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JUN WAN,Hongtao Wu,Rui Ma,Liang'an Zhang 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.3
A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the strength of the repulsive potential field function. However, the repulsive potential field function may lead to excessive joint angular velocities that can exceed the corresponding limits. We propose an improved clamping weighted least-norm method that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits. Moreover, for hierarchical task-level construction, the priority of avoiding joint angular velocity limits is lower than that of avoiding joint angular position limits. To adequately illustrate the effectiveness of the proposed method, case studies were performed in comparison with other methods in singular configurations of a redundant manipulator.
Seismic performance of beam-to- SST column connection with external diaphragm
Bin Rong,Shuhao Yin,Ruoyu Zhang,Lei Wang,Ziheng Yang,Hongtao Li,Wenyu Wan 국제구조공학회 2020 Steel and Composite Structures, An International J Vol.37 No.6
This paper aims to study the seismic performance of external diaphragm connection between SST (square steel tube) column and H-shaped beam through experimental and analytical study involving finite element (FE) method and theoretical analysis. In the experimental study, three external diaphragm connection specimens with weak panel zone were tested under axial pressure on the top of the column and antisymmetric cyclic loads at the beam end to investigate the seismic performance of the panel zone. The hysteretic behavior, failure mode, stiffness and ductility of the specimens were discussed. Key point to be explored was the influence of the thickness of the steel tube flange on the shear capacity of the specimens. In the analytical study, three simplified FE models were developed to simulate the seismic behavior of the specimens for further analysis on the influence of steel tube flange. Finally, four existing calculation formulas for the shear capacity of the external diaphragm connection were evaluated through comparisons with the results of experiments and FE analysis, and application suggestions were put forward.