servo supporting effect can be achieved.

The invention provides a boundary force control method and device based on gravitational equilibrium, equipment and a medium, and relates to the technical field of medical instruments. The method comprises the steps that current position information of a joint in a mechanical arm of a master console is obtained, and whether the joint enters a preset limiting buffer area or not is judged based on the information; and if so, dynamically generating a boundary force for preventing the joint from moving towards the mechanical hard limit based on the current position information and the gravitational equilibrium force of the joint. The boundary force is dynamically generated based on the current position information by setting the limiting buffer area room and taking the gravity balance force as the basis, it is ensured that generation of the boundary force is naturally matched with the joint load, and the reliability problem caused by parameter mismatching is reduced; meanwhile, as the boundary force directly derives from internal force adjustment, when the joint retreats from the limiting buffer area, the impedance force can be smoothly converged along with the position change, the residual interference force of traditional control is effectively eliminated, and therefore the reliability of preventing the joint from colliding with the hard limiting area is remarkably improved.

The invention discloses a soft soil stratum shield tunnel tough structure design method which specifically comprises the following steps: A, establishing a refined numerical model containing a whole-ring shield tunnel, and calculating a reasonable thickness-diameter ratio of the shield tunnel adapted to soft soil stratum environment change characteristics; b, a three-dimensional refined nonlinear finite element model of the shield tunnel joint is established, and shield tunnel joint optimization construction under the full-life-cycle service condition is carried out; c, providing a joint rigidity internal force-deformation cross iteration method, calculating shield bearing deformation, and analyzing shield tunnel deformation resistance under different design conditions; and D, carrying out a field experiment, proposing a double-control principle of construction performance and waterproof performance of the rubber sealing gasket, and carrying out optimal design of the tunnel waterproof sealing gasket. Compared with a conventional staggered joint assembly shield tunnel, the tough main body structure of the staggered joint assembly shield tunnel has the advantages that the allowable limit convergence deformation and the unloading amount of the tunnel under the lateral unloading damage working condition are improved by 37% and 141% respectively.

The invention provides a rotating shaft mechanism and electronic equipment. The rotating shaft mechanism comprises a main shaft module and two supporting plates, the main shaft module comprises two rotating assemblies, two shell fixing frames and a main shaft, and the two rotating assemblies are located on the two opposite sides of the main shaft. A supporting arm of the rotating assembly is rotationally connected with the main shaft and is in sliding connection with the shell fixing frame arranged on the same side. Each supporting plate is rotationally connected with the shell fixing frame arranged on the same side. When the rotating shaft mechanism is in a closed state, the two supporting plates and the main shaft define a screen containing space, and the end, close to the main shaft, of each supporting plate is arranged opposite to the step face of the supporting arm arranged on the same side. Therefore, when the rotating shaft mechanism is impacted by an external load, the end part, close to the main shaft, of the supporting plate is propped against the corresponding step surface, so that the internal force conduction path of the main shaft module can be effectively improved, the displacement between the supporting arm and the shell fixing frame is reduced, the structural reliability of the rotating shaft mechanism is improved, and the service life of the rotating shaft mechanism is prolonged. And the structural reliability of the electronic equipment is improved.

The invention discloses a stress and displacement calculation method for multiple rows of anti-slide piles of a reinforced foundation covering type landslide. The method is simple and reasonable in concept and easy to operate. The method comprises the steps that 10, all rows of anti-slide piles are sequentially numbered from 1 to N from the front edge of a slope body; 20, the landslide thrust on the rear side of the loaded section of the N-th row of anti-slide piles is calculated; 30, representing the linear distribution resistance of the front sliding body to the load-bearing section and the horizontal displacement of the load-bearing section; 40, the bending moment M0 and the shearing force Q0 of the bottom end of the loaded section are obtained; 50, obtaining the horizontal displacement x0 and the rotation angle theta0 of the bottom end of the load-bearing section; step 60, simultaneous solution is carried out to obtain x0 and theta0; step 70, obtaining the horizontal displacement and the internal force of the loaded section; 80, the horizontal displacement and the internal force of the built-in section of the slide-resistant pile are obtained; 90, obtaining landslide thrust acting on the load-bearing section of the (N-1) th row of slide-resistant piles by a slide mass between the Nth row of slide-resistant piles and the (N-1) th row of slide-resistant piles through equivalent conversion; and repeating the steps 20-80, and so on, so as to obtain the internal force and displacement of each row of anti-slide piles.

