One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three ...One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.展开更多
The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invar...The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.展开更多
Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dyna...Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element（SLE）. First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.展开更多
It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight...It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.展开更多
The stress-strain curves and microstructure properties of superalloy GH4169 was tested by thermal simulation experiment with different parameters,which were deformation temperature and strain rate and strain and origi...The stress-strain curves and microstructure properties of superalloy GH4169 was tested by thermal simulation experiment with different parameters,which were deformation temperature and strain rate and strain and original grain size.The influence of technology parameters on crystal grain size of dynamic recrystallization（DRC）was analyzed.The kinematics model of superalloy GH4169 was established,in which the relation between grain size of dynamic recrystallization and function Z（Zener-Hollomon）and parameters was described.The dynamics model of superalloy GH4169 was put forward,which described the relation between the quantity of dynamic recrystallization and function Z and parameters.The research results showed that the grain size of dynamic recrystallization increased with increasing the temperature and decreasing the strain rate.And the grain size of DRC bore no relationship to original grain size.And the quantity of dynamic recrystallization decreased with increasing the original grain size.展开更多
This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed ...This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.展开更多
The conventional beam pumping unh consumes a large amount of energy due to its unsmooth movement. In this work, we design a new energy-saving parallel four-bar pumping unit and derive the kinematic and dynamic law of ...The conventional beam pumping unh consumes a large amount of energy due to its unsmooth movement. In this work, we design a new energy-saving parallel four-bar pumping unit and derive the kinematic and dynamic law of the drive mechanism systematically by theoretical method. For the given target technical parameter, the theoretical results are verified by computer simulation, which shows that the simulation dynamic curves agree well with the theoretical ones and the calculated power consumption is low. Theoretical analysis shows that the newly designed pumping unit reduces average power by 28.8% compared with its conventional counterpart. The much lower theoretical energy consumption and the better dynamic performance indicate that the new energy-saving pumping unit is well designed and will have a significant application prospect.展开更多
Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platfor...Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.展开更多
The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,la...The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.展开更多
The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic p...The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic performance of FRW is studied at low Reynolds number（~10~3）.The FRW is modeled as a simplified system of three rigid bodies： a rotary base with two flapping wings. The multibody dynamic theory is employed to derive the motion equations for FRW. A quasi-steady aerodynamic model is utilized for the calculation of the aerodynamic forces and moments. The dynamic motion process and the effects of the kinematics of wings on the dynamic rotational equilibrium of FWR and the aerodynamic performances are studied. The results show that the passive rotation motion of the wings is a continuous dynamic process which converges into an equilibrium rotary velocity due to the interaction between aerodynamic thrust, drag force and wing inertia. This causes a unique dynamic time-lag phenomena of lift generation for FRW, unlike the normal flapping wing flight vehicle driven by its own motor to actively rotate its wings. The analysis also shows that in order to acquire a high positive lift generation with high power efficiency and small dynamic time-lag, a relative high mid-up stroke angle within 7–15° and low mid-down stroke angle within -40° to -35° are necessary. The results provide a quantified guidance for design option of FRW together with the optimal kinematics of motion according to flight performance requirement.展开更多
