308 results about "Friction angle" patented technology

The invention provides an improved soil matrix and a remediation method for a green mine. According to the improved soil matrix and the remediation method for the green mine, a certain gradient of a mountain is formed by trimming a cliff of the mine, a hard material is laid in a certain mode, then a plastic-coated metal net covers the hard material, and finally, the novel improved soil matrix covers the plastic-coated metal net with a certain thickness so as to realize the effective remediation of the mine. The improved soil matrix and the remediation method for the green mine have the beneficial effects that the improved soil matrix can stably float on the surface of the mine with the gradient of less than 80 degrees, the adhesive force is greater than 20 Kpa, the inner friction angle isgreater than 18 degrees, the anti-corrosion index is greater than 99.1%, the anti-scouring index is greater than 2.0 L.min / g, the structure is high, and scouring of heavy rainfall or heavier can be effectively resisted after three days of spraying; the improved soil matrix is rich in nutrition, loose and breathable, and is suitable for growth of plants; and lots of organic matter such as agricultural and forestry leftovers are adopted, so that the water storage performance is high, and the construction cost and the maintenance cost are greatly saved.

A method for producing a substantially calibrated numerical model, which can be used for calculating a stress on any point in a formation, accounts for a formation's geologic history using at least one virtual formation condition to effectively “create” the present-day, virgin stress distribution that correlates, within acceptable deviation limits, to actual field stress measurement data obtained for the formation. A virtual formation condition may describe an elastic rock property (e.g., Poisson ratio, Young's modulus), a plastic rock property (e.g., friction angle, cohesion) and / or a geologic process (e.g., tectonics, erosion) considered pertinent to developing a stratigraphic model suitable for performing the desired stress analysis of the formation.

The invention belongs to the field of physical property detection of materials and particularly relates to an inclined plane instrument device for measuring the friction coefficient and the friction angle of granular materials on different material plate elements. Firstly, operators uniformly pave the granular materials to be measured onto a placed plate element, in addition, the included angle between the plate element and the horizontal plane is continuously increased until the materials on the plate element fall into a material collecting disc, and then, the friction angle or the friction coefficient is obtained through a measuring device. The device adopts a rocker mechanism and has a self locking function, and the measuring device comprises a circular arc ruler and a straight rule. Through the self locking function, the operators can release a rocker in experiments for intently regulating the sight line and observing readings. The fixed connection of the upper end and the lower end of the circular arc ruler and the straight ruler adopts a connecting plate with a certain thickness, and the warping in the vertical direction is avoided, so the measurement precision is ensured, and the effect of side plate reinforcing ribs is realized. The design of the material collecting disc at the lower part fully considers the requirements of multiple repeated experiments. The device has the advantages that the external connection of a power supply is not needed, and the device can be placed on the ground or a horizontal test table in a laboratory.

The invention relates to a modeling method for a compact sandstone reservoir three-dimensional fracability model. The method comprises the following steps: S1, establishing a relation formula among an internal friction angle, I type and II type crack fracture toughness and the parameter of sandstone mechanical characteristics; S2, establishing a shale fracability evaluation model which comprehensively considers an elastic parameter, the internal friction angle, the critical strain energy release rate and fracture toughness; S3, adopting a support vector machine algorithm to obtain a cluster analysis mode between the reservoir fracability and the elastic parameter; S4, adopting the cluster analysis mode to obtain a reservoir three-dimensional elastic parameter data body, and establishing the multi-scale compact sandstone reservoir three-dimensional fracability evaluation model based on the core, the borehole and the reservoir of multiple scales. According to the method, the fracability of an arbitrary space position in the compact sandstone reservoir can be obtained, a sweet spot with high fracability can always be drilled when drilling a compact sandstone gas well, blindness of well location selection is avoided, and the fracture modification effect and the yield after fracture are improved.

An on-vehicle display apparatus includes a motor, a gear train, a threaded rod, a slider screwed to the threaded rod, and a display main body rotatably connected to the slider. The lead angle of the threaded rod is set greater than the friction angle thereof. The gear train includes first and second gears facing each other. Protrusions provided on one of the first and second gears are fitted in recesses provided in the other. A spring member elastically urges the first gear toward the second gear. A detection sensor detects the size of an external force on the basis of the displacement of the first gear against the spring member in the axial direction. The motor is controlled on the basis of the detection result of the detection sensor such that the display main body is moved away from the external force.

