For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocke...For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATLAB. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.展开更多
After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performanc...After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment,we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels.The composition and operational principles of the mobile platform are introduced,we discuss the flameproof design of the rocker assembly,as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are provided.Motion simulation of the differential function and condition of the robot running on virtual,uneven terrain is carried out with ADAMS.The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers.The robot model has good operating performance.Experiments on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried out.The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.展开更多
A novel weft insertion mechanism named eccentric conjugate non-circular gear & crank-rocker & gears train weft insertion mechanism was proposed in order to better meet the requirements of rapier loom's wef...A novel weft insertion mechanism named eccentric conjugate non-circular gear & crank-rocker & gears train weft insertion mechanism was proposed in order to better meet the requirements of rapier loom's weft insertion mechanism as well as reduce the manufacturing difficulty. Meanwhile, based on the working principle of this mechanism, kinematical mathematic models of this mechanism were established and an aided analysis and simulation software was compiled. The influences of eccentricity ratio, deformation coefficient, and other important parameters on the kinematics characteristics of this mechanism were analyzed by using the software. A group of preferable parameters which could meet the requirements of weft insertion technology were obtained by means of human-computer interactive optimization method. The maximum velocity, maximum acceleration, and variation of acceleration of this mechanism are smaller than those of the conjugate cam weft insertion mechanism applied on TT96 rapier loom under the conditions of the same unilateral total stroke of rapier head and the same rotary speed of loom spindle; meanwhile the other demands of weaving technology can be met by this novel weft insertion mechanism.展开更多
A novel method of realizing the optimal transmission of the crank-and-rockermechanism is presented. The optimal combination design is made by finding the related optimaltransmission parameters. The diagram of the opti...A novel method of realizing the optimal transmission of the crank-and-rockermechanism is presented. The optimal combination design is made by finding the related optimaltransmission parameters. The diagram of the optimal transmission is drawn. In the diagram, therelation among mini-mum transmission angle, the coefficient of travel speed variation, theoscillating angle of the rocker and the length of the bars is shown, concisely, conveniently anddirectly. The method possesses the main characteristic. That it is to achieve the optimaltransmission parameters under the transmission angle by directly choosing in the diagram, accordingto the given requirements. The characteristics of the mechanical transmission can be improved togain the optimal transmission effect by the method. Especially, the method is simple and convenientin practical use.展开更多
A ceramic rocker arm is proposed. Test for ICE performance and numerical analysis ofvalve system were earried out. The results show that ceramic rocker arm can replace ordinarysteel ones and meet the requiements of IC...A ceramic rocker arm is proposed. Test for ICE performance and numerical analysis ofvalve system were earried out. The results show that ceramic rocker arm can replace ordinarysteel ones and meet the requiements of ICE practical operation, and reduce both the wear be-tween contact surfaee and the vibration of valve system.展开更多
The BEM combined with the time-stepping scheme is employed in the fully nonlinear numerical calculation of 2-D free surface flow generated by large amplitude oscillation of rocker flap wavemaker. Special consideratio...The BEM combined with the time-stepping scheme is employed in the fully nonlinear numerical calculation of 2-D free surface flow generated by large amplitude oscillation of rocker flap wavemaker. Special consideration is paid on the compatibility of free surface and body surface conditions at the intersection point. In the case study of weakly nonlinear regular wave, the comparison of elevations and hydrodynamic moments acting on the flap from the fully nonlinear calculation,second-order calculation in frequency domain and linear calculation in time domain is made, and the agreement indicates the feasibility of the numerical approach of the fully nonlinear calculation.展开更多