We present an efficient, robust computational method for modeling the Newtonian dynamics for rotation curve analysis of thin-disk galaxies. With appropriate mathematical treatments, the apparent numerical difficulties...We present an efficient, robust computational method for modeling the Newtonian dynamics for rotation curve analysis of thin-disk galaxies. With appropriate mathematical treatments, the apparent numerical difficulties associated with singularities in computing elliptic integrals are completely removed. Using a boundary element discretization procedure, the governing equations are transformed into a linear algebra matrix equation that can be solved by straightforward Gauss elimination in one step without further iterations. The numerical code implemented according to our algorithm can accurately determine the surface mass density distribution in a disk galaxy from a measured rotation curve （or vice versa）. For a disk galaxy with a typical flat rotation curve, our modeling results show that the surface mass density monotonically decreases from the galactic center toward the periphery, according to Newtonian dynamics. In a large portion of the galaxy, the surface mass density follows an approximately exponential law of decay with respect to the galactic radial coordinate. Yet the radial scale length for the surface mass density seems to be generally larger than that of the measured brightness distribution, suggesting an increasing mass-tolight ratio with the radial distance in a disk galaxy. In a nondimensionalized form, our mathematical system contains a dimensionless parameter which we call the ＂galactic rotation number＂ that represents the gross ratio of centrifugal force and gravitational force. The value of this galactic rotation number is determined as part of the numerial solution. Through a systematic computational analysis, we have illustrated that the galactic rotation number remains within 4-10% of 1.70 for a wide variety of rotation curves. This implies that the total mass in a disk galaxy is proportional to V02 Rg, with V0 denoting the characteristic rotation velocity （such as the ＂flat＂ value in a typical ro- tation curve） and Rg the radius of the galactic disk. The predicted total galactic mass of the Milky Way is in good agreement with the star-count data.展开更多
To address the disk-halo degeneracy problem,we investigate the nearby barred spiral galaxy NGC 1097.We construct mass models using 3.6 and 4.5μm near-infrared photometric images from the S^(4)G survey,constrained by ...To address the disk-halo degeneracy problem,we investigate the nearby barred spiral galaxy NGC 1097.We construct mass models using 3.6 and 4.5μm near-infrared photometric images from the S^(4)G survey,constrained by rotation curves derived from CO(J=2–1)data from the PHANGS-ALMA survey.These models serve as inputs for a suite of hydrodynamic simulations,where we systematically test the influence of key parameters including the disk mass scaling factor(f_(M)),bar pattern speed(Ω_(b)),and gas sound speed(c_(s)).By comparing the CO(2–1)kinematic maps in the bar region with those from the simulations,we perform a standardχ^(2)analysis to identify the best-fit model.The best-fit model reproduces the observed morphological and kinematic gas features of the galaxy,indicating that NGC 1097 likely hosts a maximal disk with a slowly rotating bar.We also test the influence of a boxy/peanut-shaped(B/P)bulge by incorporating a double-peaked vertical density profile into the model.This B/P structure tends to weaken the bar’s non-axisymmetric potential and necessitate a higher bar pattern speed to reproduce the observed gas morphology.展开更多
To efficiently search out the optimal cam contour,a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented,and its effectiveness was demonstrated by a ...To efficiently search out the optimal cam contour,a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented,and its effectiveness was demonstrated by a case study of the cam contour optimization for an offset press open-close gripper mechanism.The acceleration curve and the residual vibration model of the follower were separately studied.A symmetric harmonic trapezoidal curve was designed to control the follower’s acceleration,and single-DOF lumped parameter torsional vibration model was proposed to describe the follower’s residual vibration.Accordingly,corresponding motion curve design software and Simulink vibration model of the follower were developed respectively,and they were integrated into an automatic optimization platform with iSIGHT.The multi-objective optimization with objectives of minimizing both the acceleration and the residual vibration of the follower was completed within the platform by using NSGA-II algorithm.An appropriate point with lower acceleration and residual vibration was chosen from Pareto front as an optimal solution of the follower’s motion curve.Based on the follower’s new motion curve,the actual cam contour was generated by inverse kinematic simulation in COSMOSMotion.The offset press that installed our new designed cam exhibited a lower vibration than the previous machine,and the maximum measured acceleration of the offset press at a printing speed of 15000 r/h is reduced by 7.7%.展开更多