The invention discloses a composite beam plastic flexural capacity correction calculation method considering interface slippage. The method is suitable for a hogging moment area of a steel-concrete composite beam reinforced by an external prestress carbon fiber reinforced composite material rib. The method comprises the following steps: firstly, determining basic static boundary parameters and a shear connector constitutive model; in the iterative calculation, solving a temporary bearing capacity by utilizing an axial force and moment balance equation, and calculating interface slippage along the beam length and a deformation loss item at the support based on internal force distribution; then determining a rigidity degradation coefficient according to the average slip amount, and dynamically reducing the static yield bending moment to reconstruct the plastic hinge length; and finally, constructing a corrected deformation coordination equation, deducting a deformation loss item in geometric deformation calculation to obtain the real elongation of the in-vitro CFRP rib, and updating a stress parameter until a result is converged. According to the method, by introducing a deformation loss item and a rigidity degradation mechanism, deviation caused by traditional rigid connection assumption is corrected, and accurate prediction of the ultimate bearing capacity is achieved.

The invention provides a long-term deformation prediction method and system for a large-span rigid frame bridge, and relates to the technical field of bridge deformation prediction. The method aims at solving the problems that in the prior art, a prediction method insufficiently considers the coupling effect of geometric nonlinearity and the concrete shrinkage and creep effect and lacks the dynamic response capacity to damage events in the operation period, and consequently the deviation between a prediction result and the reality is large. According to the method, synchronous coupling analysis of the two effects is realized by establishing a space finite element model and constructing a structure balance equation which simultaneously considers the geometric nonlinearity and the shrinkage and creep effect; through reference simulation and damage event identification based on a probability distribution model, dynamic damage correction and simulation restart are carried out on the model in combination with monitoring data, a closed-loop prediction mechanism for identification, correction and restart is constructed, the precision and accuracy of long-term deformation and internal force prediction are effectively improved, and the adaptability in a complex scene is improved.

The embodiment of the invention provides a finite element-based single-working-condition internal force calculation method and a finite element-based single-working-condition internal force calculation system. The method is applied to the technical field of multi-physics field coupling simulation and finite element analysis and comprises the steps that after a single working condition is received, a preset finite element model is input for structural-thermal coupling numerical solution, and strain, temperature and material evolution state data are obtained. And calculating the inherent force of the structure according to the strain-displacement matrix and the heat conduction coefficient. And fluid-structure interaction solution is carried out to obtain a pressure field, a velocity field and frequency response data, and the fluid acting force is calculated. Structural dynamics solution is carried out, acceleration, speed and deformation data are obtained, structural dynamic additional force is calculated, and finally total internal force is obtained. According to the scheme, the stress state of the structure can be comprehensively predicted and accurately evaluated, the accuracy of structure safety analysis is improved, the test cost is saved, and the design optimization and intelligent decision-making capability is improved.

The invention discloses a hinged assembly type anchor cable frame beam internal force deformation analysis method, and relates to the technical field of slope supporting structure internal force deformation analys.The hinged assembly type anchor cable frame beam structure is divided into a plurality of supporting beams and a plurality of connecting beams, and according to static balance conditions and deformation coordination conditions of cross joints and hinge joints, the deformation of the cross joints and the hinge joints is optimized; constructing and solving a linear equation set on the basis of a Winkler foundation model to obtain concentrated force and beam end shearing force of each strut beam acting on a cross node and beam end shearing force of each connecting beam, and then performing internal force deformation analysis on each section of beam body on the basis of the Winkler foundation model; according to the method, static balance conditions and deformation coordination conditions at the cross nodes and the hinge points are considered, so that the calculation precision is improved, deformation conditions and continuity conditions increased due to the existence of the hinge points in the structure are reduced, the structural analysis difficulty is simplified, and structural calculation is facilitated.

The invention discloses a method, a device and equipment for optimizing the static strength of a composite material outer wing box section. The method comprises the following steps: performing static calculation on a finite element model of the composite material outer wing box section to obtain an internal force solution; independently carrying out static strength parameter optimization on the structure of the composite material outer wing box section by adopting a dichotomy according to the internal force solution to obtain optimized parameters; carrying out attribute updating on the finite element model according to the optimization parameters to obtain an updated finite element model; when it is determined that the weight of the updated finite element model meets the requirement, static strength checking and parameter adjustment are conducted on the updated finite element model, and an optimization result is obtained. The internal force distribution of the composite material outer wing box section structure is calculated based on the finite element model, static strength parameter optimization is independently carried out on the skin and the stringer based on an internal force solution so as to realize optimal decoupling of the skin and the stringer, structural parameters which meet the strength requirement and are the lightest in structural weight are obtained, and therefore the efficiency of static strength optimization of the composite material outer wing box section is improved.

