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Untethered quadrupedal hopping and bounding on a trampoline
Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG
Frontiers of Mechanical Engineering. 2020, 15 (2): 181-192.
https://doi.org/10.1007/s11465-019-0559-5
For quadruped robots with springy legs, a successful jump usually requires both suitable elastic parts and well-designed control algorithms. However, these two problems are mutually restricted and hard to solve at the same time. In this study, we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts, in which the untethered robot is made to jump on a trampoline. The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed. An intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitch oscillation during hopping or bounding can be avoided. Hopping height is controlled by tuning the time delay of the leg stretch. Together with other motion generators based on kinematic law, the robot can perform translational and rotational movements while hopping or bounding on the trampoline. Experiments are conducted to validate the effectiveness of the proposed control framework.
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Dynamic characteristics of a shrouded blade with impact and friction
Xumin GUO, Jin ZENG, Hui MA, Chenguang ZHAO, Lin QU, Bangchun WEN
Frontiers of Mechanical Engineering. 2020, 15 (2): 209-226.
https://doi.org/10.1007/s11465-019-0566-6
A simplified computational model of a twisted shrouded blade with impact and friction is established. In this model, the shrouded blade is simulated by a flexible Timoshenko beam with a tip-mass, and the effects of centrifugal stiffening, spin softening, and Coriolis force are considered. Impact force is simulated using a linear spring model, and friction force is generated by a tangential spring model under sticking state and a Coulomb friction model under sliding state. The proposed model is validated by a finite element model. Then, the effects of initial gap and normal preload, coefficient of friction, and contact stiffness ratio (the ratio of tangential contact stiffness to normal contact stiffness) on system vibration responses are analyzed. Results show that resonant peaks become inconspicuous and impact plays a dominant role when initial gaps are large between adjacent shrouds. By contrast, in small initial gaps or initial normal preloads condition, resonant speed increases sharply, and the optimal initial normal preloads that can minimize resonant amplitude becomes apparent. Coefficient of friction affects the optimal initial normal preload, but it does not affect vibration responses when the contact between shrouds is under full stick. System resonant amplitude decreases with the increase of contact stiffness ratio, but the optimal initial normal preload is unaffected.
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Two-sided ultrasonic surface rolling process of aeroengine blades based on on-machine noncontact measurement
Shulei YAO, Xian CAO, Shuang LIU, Congyang GONG, Kaiming ZHANG, Chengcheng ZHANG, Xiancheng ZHANG
Frontiers of Mechanical Engineering. 2020, 15 (2): 240-255.
https://doi.org/10.1007/s11465-019-0581-7
As crucial parts of an aeroengine, blades are vulnerable to damage from long-term operation in harsh environments. The ultrasonic surface rolling process (USRP) is a novel surface treatment technique that can highly improve the mechanical behavior of blades. During secondary machining, the nominal blade model cannot be used for secondary machining path generation due to the deviation between the actual and nominal blades. The clamping error of the blade also affects the precision of secondary machining. This study presents a two-sided USRP (TS-USRP) machining for aeroengine blades on the basis of on-machine noncontact measurement. First, a TS-USRP machining system for blade is developed. Second, a 3D scanning system is used to obtain the point cloud of the blade, and a series of point cloud processing steps is performed. A local point cloud automatic extraction algorithm is introduced to extract the point cloud of the strengthened region of the blade. Then, the tool path is designed on the basis of the extracted point cloud. Finally, an experiment is conducted on an actual blade, with results showing that the proposed method is effective and efficient.
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Evaluation of power regeneration in primary suspension for a railway vehicle
Ruichen WANG, Zhiwei WANG
Frontiers of Mechanical Engineering. 2020, 15 (2): 265-278.
https://doi.org/10.1007/s11465-019-0571-9
To improve the fuel economy of rail vehicles, this study presents the feasibility of using power regenerating dampers (PRDs) in the primary suspension systems of railway vehicles and evaluates the potential and recoverable power that can be obtained. PRDs are configured as hydraulic electromagnetic-based railway primary vertical dampers and evaluated in parallel and series modes (with and without a viscous damper). Hydraulic configuration converts the linear behavior of the track into a unidirectional rotation of the generator, and the electromagnetic configuration provides a controllable damping force to the primary suspension system. In several case studies, generic railway vehicle primary suspension systems that are configured to include a PRD in the two configuration modes are modeled using computer simulations. The simulations are performed on measured tracks with typical irregularities for a generic UK passenger route. The performance of the modified vehicle is evaluated with respect to key performance indicators, including regenerated power, ride comfort, and running safety. Results indicate that PRDs can simultaneously replace conventional primary vertical dampers, regenerate power, and exhibit desirable dynamic performance. A peak power efficiency of 79.87% is theoretically obtained in series mode on a top-quality German Intercity Express track (Track 270) at a vehicle speed of 160 mile/h (~257 km/h).
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Compressive behavior and energy absorption of polymeric lattice structures made by additive manufacturing
Sheng WANG, Jun WANG, Yingjie XU, Weihong ZHANG, Jihong ZHU
Frontiers of Mechanical Engineering. 2020, 15 (2): 319-327.
https://doi.org/10.1007/s11465-019-0549-7
Lattice structures have numerous outstanding characteristics, such as light weight, high strength, excellent shock resistance, and highly efficient heat dissipation. In this work, by combining experimental and numerical methods, we investigate the compressive behavior and energy absorption of lattices made through the stereolithography apparatus process. Four types of lattice structures are considered: (i) Uniform body-centered-cubic (U-BCC); (ii) graded body-centered-cubic (G-BCC); (iii) uniform body-centered-cubic with z-axis reinforcement (U-BCCz); and (iv) graded body-centered-cubic with z-axis reinforcement (G-BCCz). We conduct compressive tests on these four lattices and numerically simulate the compression process through the finite element method. Analysis results show that BCCz has higher modulus and strength than BCC. In addition, uniform lattices show better energy absorption capabilities at small compression distances, while graded lattices absorb more energy at large compression distances. The good correlation between the simulation results and the experimental phenomena demonstrates the validity and accuracy of the present investigation method.
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Digital high-efficiency print forming method and device for multi-material casting molds
Zhongde SHAN, Zhi GUO, Dong DU, Feng LIU, Wenjiang LI
Frontiers of Mechanical Engineering. 2020, 15 (2): 328-337.
https://doi.org/10.1007/s11465-019-0574-6
Sand mold 3D printing technology based on the principle of droplet ejection has undergone rapid development in recent years and has elicited increasing attention from engineers and technicians. However, current sand mold 3D printing technology exhibits several problems, such as single-material printing molds, low manufacturing efficiency, and necessary post-process drying and heating for the manufacture of sand molds. This study proposes a novel high-efficiency print forming method and device for multi-material casting molds. The proposed method is specifically related to the integrated forming of two-way coating and printing and the short-flow manufacture of roller compaction and layered heating. These processes can realize the high-efficiency print forming of high-performance sand molds. Experimental results demonstrate that the efficiency of sand mold fabrication can be increased by 200% using the proposed two-way coating and printing method. The integrated forming method for layered heating and roller compaction presented in this study effectively shortens the manufacturing process for 3D-printed sand molds, increases sand mold strength by 63.8%, and reduces resin usage by approximately 30%. The manufacture of multi-material casting molds is demonstrated on typical wheeled cast-iron parts. This research provides theoretical guidance for the engineering application of sand mold 3D printing.
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