The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the inter...The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the interphalangeal(IP)and metacarpophalangeal(MCP)joints during hand functional tasks remains challenging.To address this issue,advanced dynamic biplane radiography combined with a model-based 2D–3D tracking technique was employed to decode the inherent kinematics of the thumb IP and MCP joints during key pinch,tip pinch,palmar pinch and wide grasp.The results indicate that the functional tasks of the thumb are intricately modulated by the 3D rotational and translational motions of the IP and MCP joints.The IP joint exhibited the greatest flexion/extension range of motion during the tip pinch task(67.2°±8.4°),compared to smaller ranges in key pinch(27.6°±3.8°)and wide grasp(16.2°±7.1°)tasks.In the wide grasp task,the IP joint showed more movement in the radius/ulna direction(3.4±1.2 mm)compared to tip pinch(3.1±0.8 mm).Furthermore,the kinematic data of the IP joint challenge the traditional notion that the IP joint normally acts as a hinge mechanism.The results of this study help to elucidate the kinematics of human thumb IP and MCP joints and may provide new inspiration for the design of high-performance bionic hands or thumb prosthetics as well as for evaluating the outcomes of thumb therapeutic interventions and surgical procedures.展开更多
The analyses of kinematic wave properties of a new dynamics model for traffic flow are carried out. The model does not exhibit the problem that one characteristic speed is always greater than macroscopic traffic speed...The analyses of kinematic wave properties of a new dynamics model for traffic flow are carried out. The model does not exhibit the problem that one characteristic speed is always greater than macroscopic traffic speed, and therefore satisfies the requirement that traffic flow is anisotropic. Linear stability analysis shows that the model is stable under certain condition and the condition is obtained. The analyses also indicate that the model has a hierarchy of first- and second-order waves and allows the existence of both smooth traveling wave and shock wave. However, the model has a distinctive criterion of shock wave compared with other dynamics models, and the distinction makes the model more realistic in dealing with some traffic problems such as wrong-way travel analysis.展开更多
Absolute proper motions and radial velocities of 202 open clusters in the solar neighborhood, which can be used as tracers of the Galactic disk, are used to investigate the kinematics of the Galaxy in the solar vicini...Absolute proper motions and radial velocities of 202 open clusters in the solar neighborhood, which can be used as tracers of the Galactic disk, are used to investigate the kinematics of the Galaxy in the solar vicinity, including the mean heliocentric velocity components （u1, u2, u3） of the open cluster system, the characteristic velocity dispersions （σ1,σ2,σ3）, Oort constants （A, B） and the large-scale radial motion parameters （C, D） of the Galaxy. The results derived from the observational data of proper motions and radial velocities of a subgroup of 117 thin disk young open clusters by means of a maximum likelihood algorithm are： （u1,u2,u3） = （-16.1 ± 1.0,-7.9 ±1.4,-10.4±1.5） km·s^-1, （σ1,σ2,σ3） = （17.0±0.7, 12.2±0.9, 8.0±1.3） km·S^-1, （A, B） = （14.8±1.0, - 13.0±2.7） km·s^-1 kpc^-1, and （C, D） = （1.5 ± 0.7, -1.2 ±1.5） km·s^-1 kpc^-1. A discussion on the results and comparisons with what was obtained by other authors is given.展开更多
Convincing evidence for a past interaction between the two rich clusters A399 and A401 was recently found in the X-ray imaging observations. We examine the structure and dynamics of this pair of galaxy clusters. A mix...Convincing evidence for a past interaction between the two rich clusters A399 and A401 was recently found in the X-ray imaging observations. We examine the structure and dynamics of this pair of galaxy clusters. A mixture-modeling algorithm was applied to obtain a robust partition into two clusters, which allowed us to discuss the virial mass and velocity distribution of each cluster. Assuming that these two clusters follow a linear orbit and they have once experienced a close encounter, we model the binary cluster as a two-body system. As a result, four gravitationally bound solutions are obtained. The recent X-ray observations seem to favor a scenario in which the two clusters with a true separation of 5.4h-1 Mpc are currently expanding at 583 km s-1 along a direction with a projection angle of 67.5°, and they will reach a maximum extent of 5.65 h-1 Mpc in about 1.0 h-1 Gyr.展开更多
Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as...Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as an essential guide to the design of ankle–foot assistant devices.However,detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking.In this study,dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking.Natural motions with six Degrees of Freedom(DOF)and the coupled patterns of the two joints were analyzed.It was found that the movements of the two joints were mostly in opposite directions(including rotation and translation),mainly in the early and late stages.There were significant differences in the Range of Motion(ROM)in Dorsiflexion/Plantarflexion(D/P),Inversion/Eversion(In/Ev),and Anterior–Posterior(AP)and Medial–Lateral(ML)translation of the tibiotalar and subtalar joints(p<0.05).Plantarflexion of the tibiotalar joint was coupled with eversion and posterior translation of the subtalar joint during the impact phase(R^(2)=0.87 and 0.86,respectively),and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase(R^(2)=0.93 and 0.75,respectively).This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.展开更多