The invention relates to a tilting testing device for measuring the anisotropy of a sliding friction angle of a rock joint surface. The testing device consists of a base, a sliding rail, a hinge frame and a compass. According to the device, the shortcomings of the conventional sliding friction angle measurement of the rock joint surface are overcome; a lower disc of a rock joint surface test sample is fixedly arranged on the compass through a clamping threaded rod, and the compass is rotated in a testing process to continuously measure the anisotropic sliding friction angle of the disc-shaped rock joint surface test sample which consists of an upper disc and the lower disc along any sliding direction and reutilize the test sample; and the upper and lower discs of the rock joint surface slide relative to each other by slowly enlarging a tilting angle of a flat plate, and the tilting angle of the flat plate is read through an angulometer in real time, so that a value of the sliding friction angle of the rock joint surface can be directly obtained.

A variable-tooth gear with sliding-sheet deforming teeth pertains to the technical fields of gearing, and continuously variable mechanical transmissions. The variable-tooth gear is designed in accordance with “the principle of configuring variable-teeth through infinitely deforming sliding-sheets”. The working surface is composed of a large number of thin sliding-sheets (sliding-needles) superposed on one another. The meshing tooth profiles of arbitrary shapes can be configured by the free and infinite sliding of the sliding-sheets. Since the direction of sliding of the sliding-sheets is different from the direction of forces acting thereupon, the sliding-sheets can freely deform with the current tooth profiles. The direction of the force acting upon the sliding-sheet when transmitting power is perpendicular to the free-sliding direction, or the angle therebetween is within the equivalent friction angle, therefore the sliding-sheet possesses the self-locking property. The tooth profile thus remains unchanged when the sliding-sheets are under stress. All the sliding-sheets form an integrally closed elastic enclosure ring, possessing the effect of “rigidity and flexibility being combined, variable-tooth being fixed”. Therefore the load capacity is high, the transmission is a one-stage transmission and the transmission efficiency is high. There are only two key components, such that the structure is simple, the cost is low and the size is compact. This variable-tooth gear realizes, to the core, the concept of “continuously variable transmission via gear meshing”, and can be applied to vehicles or industrial fields of high speed and large power.

Numerous permutations of high-friction void-maintaining membrane laminates are provided. Laminates of the invention are particularly useful for providing high performance drainage within installations having a high slope component. Void-maintaining laminates of the invention comprise flow zones of void spaces which are typically interconnected, and constructed and arranged so that the flow zones provide desirable paths for the egress of drainage fluids. The laminates advantageously include also high-friction zones which are typically interspersed between the flow zones such that the laminates are useful to provide drainage in installations of high incline angles. Laminates of the present invention provide both desired resistance to movement, that is, increased shear resistance, and flow capacity increases of from 25-100% when compared with conventional laminates.

The invention discloses a method utilizing logging information for determining the optimal perforation position for SRV (Stimulated Reservoir Volume) fracturing. The method comprises the following steps: (A) calculating mineral friability index B1 by using conventional logging information, elemental capture spectroscopy logging information and natural gamma spectroscopy logging information; (B) calculating dynamic Young modulus E and dynamical poisson ratio v of each layer section by using acoustic logging information and calculating a mechanical friability index B2 of each layer section; (C) calculating total friability index BTot of the layer sections; (D) calculating confining pressure Pc; (E) calculating rock tensile strength St of the layer sections; (F) calculating an I type fracture toughness value KIC and an II type fracture toughness value KIIC of the each layer section; (G) calculating an inner friction angle of each layer section by using logging information; (H) calculating the reservoir compressibility index Frac of each layer section; and (I) selecting a layer section with a high reservoir compressibility index Frac as the optimal SRV fracturing perforation layer. The method is capable of conveniently and efficiently calculating the compressibility index of each layer section by directly using the logging information, so as to provide decision basis for selecting the optimal SRV fracturing perforation layer and promoting exploitation of shale reservoirs.

