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ESTIMATION OF OBJECT GRAVITY AND wrench EXERTED ON OBJECT USING MULTIFINGERED HAND WITH FORCE/TORQUE SENSORS

Chinese Journal of Mechanical Engineering 1998年第2期11卷 23-29页

作者： Guan, Yisheng Zhang, Qixian Li, Zexiang Beijing Univ of Aeronautics and Astronautics China

From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathematically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST HAND, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.

关键词： Multifingered hand Estimation Object gravity wrench

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On the Occurrences of Fractures in wrench Zones

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World Journal of Mechanics 2020年第3期10卷 27-38页

作者： Shuping Chen State Key Laboratory of Petroleum Resources and Prospecting China University of Petroleum (Beijing) Beijing China College of Geosciences China University of Petroleum Beijing China

The formation conditions and time sequences for various types of wrench-related fractures are not clear. Based on a parabola-type failure criterion, this paper has gotten new insights on those questions. In a simple shear, the occurrence of either tensional fractures or Riedel shears is controlled by the ratio (Rtc) of tensile strength to cohesion. In a pure shear, the occurrence of either second order tensional fractures or second order Riedel shears is controlled by the ratio (Rtci) of tensile strength to cohesion, given a constant inner frictional coefficient. Where the Rtc or the Rtci is less than a certain value, the en echelon tensional fractures will occur first. Where the Rtc or the Rtci is bigger than the certain value, the Riedel shears will occur first. Where the Rtc or the Rtci is equal to the certain value, the en echelon tensional fractures and the Riedel shears will occur simultaneously. The understandings will enhance the research on wrench related fractures and will be of significance in petroleum exploration and development, because fractures are both important accumulation spaces and key migration paths for oil and gas.

关键词： wrench Simple Shear Pure Shear Tensional Fracture Riedel Shear Time Sequence

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On the Orientation of Fractures with Transpressional and Transtensional wrenches in Pre-Existing Faults

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World Journal of Mechanics 2020年第11期10卷 199-209页

The orientation of fractures with transpressional and transtensional wrenches in pre-existing faults has not been quantitatively determined. Based on Coulomb failure criterion and Byerlee’s frictional sliding criterion, this paper has indicated quantitative geometric relationships between the pre-existing fault and the local induced principal stress axes caused by the rejuvenation of the pre-existing fault. For a hidden pre-existing fault with some cohesion, the angles between the local induced principal stress axes and the pre-existing fault quantitatively vary with the applied stress and the cohesion coefficient, the ratio of the thickness of the cover layer to the thickness of the whole wrench body, whether transpressional or transtensional wrenches occur. For a surface pre-existing fault with zero cohesion, the angles between the pre-existing fault and the local induced principal stress axes are related to the rock inner frictional angle regardless of both the applied stress and the cohesion coefficient where transpressional wrenches occur, and the local induced maximum principal stress axis is identical with the applied maximum principal stress axis where transtensional wrenches occur. Therefore, the geometric relationships between the pre-existing faults and their related fractures are defined, because the local induced principal stress axes determine the directions of the related fractures. The results can be applied to pre-existing weak fabrics. They can help to understand and analyze wrench structures in outcrops or subsurface areas. They are of significance in petroleum exploration.

关键词： wrench Pre-Existing Fault wrench Related Fracture Geometric Relationship

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