We present high quality long slit spectra along the major and minor axes out to 1.5 effective radii of the massive galaxy NGC 4636 taken by the Hobby-Eberly Telescope. Using the Fourier Correlation Quotient method, we...We present high quality long slit spectra along the major and minor axes out to 1.5 effective radii of the massive galaxy NGC 4636 taken by the Hobby-Eberly Telescope. Using the Fourier Correlation Quotient method, we measured the stellar line-of-sight velocity distribution along the axes. Furthermore, six Lick/IDS indices （Hβ, Mgb, Fe5015, Fe5270, Fe5335, Fe5406） are derived from the clean spectrum. By comparing the measured absorption line strengths with the predictions of Simple Stellar Population （SSP） models, we derived ages, total metallicity and a abundance profiles of the galaxy. This galaxy presents old and [α/Fe] overabundant stellar populations. Indeed, using the SSP model, we obtained the broadband color profiles. The theoretical colors match well with the measured colors and present red sharp peaks at the galaxy center. The sharp peaks of the colors are mainly shaped by the high metallicity in the galaxy＇s center. Interestingly, the galaxy has steep negative metaUicity gradients, but the trend flattens outwards. This result likely suggests that the center and outer regions of the galaxy formed through different formation processes.展开更多
基金The National High Technology Research and Development Program of China(863Program)(No.2006AA040202)
文摘One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.
基金Supported by National Natural Science Foundation of China(Grant Nos.51375420,51105322)
文摘The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.
基金Supported by National Natural Science Foundation of China(Grant No.51175422)
文摘Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element（SLE）. First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.
基金supported by National Natural Science Foundation of China(Grant No.61075099)
文摘It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.
基金Item Sponsored by National Natural Science Foundation of China(50834008)
文摘The stress-strain curves and microstructure properties of superalloy GH4169 was tested by thermal simulation experiment with different parameters,which were deformation temperature and strain rate and strain and original grain size.The influence of technology parameters on crystal grain size of dynamic recrystallization（DRC）was analyzed.The kinematics model of superalloy GH4169 was established,in which the relation between grain size of dynamic recrystallization and function Z（Zener-Hollomon）and parameters was described.The dynamics model of superalloy GH4169 was put forward,which described the relation between the quantity of dynamic recrystallization and function Z and parameters.The research results showed that the grain size of dynamic recrystallization increased with increasing the temperature and decreasing the strain rate.And the grain size of DRC bore no relationship to original grain size.And the quantity of dynamic recrystallization decreased with increasing the original grain size.
基金National Natural Science Foundation of China(50705003)National High-tech Research and Development Program of China(2007AA04Z252)"Blue Star Program"of Beihang University
文摘This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.
基金Supported by the Ministry of Science and Technology Innovation Fund for SMEs (09C26214204812)the Venture Capital Fund for SMEs (09C26154204991)
文摘The conventional beam pumping unh consumes a large amount of energy due to its unsmooth movement. In this work, we design a new energy-saving parallel four-bar pumping unit and derive the kinematic and dynamic law of the drive mechanism systematically by theoretical method. For the given target technical parameter, the theoretical results are verified by computer simulation, which shows that the simulation dynamic curves agree well with the theoretical ones and the calculated power consumption is low. Theoretical analysis shows that the newly designed pumping unit reduces average power by 28.8% compared with its conventional counterpart. The much lower theoretical energy consumption and the better dynamic performance indicate that the new energy-saving pumping unit is well designed and will have a significant application prospect.
基金Project(2014QNB18) supported by the Fundamental Research Funds for the Central Universities of ChinaProject(2014CBO46300) supported by the National Basic Research Program of China
文摘Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.
