The mechanisms of soil structure interaction have drawn much attention in the past years in the installation and operation of jack-up platform. A bionic spudcan produced by biomimetic of egg and snail shell is propose...The mechanisms of soil structure interaction have drawn much attention in the past years in the installation and operation of jack-up platform. A bionic spudcan produced by biomimetic of egg and snail shell is proposed, and the performance of the penetration and extraction are analyzed by numerical method. The geometric contour of egg and snail shell is measured, and its mathematical model is established respectively. According to the structure of existing spudcan of jack-up platform, three kinds of typical biomimetic spudcan are designed. Furthermore, numerical analysis models of biomimetic spudcan are established respectively to study the soil structure interaction mechanism in the process of penetration and extraction, and contrastive analysis of resistance characteristics are carried out. To conclude, the results show that the biomimetic spudcan facilitates the platform installation, and it is also beneficial to the improvement of the bearing capacity of spudcan.展开更多
The micromation and precision of the Micro-Electromechanical System demand that its manufacturing, measuring and assembling must work in a micro-manufacturing platform with good ability to isolate vibrations. This pap...The micromation and precision of the Micro-Electromechanical System demand that its manufacturing, measuring and assembling must work in a micro-manufacturing platform with good ability to isolate vibrations. This paper develops a vibration isolation system of micro-manufacturing platform. The brains of many kinds of birds can isolate vibrations well, such as woodpecker’s brain. When a woodpecker pecks the wood at the speed as 1.6 times as the velocity of sound, its brain will tolerate the wallop 1 500 times of the weight of itself without any damage. The isolation mechanics and organic texture of woodpecker’s brain that has good isolation characteristics were studied. A structure model of vibration isolation system for the micro-manufacturing platform is established based on the bionics of the bird’s brain vibration isolation mechanism. In order to isolate effectively the high frequency vibrations from the ground, a rubber layer is used to isolate vibrations passively between the micro-manufacturing platform’s pedestal and the ground. This layer corresponds to the cartilage and muscles in the outer meninges of the bird’s brain. The active vibration isolation technique is adopted to isolate vibrations between the micro-manufacturing platform and the pedestal. Air springs are used as elastic components, which correspond to the interspaces between the outer meninges and the encephala of the bird’s brain. Actuators are made of giant magnetostrictive material, and it corresponds to the nerves and neural muscles linking the meninges and the encephala. The actuators and air springs are arranged vertically in parallel to make use of the giant magnetostrictive actuators effectively. The air springs support almost all weight of the micro-manufacturing platform and the giant magnetostrictive actuators support almost no weight. In order to realize high performance to isolate complex micro-vibration, the control method using a three-layer neural network is presented. This vibration control system takes into account the floor disturbance and the direct disturbance acting on the micro-manufacturing platform. The absolute acceleration of the micro-manufacturing platform is used as the performance index of vibration control. The performance of the control system is tested by numerical simulation. Simulation results show that the active vibration isolation system has good isolation performance against the floor disturbance and the direct disturbance acting on the micro-manufacturing platform in all the frequency range.展开更多
SCS(Simulation Construction Set)是Yobotics公司开发的对机械设备、仿生机械系统等复杂的多刚体系统进行运动仿真的软件包.基于SCS开发出一套面向四足仿生机器人的专用运动仿真平台,包括四足仿生机器人机构建模、基于VMC(Virtual Mode...SCS(Simulation Construction Set)是Yobotics公司开发的对机械设备、仿生机械系统等复杂的多刚体系统进行运动仿真的软件包.基于SCS开发出一套面向四足仿生机器人的专用运动仿真平台,包括四足仿生机器人机构建模、基于VMC(Virtual Model Control)的动力学建模、地面接触模型及环境建模和数据处理模块设计.利用该仿真平台对一款16自由度四足仿生机器人的动态行走进行了仿真.结果表明:仿真过程流畅、快速、机器人行走平稳,验证了该仿真平台的实用性和可靠性.展开更多
基金financially supported by the Postgraduate Research & Practice Innovation Program of Jiangsu Province(Grant No.KYCX18_2311)
文摘The mechanisms of soil structure interaction have drawn much attention in the past years in the installation and operation of jack-up platform. A bionic spudcan produced by biomimetic of egg and snail shell is proposed, and the performance of the penetration and extraction are analyzed by numerical method. The geometric contour of egg and snail shell is measured, and its mathematical model is established respectively. According to the structure of existing spudcan of jack-up platform, three kinds of typical biomimetic spudcan are designed. Furthermore, numerical analysis models of biomimetic spudcan are established respectively to study the soil structure interaction mechanism in the process of penetration and extraction, and contrastive analysis of resistance characteristics are carried out. To conclude, the results show that the biomimetic spudcan facilitates the platform installation, and it is also beneficial to the improvement of the bearing capacity of spudcan.
文摘The micromation and precision of the Micro-Electromechanical System demand that its manufacturing, measuring and assembling must work in a micro-manufacturing platform with good ability to isolate vibrations. This paper develops a vibration isolation system of micro-manufacturing platform. The brains of many kinds of birds can isolate vibrations well, such as woodpecker’s brain. When a woodpecker pecks the wood at the speed as 1.6 times as the velocity of sound, its brain will tolerate the wallop 1 500 times of the weight of itself without any damage. The isolation mechanics and organic texture of woodpecker’s brain that has good isolation characteristics were studied. A structure model of vibration isolation system for the micro-manufacturing platform is established based on the bionics of the bird’s brain vibration isolation mechanism. In order to isolate effectively the high frequency vibrations from the ground, a rubber layer is used to isolate vibrations passively between the micro-manufacturing platform’s pedestal and the ground. This layer corresponds to the cartilage and muscles in the outer meninges of the bird’s brain. The active vibration isolation technique is adopted to isolate vibrations between the micro-manufacturing platform and the pedestal. Air springs are used as elastic components, which correspond to the interspaces between the outer meninges and the encephala of the bird’s brain. Actuators are made of giant magnetostrictive material, and it corresponds to the nerves and neural muscles linking the meninges and the encephala. The actuators and air springs are arranged vertically in parallel to make use of the giant magnetostrictive actuators effectively. The air springs support almost all weight of the micro-manufacturing platform and the giant magnetostrictive actuators support almost no weight. In order to realize high performance to isolate complex micro-vibration, the control method using a three-layer neural network is presented. This vibration control system takes into account the floor disturbance and the direct disturbance acting on the micro-manufacturing platform. The absolute acceleration of the micro-manufacturing platform is used as the performance index of vibration control. The performance of the control system is tested by numerical simulation. Simulation results show that the active vibration isolation system has good isolation performance against the floor disturbance and the direct disturbance acting on the micro-manufacturing platform in all the frequency range.
文摘SCS(Simulation Construction Set)是Yobotics公司开发的对机械设备、仿生机械系统等复杂的多刚体系统进行运动仿真的软件包.基于SCS开发出一套面向四足仿生机器人的专用运动仿真平台,包括四足仿生机器人机构建模、基于VMC(Virtual Model Control)的动力学建模、地面接触模型及环境建模和数据处理模块设计.利用该仿真平台对一款16自由度四足仿生机器人的动态行走进行了仿真.结果表明:仿真过程流畅、快速、机器人行走平稳,验证了该仿真平台的实用性和可靠性.
