To reduce sending costs, a flexible wheel configuration is proposed. The wheel is made of titanium alloy （Ti-6Al-4V） in consideration of the planetary environment factors （i. e. strong radiation, big temperature di...To reduce sending costs, a flexible wheel configuration is proposed. The wheel is made of titanium alloy （Ti-6Al-4V） in consideration of the planetary environment factors （i. e. strong radiation, big temperature differences, high vacuum）, and mass constraint of launch vehicle. The advantages of the proposed wheel involves the potential for： ① small sending volume and mass, ② large deployed area and volume to reduce wheel loading, ③ a damping effect to smooth motion on rough terrain. To study the trafficability and tractive performance of the wheel concept, the drawbar pull and driven torque were calculated based on simplified model of terramechanics formulations. The results show that the wheel possesses sufficient drawbar pull to negotiate all types of soil stratums listed in this contribution.展开更多
In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,...In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot's wheelbase conversion from storing to driving. To improve the wheels' capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot's steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.展开更多
The most important performance of a beating-up mechanism is that the dwelling time of the sley must ensure the completion of the weft insertion. To meet this requirement, a new non-circular combined gear train beating...The most important performance of a beating-up mechanism is that the dwelling time of the sley must ensure the completion of the weft insertion. To meet this requirement, a new non-circular combined gear train beating-up mechanism which is composed of two-stage planetary gear trains is proposed. The first-stage is a Fourier planetary gear train and the second-stage is a non-circular planetary gear train. For designing of this new mechanism, the ideal kinematic equations of the sley are constructed first. Then the kinematic model of the first-stage Fourier planetary gear train is established and the reverse solution for the pitch curves of the second-stage non-circular gears is deduced. With a computer-aided design program, the influences of several important parameters on the pitch curves of the second-stage non-circular gears are analyzed, and a set of preferable structural parameters are obtained. Finally, a test bed of this mechanism is developed and the experimental results show that this new beating-up mechanism can achieve the designed dwelling time, namely it can meet the requirements of beating-up process.展开更多
中国热带农业区作物剩余物多为香蕉秸秆、椰壳以及甘蔗叶,目前以其为混合原料的固体成型设备研究较少,因此该文设计了一种行星轮式内外锥辊固体燃料平模成型机,描述了该机进料装置、辊压装置以及成型装置等主要部件结构,并对辊压装置进...中国热带农业区作物剩余物多为香蕉秸秆、椰壳以及甘蔗叶,目前以其为混合原料的固体成型设备研究较少,因此该文设计了一种行星轮式内外锥辊固体燃料平模成型机,描述了该机进料装置、辊压装置以及成型装置等主要部件结构,并对辊压装置进行了运动和受力分析,确定了其关键参数。研制样机并进行性能试验,试验结果表明:该机在电动机功率为45 k W、锥辊公转转速为190 r/min、锥辊自转转速为543 r/min、配套喂料输送装置功率为3 k W时,生产率为850 kg/h、颗粒燃料成型率为96.5%、质量密度为1.25 g/cm3、成型后含水率为2.82%、机械耐久性为96.74%,符合生物质颗粒燃料成型要求。整机工作过程中噪音低,经济效益与生态效益明显,为中国热带地区固体燃料成型机的发展与推广提供了参考。展开更多
文摘To reduce sending costs, a flexible wheel configuration is proposed. The wheel is made of titanium alloy （Ti-6Al-4V） in consideration of the planetary environment factors （i. e. strong radiation, big temperature differences, high vacuum）, and mass constraint of launch vehicle. The advantages of the proposed wheel involves the potential for： ① small sending volume and mass, ② large deployed area and volume to reduce wheel loading, ③ a damping effect to smooth motion on rough terrain. To study the trafficability and tractive performance of the wheel concept, the drawbar pull and driven torque were calculated based on simplified model of terramechanics formulations. The results show that the wheel possesses sufficient drawbar pull to negotiate all types of soil stratums listed in this contribution.
基金National Natural Science Foundation of China(No.51305254)the Shanghai University of Engineering Science High Level Project to Cultivate Special,China(No.2012gp05)the 2012 National College Students' Innovation and Entrepreneurship Training Program,China(No.201210856001)
文摘In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot's wheelbase conversion from storing to driving. To improve the wheels' capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot's steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.
基金National Natural Science Foundation of China(Nos.51675486 51505239 51575496)
文摘The most important performance of a beating-up mechanism is that the dwelling time of the sley must ensure the completion of the weft insertion. To meet this requirement, a new non-circular combined gear train beating-up mechanism which is composed of two-stage planetary gear trains is proposed. The first-stage is a Fourier planetary gear train and the second-stage is a non-circular planetary gear train. For designing of this new mechanism, the ideal kinematic equations of the sley are constructed first. Then the kinematic model of the first-stage Fourier planetary gear train is established and the reverse solution for the pitch curves of the second-stage non-circular gears is deduced. With a computer-aided design program, the influences of several important parameters on the pitch curves of the second-stage non-circular gears are analyzed, and a set of preferable structural parameters are obtained. Finally, a test bed of this mechanism is developed and the experimental results show that this new beating-up mechanism can achieve the designed dwelling time, namely it can meet the requirements of beating-up process.
文摘中国热带农业区作物剩余物多为香蕉秸秆、椰壳以及甘蔗叶,目前以其为混合原料的固体成型设备研究较少,因此该文设计了一种行星轮式内外锥辊固体燃料平模成型机,描述了该机进料装置、辊压装置以及成型装置等主要部件结构,并对辊压装置进行了运动和受力分析,确定了其关键参数。研制样机并进行性能试验,试验结果表明:该机在电动机功率为45 k W、锥辊公转转速为190 r/min、锥辊自转转速为543 r/min、配套喂料输送装置功率为3 k W时,生产率为850 kg/h、颗粒燃料成型率为96.5%、质量密度为1.25 g/cm3、成型后含水率为2.82%、机械耐久性为96.74%,符合生物质颗粒燃料成型要求。整机工作过程中噪音低,经济效益与生态效益明显,为中国热带地区固体燃料成型机的发展与推广提供了参考。