基金the support of the National Natural Science Foundation of China(Nos.11988101 and 12022306)National Key R&D Program of China(No.2022YFF0503403)+5 种基金Ministry of Science and Technology of China(No.2020SKA0110100)science research grants from the China Manned Space Project(Nos.CMS-CSST-2021-B01 and CMS-CSST-2021-A01)CAS Project for Young Scientists in Basic Research(No.YSBR-062)K.C.Wong Education Foundationprovided by the Alfred P.Sloan Foundationthe U.S.Department of Energy’s Office of Science。
文摘The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.
文摘The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic performance of FRW is studied at low Reynolds number（~10~3）.The FRW is modeled as a simplified system of three rigid bodies： a rotary base with two flapping wings. The multibody dynamic theory is employed to derive the motion equations for FRW. A quasi-steady aerodynamic model is utilized for the calculation of the aerodynamic forces and moments. The dynamic motion process and the effects of the kinematics of wings on the dynamic rotational equilibrium of FWR and the aerodynamic performances are studied. The results show that the passive rotation motion of the wings is a continuous dynamic process which converges into an equilibrium rotary velocity due to the interaction between aerodynamic thrust, drag force and wing inertia. This causes a unique dynamic time-lag phenomena of lift generation for FRW, unlike the normal flapping wing flight vehicle driven by its own motor to actively rotate its wings. The analysis also shows that in order to acquire a high positive lift generation with high power efficiency and small dynamic time-lag, a relative high mid-up stroke angle within 7–15° and low mid-down stroke angle within -40° to -35° are necessary. The results provide a quantified guidance for design option of FRW together with the optimal kinematics of motion according to flight performance requirement.
文摘We present an efficient, robust computational method for modeling the Newtonian dynamics for rotation curve analysis of thin-disk galaxies. With appropriate mathematical treatments, the apparent numerical difficulties associated with singularities in computing elliptic integrals are completely removed. Using a boundary element discretization procedure, the governing equations are transformed into a linear algebra matrix equation that can be solved by straightforward Gauss elimination in one step without further iterations. The numerical code implemented according to our algorithm can accurately determine the surface mass density distribution in a disk galaxy from a measured rotation curve （or vice versa）. For a disk galaxy with a typical flat rotation curve, our modeling results show that the surface mass density monotonically decreases from the galactic center toward the periphery, according to Newtonian dynamics. In a large portion of the galaxy, the surface mass density follows an approximately exponential law of decay with respect to the galactic radial coordinate. Yet the radial scale length for the surface mass density seems to be generally larger than that of the measured brightness distribution, suggesting an increasing mass-tolight ratio with the radial distance in a disk galaxy. In a nondimensionalized form, our mathematical system contains a dimensionless parameter which we call the ＂galactic rotation number＂ that represents the gross ratio of centrifugal force and gravitational force. The value of this galactic rotation number is determined as part of the numerial solution. Through a systematic computational analysis, we have illustrated that the galactic rotation number remains within 4-10% of 1.70 for a wide variety of rotation curves. This implies that the total mass in a disk galaxy is proportional to V02 Rg, with V0 denoting the characteristic rotation velocity （such as the ＂flat＂ value in a typical ro- tation curve） and Rg the radius of the galactic disk. The predicted total galactic mass of the Milky Way is in good agreement with the star-count data.
基金supported by the National Natural Science Foundation of China under grant Nos.12103032,12025302,11773052 and 11761131016(NSFC-DFG)the“111”Project of the Ministry of Education of China under grant No.B20019+1 种基金the China Manned Space Project under grant No.CMS-CSST-2025-A11support from a Newton Advanced Fellowship awarded by the Royal Society and the Newton Fund。
文摘To address the disk-halo degeneracy problem,we investigate the nearby barred spiral galaxy NGC 1097.We construct mass models using 3.6 and 4.5μm near-infrared photometric images from the S^(4)G survey,constrained by rotation curves derived from CO(J=2–1)data from the PHANGS-ALMA survey.These models serve as inputs for a suite of hydrodynamic simulations,where we systematically test the influence of key parameters including the disk mass scaling factor(f_(M)),bar pattern speed(Ω_(b)),and gas sound speed(c_(s)).By comparing the CO(2–1)kinematic maps in the bar region with those from the simulations,we perform a standardχ^(2)analysis to identify the best-fit model.The best-fit model reproduces the observed morphological and kinematic gas features of the galaxy,indicating that NGC 1097 likely hosts a maximal disk with a slowly rotating bar.We also test the influence of a boxy/peanut-shaped(B/P)bulge by incorporating a double-peaked vertical density profile into the model.This B/P structure tends to weaken the bar’s non-axisymmetric potential and necessitate a higher bar pattern speed to reproduce the observed gas morphology.
