In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is fi...In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object's posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.展开更多
The aim of this study is to investigate CO2 two-phase nozzle flow in terms of both experimental and analytical aspects for the optimum design of two-phase flow nozzle of CO2 two-phase flow ejector. In the experiment, ...The aim of this study is to investigate CO2 two-phase nozzle flow in terms of both experimental and analytical aspects for the optimum design of two-phase flow nozzle of CO2 two-phase flow ejector. In the experiment, it is measured that the temperature profile in the stream-wise direction of a divergent-convergent nozzle through which CO2 in the supercritical pressure condition is blown down into the atmosphere. In the analysis, a one-dimensional model which assumes steady, adiabatic, frictionless, and equilibrium is proposed. In the convergent part of the nozzle the flow is treated as single-phase flow of liquid, whereas in the divergent part the flow is treated as separated two-phase flow with saturated condition. The analytical results indicate that the temperature and the pressure decrease rapidly in the divergent part, and the void fraction increases immediately near the throat. Although this analysis is quite simple, the analytical results can follow the experimental results well within this study.展开更多
文摘In this paper, a method to posture maintenance control of 2-link object by nonprehensile two-cooperative-arm robot without compensating friction is proposed. In details, a mathematical model of the 2-link object is firstly built. Based on the model, stable regions for holding motion of nonprehensile two-cooperative-arm robot are obtained while the 2-link object is kept stable on the robot arms with static friction. Among the obtained stable regions, the robust pairs of orientation angles of the 2-link object are found. Under the robust orientation angles, a feedback control system is designed to control the arms to maintain the 2-link object's posture while it is being held or lifted up. Finally, experimental results are shown to verify the effectiveness of the proposed method.
文摘The aim of this study is to investigate CO2 two-phase nozzle flow in terms of both experimental and analytical aspects for the optimum design of two-phase flow nozzle of CO2 two-phase flow ejector. In the experiment, it is measured that the temperature profile in the stream-wise direction of a divergent-convergent nozzle through which CO2 in the supercritical pressure condition is blown down into the atmosphere. In the analysis, a one-dimensional model which assumes steady, adiabatic, frictionless, and equilibrium is proposed. In the convergent part of the nozzle the flow is treated as single-phase flow of liquid, whereas in the divergent part the flow is treated as separated two-phase flow with saturated condition. The analytical results indicate that the temperature and the pressure decrease rapidly in the divergent part, and the void fraction increases immediately near the throat. Although this analysis is quite simple, the analytical results can follow the experimental results well within this study.
