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Evaluation of slope stability through rock mass classification and kinematic analysis of some major slopes along NH-1A from Ramban to Banihal, North Western Himalayas

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第1期16卷 167-182页

作者： Amit Jaiswal A.K.Verma T.N.Singh Department of Civil and Environmental Engineering Indian Institute of Technology PatnaPatna801106India

The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic *** to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few *** of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the *** rock mass classification methods are generally used to assess the strength and deformability of rock *** study assesses slope stability along the NH-1A of Ramban district of North Western *** structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 *** evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present *** SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely *** stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable *** slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the *** value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,***,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.

关键词： Rock mass classification kinematic analysis Slope stability Himalayan road Static and dynamic conditions

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kinematic analysis and Experimental Verification on the Locomotion of Gecko

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Journal of Bionic Engineering 2009年第3期6卷 246-254页

作者： Woochul Nam TaeWon Seo Byungwook Kim DongsuJeon Kyu-Jin Cho Jongwon Kim School of Mechanical and Aerospace Engineering Seoul National University Mechanical Engineering Carnegie Mellon University

This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic *** analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the *** the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time *** kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the *** motion of the kinematic model is simulated based on measurement data of each *** motion of the kinematic model simulates the investigated real gecko's motion by using the experimental *** analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental *** addition to the measured gait,three other gaits are simulated based on the kinematic *** maximum strides of each gait are calculated by workspace *** result can be used in biomimetic robot design and motion planning.

关键词： kinematic analysis locomotlon of gecko lizard gait simulation various gaits workspace analysis

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kinematic analysis of the Neck and Upper Extremities During Walking in Healthy Young Adults

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Journal of Bionic Engineering 2011年第3期8卷 305-312页

作者： Kwon Son Junghong Park Seonghun Park School of Mechanical Engineering Pusan National University Busan 609-735 Republic of Korea

The objective of this paper is to quantify the local stabilities of the neck and upper extremities （right/left shoulders and right/left elbows）, and investigate differences between linear and nonlinear measurements of the associated joint motions and differences in the local stability between the upper and lower extremities. This attempt involves the calculation of a nonlinear parameter, Lyapunov Exponent （LE）, and a linear parameter, Range of Motion （ROM）, during treadmill walking in conj unction with a large population of healthy subjects. Joint motions of subjects were captured using a three-dimensional motion-capture system. Then mathematical chaos theory and the Rosenstein algorithm were employed to calculate LE of joints as the extent of logarithmic divergence between the neighboring state-space trajectories of flexion-extension angles. LEs computed over twenty males and twenty females were 0.037~0.023 for the neck, 0.043＋0.021 for the right shoulder, 0.045i0.030 for the left shoulder, 0.032i0.021 for the right elbow, and 0.034~0.026 for the left elbow. Although statistically significant difference in the ROM was observed between all pairs of the neck and upper extremity joints, differences in the LE between all pairs of the joints as well as between males and females were not statistically significant. Between the upper and lower extremities, LEs of the neck, shoulder, and elbow were significantly smaller than those of the hip （-0.064） and the knee （-0,062）. These results indicate that a statistical difference in the local stability between the upper extremity joints is not significant. However, the different result between the ROM and LE gives a strong rationale for applying both linear and nonlinear tools together to the evaluation of joint movement. The LEs of the joints calculated from a large population of healthy subjects could provide normative values for the associated joints and can be used to evaluate the recovery progress of patients with joint rel

关键词： kinematic analysis Lyapunov exponent range of motion chaos theory upper extremities

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kinematic analysis and simulation of a new-type robot with special structure

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Advances in Manufacturing 2014年第4期2卷 295-302页

作者： Shuai Guo Hua-Wei Li Jian-Cheng Ji Zhi-Fa Ming Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and AutomationShanghai University

Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

关键词： Mixed hinge structure Homogeneoustransformation kinematic analysis kinematic simulation

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kinematic analysis and Rock Mass Classifications for Rock Slope Failure at USAID Highways

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Structural Durability & Health Monitoring 2019年第4期13卷 379-398页

作者： Ibnu Rusydy Nafisah Al-Huda M.Fahmi Naufal Effendi Department of Geological Engineering Faculty of EngineeringUniversitas Syiah KualaBanda AcehIndonesia Department of Civil Engineering Faculty of EngineeringUniversitas Syiah KualaBanda AcehIndonesia Tsunami and Disaster Mitigation Research Center(TDMRC) Universitas Syiah KualaBanda AcehIndonesia Department of Mining Engineering Faculty of EngineeringUniversitas Syiah KualaBanda AcehIndonesia

Rock slope kinematic analysis and rock mass classifications has been conducted at the 17^(th) km to 26^(th) km of USAID(United States Agency for International Development)highway in *** research aimed to examine the type of rock slope failures and the quality of rock mass as *** scan-line method was performed in six slopes by using a geological compass to determine rock mass structure on the rock slope,and the condition of joints such as persistence,aperture,roughness,infilling material,weathering and groundwater *** kinematic analysis was performed employing a stereographic *** rock slope quality and stability were investigated based on RMR(rock mass rating)and SMR(slope mass rating)*** rock slope kinematic analysis revealed that planar failure was likely to occur in Slope 1,3,and 4,the wedge failure in Slope 1 and 6,and toppling failure in Slope 2,5,and *** RMR rating is ranging from 57 to 64 and can be categorized as Fair to Good *** SMR rating revealed that the failure probability of Slope 3 was 90%,while it was from 40%to 60%for *** the uniform RMR for all slopes,the SMR was significantly *** detailed quantitative consideration of orientation of joint sets and geometry of the slope contributed to such differences in outcomes.