基金the Foshan Science and Technology Innovation Team Project(No.FS0AA-KJ919-4402-0060)the National Natural Science Foundation of China(No.62263018)。
文摘To efficiently search out the optimal cam contour,a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented,and its effectiveness was demonstrated by a case study of the cam contour optimization for an offset press open-close gripper mechanism.The acceleration curve and the residual vibration model of the follower were separately studied.A symmetric harmonic trapezoidal curve was designed to control the follower’s acceleration,and single-DOF lumped parameter torsional vibration model was proposed to describe the follower’s residual vibration.Accordingly,corresponding motion curve design software and Simulink vibration model of the follower were developed respectively,and they were integrated into an automatic optimization platform with iSIGHT.The multi-objective optimization with objectives of minimizing both the acceleration and the residual vibration of the follower was completed within the platform by using NSGA-II algorithm.An appropriate point with lower acceleration and residual vibration was chosen from Pareto front as an optimal solution of the follower’s motion curve.Based on the follower’s new motion curve,the actual cam contour was generated by inverse kinematic simulation in COSMOSMotion.The offset press that installed our new designed cam exhibited a lower vibration than the previous machine,and the maximum measured acceleration of the offset press at a printing speed of 15000 r/h is reduced by 7.7%.
基金supported by the National Natural Science Foundation of China(No.52175270)the Project of Scientific and Technological Development Plan of Jilin Province(No.20220508130RC).
文摘The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the interphalangeal(IP)and metacarpophalangeal(MCP)joints during hand functional tasks remains challenging.To address this issue,advanced dynamic biplane radiography combined with a model-based 2D–3D tracking technique was employed to decode the inherent kinematics of the thumb IP and MCP joints during key pinch,tip pinch,palmar pinch and wide grasp.The results indicate that the functional tasks of the thumb are intricately modulated by the 3D rotational and translational motions of the IP and MCP joints.The IP joint exhibited the greatest flexion/extension range of motion during the tip pinch task(67.2°±8.4°),compared to smaller ranges in key pinch(27.6°±3.8°)and wide grasp(16.2°±7.1°)tasks.In the wide grasp task,the IP joint showed more movement in the radius/ulna direction(3.4±1.2 mm)compared to tip pinch(3.1±0.8 mm).Furthermore,the kinematic data of the IP joint challenge the traditional notion that the IP joint normally acts as a hinge mechanism.The results of this study help to elucidate the kinematics of human thumb IP and MCP joints and may provide new inspiration for the design of high-performance bionic hands or thumb prosthetics as well as for evaluating the outcomes of thumb therapeutic interventions and surgical procedures.
文摘The analyses of kinematic wave properties of a new dynamics model for traffic flow are carried out. The model does not exhibit the problem that one characteristic speed is always greater than macroscopic traffic speed, and therefore satisfies the requirement that traffic flow is anisotropic. Linear stability analysis shows that the model is stable under certain condition and the condition is obtained. The analyses also indicate that the model has a hierarchy of first- and second-order waves and allows the existence of both smooth traveling wave and shock wave. However, the model has a distinctive criterion of shock wave compared with other dynamics models, and the distinction makes the model more realistic in dealing with some traffic problems such as wrong-way travel analysis.
基金Supported by the National Natural Science Foundation of China.
