The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the c...The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the course,this article constructs a mixed teaching environment based on“Learning Pass+Hongya Platform+Offline Course,”integrates teaching resource libraries and ideological and political cases,and develops a suitable evaluation system to cultivate students’innovative and critical thinking abilities,stimulate their learning initiative,improve their teamwork ability,and enhance their professional level and data literacy.展开更多
Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator...Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved shape.Pressurizing and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic crawler.Multi-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait design.An analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module crawler.Multiple configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation frequencies.As per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.展开更多
This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.Th...This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.展开更多
The ride comfort experimental assessment of crawler off-road vehicle is relatively overlooked, and is expensive and difficult to execute with higher and higher ride comfort performance requirements. To trade off betwe...The ride comfort experimental assessment of crawler off-road vehicle is relatively overlooked, and is expensive and difficult to execute with higher and higher ride comfort performance requirements. To trade off between precise and cost, an experimental method based on the similitude theory is proposed. Under the guidance of the similitude theory, a 1：5 crawler power chassis scale model equipped with a kind of variable stiffness suspension system is used. The power spectrum density（PSD）, the root mean square（RMS） of weighed acceleration, peak factor, average absorbed power（AAP） and vibration dose value（VDV） are selected as ride comfort evaluation indexes, and tests results are transformed via similarity indexes to predict the performance of full-scale power chassis. PSD shows that the low-order natural frequency of the vertical natural frequency（z axis） is 1.1 Hz, and the RMS, AAP and VDV values indicate the ride comfort performance of this kind of power chassis is between the ＂A little uncomfortable＂ and ＂Rather uncomfortable＂. From the results, low-order vertical natural frequency, obtained by PSD, validates that the similarity relationship between two models is satisfied, and 1：5 scale model used in experiment meets the similarity relationship with the full-scale model; consequently, the ride comfort prophase evaluation with the 1：5 scale model is feasible. The attempt of applying the similitude theory to crawler vehicle ride comfort test study decreases the cost and improves the test feasibility with sufficient test precise.展开更多
The mechanical properties of deep-sea sediments during the driving process of crawler collectors are essential factors in the design of mining systems.In this study,a crawler load is divided into a normal compression ...The mechanical properties of deep-sea sediments during the driving process of crawler collectors are essential factors in the design of mining systems.In this study,a crawler load is divided into a normal compression load and a horizontal shear load.Then,the internal stress state of sedimentary soil is examined through a theoretical calculation and finite element numerical simulation.Finally,the driving of crawlers is simulated by changing the relative spatial position between the load and stress unit,obtaining the stress path of the soil unit.Based on the calculation results,the effect of the horizontal shear load on the soil stress response is analyzed at different depths,and the spatial variation law of the soil stress path is examined.The results demonstrate that the horizontal shear load has a significant effect on the rotation of the principal stress,and the reverse rotation of the principal stress axis becomes obvious with the increase in the burial depth.The stress path curve of the soil is different at various depths.The spatial variation rule of the stress path of the shallow soil is complex,whereas the stress path curve of the deep soil tends to shrink as the depth increases.The stress path of the corresponding depth should be selected according to the actual research purpose and applied to the laboratory test.展开更多
In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to a...In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow.展开更多
The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation ana...The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation analysis, parameter optimization. And it also explained the outstanding advantages of CAD/CAE technology in mechanical design as well as simulation analysis.展开更多
In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by ...In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.展开更多
基金supported by the Quality Engineering Project of Guangdong University of Science and Technology under Grant GKZLGC2024160。
文摘The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the course,this article constructs a mixed teaching environment based on“Learning Pass+Hongya Platform+Offline Course,”integrates teaching resource libraries and ideological and political cases,and develops a suitable evaluation system to cultivate students’innovative and critical thinking abilities,stimulate their learning initiative,improve their teamwork ability,and enhance their professional level and data literacy.