The invention discloses a fast test method of the shearing resistance of an bituminous mixture, and provides a new method for testing the shearing performance of a bituminous mixture which bears torsional shearing in the horizontal direction and constant pressure stress in the vertical direction on the basis of borrowing the conventional shearing performance test theory and according to the practical significance of coulomb law and shearing strength. The method provided by the invention not only is applicable to the bituminous mixture newly stirred in a laboratory, but also can be used for estimating the shearing resistance of the bituminous mixture in an actual road surface; and by utilizing the fast test method, not only can the shearing resistance of the bituminous mixture be tested, but also the cohesion and an internal friction angle which play a role in determining the shearing strength of the bituminous mixture can be obtained, so that the content of the shearing damage of the bituminous mixture can be deeply understood and accurately mastered conveniently, and a test analyzing means is provided for the optimum design of the bituminous mixture based on the shearing resistance.

A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators. Methods of actuating include unjamming all modules, positioning the manipulator with tensile elements or otherwise, jamming the base-most module, and then repositioning remaining, not-jammed modules, followed by jamming the base-most not-jammed module, and so on, until all modules are positioned and jammed.

An on-vehicle display apparatus includes a motor, a gear train, a threaded rod, a slider screwed to the threaded rod, and a display main body rotatably connected to the slider. The lead angle of the threaded rod is set greater than the friction angle thereof. The gear train includes first and second gears facing each other. Protrusions provided on one of the first and second gears are fitted in recesses provided in the other. A spring member elastically urges the first gear toward the second gear. A detection sensor detects the size of an external force on the basis of the displacement of the first gear against the spring member in the axial direction. The motor is controlled on the basis of the detection result of the detection sensor such that the display main body is moved away from the external force.

The invention relates to a testing method for the interlaminar shearing stress state, which is a method for evaluating the shearing strength between a cement concrete deck and an asphalt pavement layer. The method can simultaneously acquire the cohesive force C and the friction angle between interfaces by testing once, and is a reasonable testing method for the shearing strength between the cement concrete deck and the asphalt pavement layer. The testing method comprises the following steps: (a) an inclined plane with an inclined angle of 5 degrees-30 degrees, namely a rigid triangular block (8), is arranged in a direction vertical to load application (4); a horizontal force-measuring device (5) is positioned behind the rigid triangular block (8); a loading specimen (1) and a fixed specimen (3) are positioned in a clamp (10); the load vertically applied to the loading specimen (1) is converted into a horizontally applied force to realize application of positive pressure on a shearing interface (2); (b) bearing balls (9) are arranged on the inclined plane to eliminate the effect of the frictional force on the inclined plane to the test result; and (c) based on the testing method, the cohesive force and the friction angle between the interfaces are acquired by calculating with a calculation formula as shown in the specification.

The invention discloses a method for measuring the maximum scour depth of a viscous debris flow gully bed and the application thereof. The method comprises the following steps: weight Gamma1, depth h and a dynamic friction angle Beta of a viscous debris flow body, weight Gamma2, an internal frictional angle Phi and a viscosity coefficient C of cumulus deposits of an original gully bed, and vertical gradient J of the gully channel are determined by means of survey, measurement and sampling of the debris flow gully, testing of debris flow characteristic parameters and the like; and the obtained parameters are substituted into a calculation formula to obtain the maximum scour depth of the viscous debris flow gully bed. The method is applicable to the design of foundation embedded depth in a viscous debris flow prevention project, and the obtained maximum scour depth of the viscous debris flow gully bed serves as the minimum foundation embedded depth in the prevention project. Compared with the prior art, as the method is based on rigorous theory derivation, the maximum scour depth of the viscous debris flow gully bed can be reasonably determined, and references on the design of the foundation embedded depth in the prevention project are provided; and the method is high in result accuracy and can meet the requirements of the practical project.

The invention relates to the technical field of tunnel engineering. A method for calculating the surrounding rock pressure of a shallow tunnel comprises the following steps: selecting a convergence deformation monitoring point of the surrounding rock; constructing a structural mechanics model at the monitoring point; deriving a calculation relation between the convergence deformation and the surrounding rock pressure; substituting engineering actual data and convergence monitoring data into the calculation relation to calculate the displacement on the left and right sides of the monitoring point and the convergence deformation of the monitoring points; and calculating the surrounding rock friction angle and the surrounding rock pressure. The method analyzes a relationship between the convergence deformation and the surrounding rock pressure of the sidewall surrounding rock in the construction of a double side wall tunneling method, establishes the structural mechanics model, and obtains the surrounding rock pressure from the field monitoring data by means of back calculation. Compared with a calculation method that depends on empirical parameters, the method of the invnetion is more accurate and more represents the actual surrounding rock pressure of the tunnel, and the convergence deformation data of the tunnel is easier to obtain and the calculation is convenient and accurate.