文摘Absolute proper motions and radial velocities of 202 open clusters in the solar neighborhood, which can be used as tracers of the Galactic disk, are used to investigate the kinematics of the Galaxy in the solar vicinity, including the mean heliocentric velocity components （u1, u2, u3） of the open cluster system, the characteristic velocity dispersions （σ1,σ2,σ3）, Oort constants （A, B） and the large-scale radial motion parameters （C, D） of the Galaxy. The results derived from the observational data of proper motions and radial velocities of a subgroup of 117 thin disk young open clusters by means of a maximum likelihood algorithm are： （u1,u2,u3） = （-16.1 ± 1.0,-7.9 ±1.4,-10.4±1.5） km·s^-1, （σ1,σ2,σ3） = （17.0±0.7, 12.2±0.9, 8.0±1.3） km·S^-1, （A, B） = （14.8±1.0, - 13.0±2.7） km·s^-1 kpc^-1, and （C, D） = （1.5 ± 0.7, -1.2 ±1.5） km·s^-1 kpc^-1. A discussion on the results and comparisons with what was obtained by other authors is given.
基金the National Natural Science Foundation of China.
文摘Convincing evidence for a past interaction between the two rich clusters A399 and A401 was recently found in the X-ray imaging observations. We examine the structure and dynamics of this pair of galaxy clusters. A mixture-modeling algorithm was applied to obtain a robust partition into two clusters, which allowed us to discuss the virial mass and velocity distribution of each cluster. Assuming that these two clusters follow a linear orbit and they have once experienced a close encounter, we model the binary cluster as a two-body system. As a result, four gravitationally bound solutions are obtained. The recent X-ray observations seem to favor a scenario in which the two clusters with a true separation of 5.4h-1 Mpc are currently expanding at 583 km s-1 along a direction with a projection angle of 67.5°, and they will reach a maximum extent of 5.65 h-1 Mpc in about 1.0 h-1 Gyr.
基金supported by the National Natural Science Foundation of China(52175270,91848204)the Project of Scientific and Technological Development Plan of Jilin Province(20220508130RC).
文摘Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as an essential guide to the design of ankle–foot assistant devices.However,detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking.In this study,dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking.Natural motions with six Degrees of Freedom(DOF)and the coupled patterns of the two joints were analyzed.It was found that the movements of the two joints were mostly in opposite directions(including rotation and translation),mainly in the early and late stages.There were significant differences in the Range of Motion(ROM)in Dorsiflexion/Plantarflexion(D/P),Inversion/Eversion(In/Ev),and Anterior–Posterior(AP)and Medial–Lateral(ML)translation of the tibiotalar and subtalar joints(p<0.05).Plantarflexion of the tibiotalar joint was coupled with eversion and posterior translation of the subtalar joint during the impact phase(R^(2)=0.87 and 0.86,respectively),and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase(R^(2)=0.93 and 0.75,respectively).This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.
基金Supported by the National Natural Science Foundation of China rant No. 10821061the National Basic Research Program of China (Grant Nos. 11033008 nd 2007CB815406)the pport of the Chinese Academy of Sciences (Grant No. KJCX2-YW-T24)
文摘We present high quality long slit spectra along the major and minor axes out to 1.5 effective radii of the massive galaxy NGC 4636 taken by the Hobby-Eberly Telescope. Using the Fourier Correlation Quotient method, we measured the stellar line-of-sight velocity distribution along the axes. Furthermore, six Lick/IDS indices （Hβ, Mgb, Fe5015, Fe5270, Fe5335, Fe5406） are derived from the clean spectrum. By comparing the measured absorption line strengths with the predictions of Simple Stellar Population （SSP） models, we derived ages, total metallicity and a abundance profiles of the galaxy. This galaxy presents old and [α/Fe] overabundant stellar populations. Indeed, using the SSP model, we obtained the broadband color profiles. The theoretical colors match well with the measured colors and present red sharp peaks at the galaxy center. The sharp peaks of the colors are mainly shaped by the high metallicity in the galaxy＇s center. Interestingly, the galaxy has steep negative metaUicity gradients, but the trend flattens outwards. This result likely suggests that the center and outer regions of the galaxy formed through different formation processes.
