A semi-analytical approach for stiffness modeling of PKM by considering compliance of machine frame with complex geometry

Stiffness modeling is one of the most significant issues in the design of parallel kinematic machine （PKM）. This paper presents a semi-analytical approach that enables the stiffness of PKM with complex machine frame geometry to be estimated effectively. This approach can be implemented by three steps： （i） decomposition of the entire system into two sub-systems associated with the parallel mechanism and the machine frame respectively; （ii） stiffness modeling of each sub-system using the analytical approach and the finite element analysis; and （iii） generation of the stiffness model of the entire system by means of linear superposition. In the modeling process of each sub-system, the virtual work principle and overall deflection Jacobian are employed with special attention to the bending rigidity of the constrained passive limb and the interface stiffness of the machine frame. The stiffness distribution of a 5-DOF hybrid robot named TriVariant-B is investigated as an example to illustrate the effectiveness of this approach. The contributions of component rigidities to that of the system are evaluated using global indices. It shows that the results achieved by this approach have a good match to those obtained through finite element analysis and experiments.     

Reservoir-forming age and its exploration sisnificance to stratisraphic reservoirs in southern Songliao Basin

Despite many studies concerning the forming age, evolution characteristics and the age of petroleum charging in the Fuxin upheaval of southern Songliao Basin, no consensus has been reached so far. This paper presents the first K-Ar dating of autogenetic illite from stratigraphic petroleum reservoirs in the Fuyu oil layer of the Fuxin upheaval belt. Isotopic test and age calculation were carried out based on the separation and purification of illite mineral, X-diffraction analysis and the detection of scanning electron microscopy. The evolution characteristics of structure, sedimentation, reservoir-forming about the Fuxin upheaval belt were interpreted in terms of the synthetical analysis of ＂six-type geological history＂ evolution in southern Songliao Basin. The geologic background of petroleum evolution and reservoir formation are similar in the entire central depression region of southern Songliao Basin. The Changling sag and the Fuxin upheaval belt brought about obvious upheaval-sag separation after the hydrocarbon-generation peak of K2qn^1 and the main reservoir-forming period of the Fuyu oil layer, namely reservoir-forming happened before the Fuxin upheaval belt extensively raised. The reservoirs have three characteristics： the hydrocarbon source rock above the reservoir, the oil source in the locality, and the vertical migration. The geological cognition is corrected, that is, oil source came from the Changling sag and migrated from the side direction. The bulk process of petroleum charging in the stratigraphic hydrocarbon reservoirs in the Fuxin upheaval belt of southern Songliao Basin is determined according to the isotopic age of autogenetic illite in combination with the method of fluid inclusions. The cognition is helpful to exactly evaluate the resource potential and exploration direction in the Fuxin upheaval belt, Changling sag and their peripheral areas. The present results indicate that the combination of the two methods （the K-Ar dating of autogenetic illite and fluid inclusions） is an effective way to lay bare petroleum charging history and ascertain reservoir age.