The invention discloses a universal design calculation method for deep / shallow-buried vertical surrounding rock pressure of a tunnel and an underground space. The method comprises the following steps of: 1, determining shapes and sizes of the tunnels and underground spaces: buried depth (H), unlined tunnel semi-width (alpha), stratum sliding surface semi-width (alpha1), tunnel height (y) and tunnel length (L); 2, determining physical parameters according to geological conditions and surrounding rock levels of the tunnel and the underground space: surrounding rock cohesive force (c), internal friction angle (phi), unit weight (gamma), Poisson ratio (mu) and initial side pressure coefficient (xi); 3, calculating and designing the following contents according to above known physical parameters: 3.1 average vertical ground pressure <delta>flat of the tops of deep / shallow caverns; 3.2 deep / shallow buried boundary depth Hmax, wherein the tunnel is a shallow-buried tunnel when the buried depth is less than Hmax, and the tunnel is a deep-buried tunnel when the buried depth is greater than or equal to Hmax; and 3.3 vertical ground pressure of the shallow-buried cavern. According to the method, no load mutation phenomenon is generated at the deep / shallow-buried boundaries, and through plenty of actual measurements and verifications, the condition is identical to the practical condition.

The invention discloses a composite reinforced roadbed and a construction method. The composite reinforced roadbed comprises water-permeable concrete piles, waste tires, connection pieces and gravels, wherein the water-permeable concrete piles are sequentially poured to peaks of triangles according to the shapes of equilateral triangles; each longitudinally cut waste tire is fixed on a steel bar of each water-permeable concrete pile; the water-permeable concrete piles are connected through the connection pieces in sequence and are buried on the roadbed; the equilateral triangles and the tires are filled with the gravels; the structure is filled with the soil roadbed. According to the composite reinforced roadbed, the waste tires are arranged at the bottom of the roadbed and replace part of the soil body; compared with the friction force in the soil body, the friction force between the soil body and the waste tires or the friction force caused by indirect contact between the gravels and the tires is obviously increased; in spite of cohesive soil or non-cohesive soil, the cohesive force of the soil body or the inner friction angle of the soil body can be increased; the stability of a slope of the roadbed is improved.

The invention discloses a device and method for measuring a friction angle or a repose angle of a granular material. A material plate is arranged on a rotary shaft of a motor; the two sides of the material plate are provided with a pair of infrared opposite tubes for judging whether the grain position is moved; the material plate is adjusted to a horizontal position; a grain is placed on a connection position of two infrared opposite tubes on the material plate; a control motor drives the material plate to incline; with the increased inclination angle of the material plate, the light path of the infrared opposite tube is not captured by a microprocessor in a grain-blocked state at the moment that the grain leaves the connection of the two infrared opposite tubes; the microprocessor records the inclination angle of the material plate at the moment; and the inclination angle is the friction angle or repose angle of the granular material. The device and method for measuring the friction angle or repose angle of the granular material have the advantages of high measuring speed, high precision and high automation degree.

The invention discloses a workpiece positioning device, which comprises a table top. An angle of the table top is a reference angle, so that the table top is inclined, the reference angle is lower than other portions of the table top, and an inclination angle is larger than a friction angle of a workpiece to be positioned on the table top. Correspondingly, two edges of the table top for limiting the reference angle are respectively provided with a positioning part for restraining the workpiece on the table top, and two corresponding degrees of freedom are orthogonal. The workpiece positioning device is simple in structure and high in positioning precision.

The invention provides a determination method and a determination apparatus for the coefficient of earth pressure at rest, belonging to coefficient measuring methods and apparatuses for soil tests. In a conventional triaxial pressure chamber, an axial deformation constrained radial loading test is carried out on a soil sample so as to obtain a ratio of axial stress to radial stress; according to a two-dimensional asymptotic state criterion, relationship between a starting friction angle and a triaxial compression friction angle in the axial deformation constrained radial loading test satisfies equation I described in the specification, and relationship between the starting friction angle and the triaxial compression friction angle in a radial deformation constrained axial loading test satisfies equation II described in the specification. According to calculation results, the coefficient of earth pressure at rest in the axial deformation constraint radial loading test is 0.5 time of the ratio of axial stress to radial stress in the axial deformation constraint radial loading test. According to the method, errors generated when fixed section radial deformation control is used to substitute radial deformation control in a vertical direction of the soil sample in the radial deformation constrained axial loading test for the coefficient of earth pressure at rest can be avoided, and the method and the apparatus are suitable for accurate determination of coefficients of earth pressure at rest of saturated sand.