关键词： Engineering geology kinematic analysis rock mass classifications rock slope stability Aceh Indonesia

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Influence of kinematic analysis Parameters of Drag Anchor Trajectory Prediction Using Yield Envelope Method

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China Ocean Engineering 2020年第2期34卷 257-266页

作者： WU Xiao-ni WANG Teng LIAO Qian LI Ye State Key Laboratory of Ocean Engineering School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Naval Architecture and Offshore Engineering China University of Petroleum(East China)Qingdao 266580China

Drag anchor is widely applied in offshore engineering for offshore mooring *** prediction of the invisible trajectory during its drag-in installation is challenging for anchor design in determining the anchor final position for ensuring sufficient holding *** yield envelope method based on deep anchor failure for kinematic analysis was proposed as a promising trajectory prediction method for drag ***,there is a lack of analysis on the effects of the parameters applied in the kinematic *** current work studies the effects of the yield envelope parameters,anchor line bearing capacity factor and the anchor/soil interface *** is found that the accuracy of the yield envelope parameters has large impact on the prediction results based on deep yield *** of cases with smooth fluke predict deeper embedment depth than that from analyses of cases with rough *** decrease of the capacity factor results in the increase of the anchor embedment depth,the anchor line load,the anchor chain angle and the stable value of the normalized horizontal load component for the same drag length,while the stable value of the normalized vertical load component decreases when the capacity factor *** illustrates the importance in applying reasonable parameters and improving the method for more reliable prediction of the anchor trajectory.

关键词： trajectory prediction kinematic analysis drag anchor yield envelope

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The Design and kinematic analysis of a Rocker-Bogie Lunar Rover

The Design and Kinematic Analysis of a Rocker-Bogie Lunar Ro...

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2005国际机械工程与力学会议

作者： Ming HU Bin GUO Zongquan DENG School of Material Science and Engineering Harbin Institute of Technology

To minimize the cost of lunar exploration, lunar rovers which have high mobility and can transport scientific equipment are ideal and thus are important assets for future scientific exploration of lunar surfaces. The lunar environment is difficult to traverse and is challenging for future rovers. It is important for an exploration rover not to become trapped or get hung up during its mission. To design and control these rovers, kinematic analytical models of how they interact with their environments are essential. The purpose of this research is to develop a kinematic model of a rocker-bogie rover. This paper presents the rocker-bogie rover structure design and kinematic characteristics. Different reference frames have been defined and the kinematics model has been developed. The kinematic parameters acquired in the analysis will provide the basis to development of the rover force analysis.

关键词： lunar rover structure design kinematic analysis kinematic model

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Configuration and kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 176-188页

作者： Jianjun Zhang Shuai Yang Chenglei Liu Xiaohui Wang Shijie Guo School of Mechanical Engineering Hebei University of TechnologyTianjin 300401China Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin 300401China

The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation ***,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle *** parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar *** screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is *** inverse kinematics are presented,and singularities are identified based on the Jacobian *** workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle ***,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical *** results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

关键词： Ankle rehabilitation Parallel mechanism kinematic analysis Parameter optimization

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Structural design and model fabrication of cable-rib tensioned deployable parabolic cylindrical antenna

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Chinese Journal of Aeronautics 2023年第8期36卷 229-246页

作者： Shunji ZHANG Baoyan DUAN Shuxin ZHANG Nan WANG Shaanxi Key Laboratory of Space Solar Power Station System Xi’an 710071China School of Electromechanical Engineering Xidian UniversityXi’an 710071China Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100101 China

Deployable mechanisms with light weight and high storage ratio have received considerable attention for space applications. To meet the requirements of space missions, a parabolic cylindrical deployable antenna based on cable-rib tension structures is proposed and verified by a physical prototype. The parabolic cylindrical antenna adopts simple parallel four-bar mechanisms to construct the basic deployable unit, and the cylindrical direction dimension can be easily extended by modularization, which has obvious advantages in storage ratio and area density. Considering the complexity of the entire antenna structure design, including cable networks and flexible trusses, the form-finding design optimization model of a parabolic cylindrical antenna is established using the force density sensitivity method, and then the kinematics analysis of the deployable mechanism is carried out. Finally, a single-module prototype with a deployable diameter of 4 m × 2 m was designed and fabricated. The results of the ground deployment process test and surface accuracy measurements show that the antenna has good feasibility and practicability.

关键词： Form-finding design kinematic analysis Mechanism design Paraboliccylindrical antenna Principle prototype

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence Technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory kinematic analysis Dynamic analysis

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