The invention discloses a full-process automatic design method and system for a concrete silo structure, and belongs to the technical field of design of concrete silo knots.The full-process automatic design method comprises the steps that S1, a parameter set of the concrete silo structure is obtained; s2, constructing a static calculation engine based on national standard specifications, and automatically executing silo wall internal force calculation, warehouse bottom plate stress analysis and foundation structure mechanical analysis according to the parameter set; the reinforcement area of each part of the silo is calculated; s3, in combination with the calculation result of the reinforcement area of each part of the silo, an intelligent reinforcement selection algorithm is adopted to automatically generate a reinforcement configuration scheme meeting strength, crack and construction constraints; s4, a DXF-format construction drawing and an EXCEL-format steel bar blanking list are automatically generated based on a templated drawing system; and S5, the silo structure model parameters and the steel bar configuration scheme are automatically converted into a BIM model through a Revit secondary development interface, and a complete BIM delivery result containing a concrete member parameterized model and a steel bar three-dimensional model is generated.

The invention relates to a composite self-adaptive compliant control method for synchronously capturing a target by a space double-arm robot. The method comprises the following steps: firstly, establishing a dynamic model of the space double-arm robot, a target to be captured and a contact process; in order to ensure that the tail ends of the two arms simultaneously reach the surface of the to-be-captured target, a tail end path planning algorithm based on a B spline curve is designed; then, in order to reduce impact borne by the double-arm robot system in the capturing process, an impedance control strategy is designed according to contact force borne by the tail ends of the double mechanical arms; secondly, the resultant force borne by the target is decomposed into internal force and external force through the kinematics and geometrical relationship; and finally, designing a self-adaptive internal force tracking impedance control strategy in order to prevent capture failure or target damage caused by simultaneous target capture by two arms. Aiming at a task scene in which the space double-arm robot synchronously captures the target, the problem that the space double-arm robot system is subjected to too large rigid impact and too large / too small clamping force, so that the target is damaged or clamping fails can be solved.

The invention discloses a continuous fiber reinforced ceramic composite cross-scale damage heterogeneous parallel method, which comprises the following steps of: establishing a macro-scale finite element model, and establishing a micro-fiber bundle scale finite element model through any weaving mode; calculating Gaussian point strain of all units under a macroscale; calculating displacement boundaries of all units under the macro Gaussian point strain under the micro scale; calculating phase field damage of all the units under the microscopic scale, and calculating displacement of all the microscopic units after damage through the phase field damage; calculating the average stress and the average modulus after damage of all the units under the micro-scale; internal forces of all units under the macro scale are calculated through the average stress of the micro units, and the process is iterated by using the internal forces and external forces, so that damage evolution is predicted.

The invention discloses a supporting system capable of being pulled and pressed for a foundation pit, a prestress joint and a construction method, and belongs to the technical field of foundation pit supporting. The construction method comprises the following steps that the fender posts and the stand columns are constructed firstly, a foundation pit is excavated, the top beam steel bars are bound after the cushion layer is poured, and the embedded sleeves are inserted. Then the embedded steel bar is welded to the embedded plate, the center hole of the embedded plate and the embedded sleeve are aligned, the non-threaded section of the embedded steel bar and the top beam steel bar are fixed in a spot welding mode, and top beam concrete is poured. And then pre-stress joint installation, steel pipe support installation and steel strand installation are sequentially conducted, the steel pipe support is pressurized through the first center hole jack, and the steel strand is tensioned to a design value through the second center hole jack. Finally, internal force monitoring is conducted, steel strand tension and steel pipe support pressure are monitored, and the proportion of the two is adjusted according to the soil pressure direction. According to the drawable and compressible supporting system for the foundation pit, the prestress joint and the construction method, the drawable and compressible functions of the supporting system can be achieved, the structure is stable, support falling is prevented, and construction is convenient, fast and efficient.

The invention discloses scaffold internal force monitoring equipment and a detection method, the scaffold internal force monitoring equipment comprises a vertical rod and a sleeve sleeving the upper end part of the vertical rod, a pressure sensor is supported between the upper end part of the vertical rod and an inner cavity of the sleeve, and the vertical rod and the sleeve are provided with connecting parts used for connecting different structural members of a scaffold. The socket type design is adopted, the bearing capacity is high, and the strength of an original frame body cannot be affected. The device is simple and stable in structure, easy to disassemble and maintain and suitable for being applied to various construction environments. The scaffold internal force monitoring device is installed in a stand rod of a scaffold body and can truly and accurately reflect the actual internal force of the scaffold body. The internal force of the scaffold vertical rod can be monitored and recorded in the whole process and compared with a calculated value, and early warning is carried out when the internal force exceeds the calculated value.