The invention provides a stability analysis method for hydromechanical coupling of an unsaturated soil slope, and belongs to the technical field of rock and soil. According to the stability analysis method, a Barcelona basic model more conforming to the property of the unsaturated soil is adopted for a constitutive model of the unsaturated soil, and the influence of suction force and the influenceof shear strength and compressive strength of a soil body are considered in the constitutive model. According to the strength reduction method for unsaturated soil slope stability analysis, the shearstrength of a soil body is reduced by reducing the cohesive force and the friction angle of the soil body. In addition, the reduction of the compressive strength of the soil body is taken into account by reducing the consolidation pressure in front of the soil body. The stability analysis of the unsaturated soil slope is carried out under the Cosserat continuum frame, and the influence of the microstructure effect of the soil body on the stability of the macroscopic slope is considered to a certain extent. According to the stability analysis method, various influence factors are considered, and the stability analysis accuracy of the unsaturated soil slope is improved.

The invention discloses a universal milling force modeling method for a uniform plough model, which solves the technical problem in the prior art that existing universal milling force modeling methods are poor in versatility. According to the technical scheme of the invention, the ploughing force is uniformly expressed as the product of the ploughing force factor multiplied by the volume of the extruded material. Meanwhile, the ploughing force is separated, so that the influence of the ploughing effect on the shearing factor is avoided. Firstly, several sets of static milling experiments are conducted, and the data of the milling force are recorded. Secondly, the milling force measured in a cartesian coordinate system is converted into the milling force in a milling cutter local coordinate system, and the value of the ploughing force in the local coordinate system is determined through the linear regression method. Thirdly, the factor of the milling force is calculated through separating the shearing force from the milling force, and then is compared with an experimentally measured value. Through the repeated iteration process, the data of the shear angle and the data of a normal friction angle are obtained, and then the factor of the shearing force is determined. Therefore, the factor of the ploughing force is determined based on the separated ploughing force and the determined volume of the static extruded material. By adopting the uniform plough model, whether the cutting process is stable or not no longer needs to be judged. Therefore, the method is good in versatility.

The invention discloses a method for processing a roadbed by means of matching of waste tire piece bodies and reinforced soil. The method includes the steps that (1) a waste tire is recycled and cut into pieces, soil used for the actual engineering roadbed is sampled, the recycled waste tire pieces are mixed into the soil, a triaxial compression experiment for solidification water discharging is carried out, an optimum ratio is determined according to the result of shearing strength, and accordingly the soil of the roadbed is improved; (2) geogrid is installed on a flat and compressed field, the stressed direction of the geogrid is vertical to the axis direction of a road embankment, the geogrid is pressed and fixed through plug pins, soil and stones, and the geogrid is under a tightened and stressed state in soil; (3) after the geogrid is laid and positioned, the geogrid is timely covered with soil, and the time when the geogrid is naked cannot exceed 48 hours; (4) in an reinforced soil project, water discharging must be well processed, and when necessary, geotechnical cloth should be arranged. The method can improve the water permeable performance of the roadbed; the shear-resistance is improved due to the fact that soil inner friction angles are increased; soil self-weight is reduced, the problem that the roadbed subsides unevenly is reduced, retaining wall soil pressure is reduced, and the structure of the roadbed is optimized.

A test apparatus for measuring the cohesive, adhesive and frictional properties of bulk solids has a bulk solid sample confined between two essentially parallel plates with a single load applied that produces both shear and normal stress and strain to the bulk solid in a manner that nearly uniformly distributes stress throughout the granular solid test region. The apparatus has a close proximity of the plates compared with the length of the plates in the direction of shear, the design of a load hanger to produce a resultant load near the shear plane, the roughening of any surface in contact with the solid that is not intended to have shear on it and involves one-directional movement of the parallel plates with respect to each other and the control of both the direction and magnitude of the applied load relative to the parallel plates. A test method uses the apparatus to measure the unconfined yield strength angle of internal friction and steady state deformation effective angle of internal friction with a single test. A test method uses replacement of the lower part of the test sample with a plate of material that the bulk solid may be required to slip on and measures the friction angle and adhesion of the bulk solid on the plate of material.