基金supported by the National Natural Science Foundation of China under Grant No.62203174the Guangzhou Municipal Science and Technology Project under Grant No.202201010179.
文摘Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved shape.Pressurizing and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic crawler.Multi-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait design.An analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module crawler.Multiple configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation frequencies.As per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.
基金supported by the Research Program funded by the SeoulTech(Seoul National University of Science and Technology).
文摘This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.
基金Supported by Special Fund for Argo-scientific Research in the Public Interest,China(Grant No.201203024)National Natural Science Foundation of China(Grant No.51175498)
文摘The ride comfort experimental assessment of crawler off-road vehicle is relatively overlooked, and is expensive and difficult to execute with higher and higher ride comfort performance requirements. To trade off between precise and cost, an experimental method based on the similitude theory is proposed. Under the guidance of the similitude theory, a 1：5 crawler power chassis scale model equipped with a kind of variable stiffness suspension system is used. The power spectrum density（PSD）, the root mean square（RMS） of weighed acceleration, peak factor, average absorbed power（AAP） and vibration dose value（VDV） are selected as ride comfort evaluation indexes, and tests results are transformed via similarity indexes to predict the performance of full-scale power chassis. PSD shows that the low-order natural frequency of the vertical natural frequency（z axis） is 1.1 Hz, and the RMS, AAP and VDV values indicate the ride comfort performance of this kind of power chassis is between the ＂A little uncomfortable＂ and ＂Rather uncomfortable＂. From the results, low-order vertical natural frequency, obtained by PSD, validates that the similarity relationship between two models is satisfied, and 1：5 scale model used in experiment meets the similarity relationship with the full-scale model; consequently, the ride comfort prophase evaluation with the 1：5 scale model is feasible. The attempt of applying the similitude theory to crawler vehicle ride comfort test study decreases the cost and improves the test feasibility with sufficient test precise.
基金supported by the National Natural Science Foundation of China(Nos.U1906234,51822904,51579082)the Fundamental Research Funds for the Central Universities(No.2020MS027).
文摘The mechanical properties of deep-sea sediments during the driving process of crawler collectors are essential factors in the design of mining systems.In this study,a crawler load is divided into a normal compression load and a horizontal shear load.Then,the internal stress state of sedimentary soil is examined through a theoretical calculation and finite element numerical simulation.Finally,the driving of crawlers is simulated by changing the relative spatial position between the load and stress unit,obtaining the stress path of the soil unit.Based on the calculation results,the effect of the horizontal shear load on the soil stress response is analyzed at different depths,and the spatial variation law of the soil stress path is examined.The results demonstrate that the horizontal shear load has a significant effect on the rotation of the principal stress,and the reverse rotation of the principal stress axis becomes obvious with the increase in the burial depth.The stress path curve of the soil is different at various depths.The spatial variation rule of the stress path of the shallow soil is complex,whereas the stress path curve of the deep soil tends to shrink as the depth increases.The stress path of the corresponding depth should be selected according to the actual research purpose and applied to the laboratory test.
基金Supported by the National Natural Science Foundation of China(No.51775323).
文摘In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow.
文摘The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation analysis, parameter optimization. And it also explained the outstanding advantages of CAD/CAE technology in mechanical design as well as simulation analysis.
文摘In South Africa, electricity is supplied through thousands-of-kilometers of overhead power cables, which is owned by Eskom the national energy supplier. Currently monitoring of these overhead power cables are done by means of helicopter inspection flights and foot patrols, which are infrequent and expensive. In this paper, the authors present the design of a prototype power line crawler （inspection robot） for the monitoring of these overhead power lines in South Africa. The designed prototype power line crawler is capable of driving on the wire, balancing on the wire and is capable of maneuvering past certain obstacles found on the overhead power cables. The prototype power line crawler is designed to host a monitoring system that monitors the power line as the inspection robot drives on it. Various experimental tests were performed and are presented in this paper, showing the capability of performing these tasks. This prototype inspection robot ensures a platform for future development in this area.