The influences of rocker shoes on foot biomechanics were controversial because the interaction between two design factors—rocker angle and apex location,was usually omitted.This study investigated the interaction eff...The influences of rocker shoes on foot biomechanics were controversial because the interaction between two design factors—rocker angle and apex location,was usually omitted.This study investigated the interaction effects of rocker angle and apex location on plantar foot pressure,metatarsophalangeal/ankle angle,and Achilles tendon force during walking.Ten participants performed walking trials under six rocker shoe conditions:2 rocker angles(mild and severe)×3 apex locations(distal,standard,and proximal),wherein the plantar foot pressure was measured and the movement data were processed by musculoskeletal modeling to report joint angle and Achilles tendon force.A two-way ANOVA repeated measures was used for statistics.Significant interaction effects were reported in examinations of forefoot pressure,midfoot pressure,and metatarsophalangeal dorsiflexion.The standard apex significantly reduced peak forefoot and midfoot pressures(p=0.008–0.034,Hedges'g=0.75–0.84),which was further decreased by a severe rocker angle(p=0.006,Hedges'g=0.51–0.81).Moving the apex proximally reduced Achilles tendon forces(p<0.001,Hedges'g=0.80)and facilitated both metatarsophalangeal dorsiflexion and ankle plantarflexion during push-off(p=0.003–0.006,Hedges'g=0.03–0.82).Rocker angle seemed to have fewer effects on ankle joint angle and Achilles tendon force.We concluded that apex location was likely the dominant design factor of the rocker sole in influencing foot biomechanics,yet its interactions with rocker angle should be considered.The configuration of the two features could be varied to possess different therapeutic merits and adapt to specific application purposes.展开更多
为解决大型BCF(Body and Caudal Fin)模式仿生鱼尾鳍驱动问题,设计并制作一种大型仿生鱼推进机构。该机构运用曲柄摇杆原理,将电机等速转动转变为正弦摆动,通过单一驱动源控制双关节联动,实现大型BCF模式仿生鱼尾鳍稳定摆动和双关节角...为解决大型BCF(Body and Caudal Fin)模式仿生鱼尾鳍驱动问题,设计并制作一种大型仿生鱼推进机构。该机构运用曲柄摇杆原理,将电机等速转动转变为正弦摆动,通过单一驱动源控制双关节联动,实现大型BCF模式仿生鱼尾鳍稳定摆动和双关节角度姿态精准变化,结构紧凑且控制简单。大型仿生鱼样机采用金属骨架-蒙皮形式,能有效解决大型运动机构装配精度方面的问题,提升模型的可靠性。在拖曳水池内对样机进行自航试验,获取尾鳍摆动下仿生鱼的游动速度,验证设计的大型仿生鱼推进机构的有效性。研究成果可供大型仿生鱼在海洋监测和水下救援等领域的应用参考。展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.50375032)the 111 Project (Grant No.B07018)
文摘For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATLAB. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.
基金the National Hi-tech Research and Development Program of China for its financial support(No.2006AA04Z208).
文摘After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment,we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels.The composition and operational principles of the mobile platform are introduced,we discuss the flameproof design of the rocker assembly,as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are provided.Motion simulation of the differential function and condition of the robot running on virtual,uneven terrain is carried out with ADAMS.The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers.The robot model has good operating performance.Experiments on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried out.The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.
基金National Natural Science Foundation of China(No.50875243)
文摘A novel weft insertion mechanism named eccentric conjugate non-circular gear & crank-rocker & gears train weft insertion mechanism was proposed in order to better meet the requirements of rapier loom's weft insertion mechanism as well as reduce the manufacturing difficulty. Meanwhile, based on the working principle of this mechanism, kinematical mathematic models of this mechanism were established and an aided analysis and simulation software was compiled. The influences of eccentricity ratio, deformation coefficient, and other important parameters on the kinematics characteristics of this mechanism were analyzed by using the software. A group of preferable parameters which could meet the requirements of weft insertion technology were obtained by means of human-computer interactive optimization method. The maximum velocity, maximum acceleration, and variation of acceleration of this mechanism are smaller than those of the conjugate cam weft insertion mechanism applied on TT96 rapier loom under the conditions of the same unilateral total stroke of rapier head and the same rotary speed of loom spindle; meanwhile the other demands of weaving technology can be met by this novel weft insertion mechanism.