The invention relates to a cardio-pulmonary resuscitation device. The problems that in an existing cardio-pulmonary resuscitation process, platform switching is low, and operation is complex are solved. According to the technical scheme, the device comprises a first box, a flat plate is arranged in the box which is provided with a rack, a first gear is meshed with the rack, a first threaded rod isarranged on the first gear, a threaded pipe is arranged on the first threaded rod, and a flexible device is installed on the flat plate; a hollow circular pipe is arranged on the flat plate, a secondbox is arranged on the upper portion of the hollow circular pipe, two connecting rods with two lower ends hinged to each other are arranged in the second box, a coiling wheel is arranged between thetwo connecting rods, a rope is arranged on the coiling wheel, a second threaded rod is arranged in the hollow circular pipe, a nut cooperatively sleeves the second threaded rod, the upper end face ofthe nut is rotatably connected with the hollow circular pipe, the lead angle of the second threaded rod is larger than the equivalent friction angle of a screw pair formed by the second threaded rod and the nut, a ratchet wheel sleeves the outer side of the nut, and a pawl matched with the ratchet wheel is installed on the hollow circular pipe. The device is novel in conception, ingenious in structure and high in practicability.

The invention provides a method and a system for testing the abrasiveness of rock. The method for testing the abrasiveness of the rock comprises the following steps of: predetermining a relation between an inner friction angle of the rock and a granularity fractal dimension of the rock; preparing a filed rock sample and testing the granularity fractal dimension of the field rock sample; and determining the inner friction angle of the field rock sample according to the tested granularity fractal dimension of the field rock sample and the predetermined relation. Therefore, the abrasiveness of the rock can be determined.

The invention discloses a material wear life predicting method, material wear life predicting equipment, and a material wear test apparatus. The material wear life predicting method comprises: settingtest condition parameters; obtaining the friction performance data of a material in the test condition and the failure critical hardness of the material; processing the data to obtain change relationship of the friction performance of the material; and according to the change relationship and the failure critical hardness, calculating the wear life of the material. The material wear test apparatus comprises: a base disc; a grinding sheet for rubbing against a sample and fixed on the base disc; a temperature control unit for controlling the temperature of a test environment; a pressure controlunit for applying constant pressure onto the sample; a balance arm, wherein one end of the balance arm is coaxially connected to the sample, and the friction angle of the sample on the grinding sheetis changed by adjusting the balance arm; and a drive unit connected to the base disc and used for controlling the rotation speed and the rotation direction of the base disc. With the method, the equipment and the apparatus, the wear life of the material can be accurately predicted, and test efficiency and the test economy can be improved.

The invention relates to a rapid clamping fixture with adjustable pressing force. The middle of a connecting rod is connected with a pressing plate in a penetrating manner, and the lower end of the connecting rod is fixedly connected with a working table through a T-shaped nut; a long kidney-shaped hole is formed in a straight slot in the upper portion of the connecting rod, and an eccentric semicircular block is movably connected with the long kidney-shaped hole through a hinge pin; an adjusting bolt and a locking nut are arranged at the upper end of the connecting rod, and a bevel washer arranged on the connecting rod in a sleeving manner is arranged on the pressing plate; and the part, between the pressing plate and the working table, of the connecting rod is sleeved with a reset spring, and a rotating handle is arranged on the eccentric semicircular block. According to the clamping fixture, through the eccentric semicircular block, a workpiece is rapidly clamped, the bevel washer is utilized for conveniently adjusting the clamping force, a friction angle on the contact position of the bevel washer and the eccentric semicircular block is used for locking, and the pressing force of the eccentric semicircular block can be fine adjusted through the adjusting bolt and the locking nut after the workpiece with elastic deformation is pressed; and due to the fact that the part, between the pressing plate and the working table board, of the connecting rod is sleeved with the reset spring, after the eccentric semicircular block is loosened, the pressing plate automatically loosens the workpiece under the effect of the reset spring.

A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators. Methods of actuating include unjamming all modules, positioning the manipulator with tensile elements or otherwise, jamming the base-most module, and then repositioning remaining, not-jammed modules, followed by jamming the base-most not-jammed module, and so on, until all modules are positioned and jammed.