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.
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