文摘A novel method of realizing the optimal transmission of the crank-and-rockermechanism is presented. The optimal combination design is made by finding the related optimaltransmission parameters. The diagram of the optimal transmission is drawn. In the diagram, therelation among mini-mum transmission angle, the coefficient of travel speed variation, theoscillating angle of the rocker and the length of the bars is shown, concisely, conveniently anddirectly. The method possesses the main characteristic. That it is to achieve the optimaltransmission parameters under the transmission angle by directly choosing in the diagram, accordingto the given requirements. The characteristics of the mechanical transmission can be improved togain the optimal transmission effect by the method. Especially, the method is simple and convenientin practical use.
文摘A ceramic rocker arm is proposed. Test for ICE performance and numerical analysis ofvalve system were earried out. The results show that ceramic rocker arm can replace ordinarysteel ones and meet the requiements of ICE practical operation, and reduce both the wear be-tween contact surfaee and the vibration of valve system.
文摘The BEM combined with the time-stepping scheme is employed in the fully nonlinear numerical calculation of 2-D free surface flow generated by large amplitude oscillation of rocker flap wavemaker. Special consideration is paid on the compatibility of free surface and body surface conditions at the intersection point. In the case study of weakly nonlinear regular wave, the comparison of elevations and hydrodynamic moments acting on the flap from the fully nonlinear calculation,second-order calculation in frequency domain and linear calculation in time domain is made, and the agreement indicates the feasibility of the numerical approach of the fully nonlinear calculation.
基金This work was supported by the National Natural Science Foundation of China[grant numbers 11732015,11972315]the Innovation and Technology Commission of Hong Kong[grant number ITS/262/18].
文摘The influences of rocker shoes on foot biomechanics were controversial because the interaction between two design factors—rocker angle and apex location,was usually omitted.This study investigated the interaction effects of rocker angle and apex location on plantar foot pressure,metatarsophalangeal/ankle angle,and Achilles tendon force during walking.Ten participants performed walking trials under six rocker shoe conditions:2 rocker angles(mild and severe)×3 apex locations(distal,standard,and proximal),wherein the plantar foot pressure was measured and the movement data were processed by musculoskeletal modeling to report joint angle and Achilles tendon force.A two-way ANOVA repeated measures was used for statistics.Significant interaction effects were reported in examinations of forefoot pressure,midfoot pressure,and metatarsophalangeal dorsiflexion.The standard apex significantly reduced peak forefoot and midfoot pressures(p=0.008–0.034,Hedges'g=0.75–0.84),which was further decreased by a severe rocker angle(p=0.006,Hedges'g=0.51–0.81).Moving the apex proximally reduced Achilles tendon forces(p<0.001,Hedges'g=0.80)and facilitated both metatarsophalangeal dorsiflexion and ankle plantarflexion during push-off(p=0.003–0.006,Hedges'g=0.03–0.82).Rocker angle seemed to have fewer effects on ankle joint angle and Achilles tendon force.We concluded that apex location was likely the dominant design factor of the rocker sole in influencing foot biomechanics,yet its interactions with rocker angle should be considered.The configuration of the two features could be varied to possess different therapeutic merits and adapt to specific application purposes.
文摘为解决大型BCF(Body and Caudal Fin)模式仿生鱼尾鳍驱动问题,设计并制作一种大型仿生鱼推进机构。该机构运用曲柄摇杆原理,将电机等速转动转变为正弦摆动,通过单一驱动源控制双关节联动,实现大型BCF模式仿生鱼尾鳍稳定摆动和双关节角度姿态精准变化,结构紧凑且控制简单。大型仿生鱼样机采用金属骨架-蒙皮形式,能有效解决大型运动机构装配精度方面的问题,提升模型的可靠性。在拖曳水池内对样机进行自航试验,获取尾鳍摆动下仿生鱼的游动速度,验证设计的大型仿生鱼推进机构的有效性。研究成果可供大型仿生鱼在海洋监测和水下救援等领域的应用参考。
