Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Deployment dynamics for flexible deployable primary mirror of space telescope with paraboloidal and laminated structure by using absolute node coordinate method

A nonlinear dynamic modeling method for primary mirror of Flower-like Deployable Space Telescope(F-DST)undergoing large deployment motion is proposed in this paper.To ensure pointing accuracy and attitude stability of the paraboloidal primary mirror,the mirror is discretized into equal thickness shell elements by considering shell curvature.And the material nonlinear constitutive relation of flexible mirror is acquired using Absolute Nodal Coordinate Formulation(ANCF).Furthermore,the primary mirror of F-DST can be regarded as a clustered multi-body system,and its dynamic equations of elastic deformation and deployment motion are established by virtual work principle.Finally,the deployment motion of primary mirror by different driving conditions are simulated,the results show that the vibrations of mirrors that driven by elastic hinge device are more than that driven by servo motor.In addition,single sub-mirror deployment process will perturb the pointing accuracy of primary mirror,and the multiple sub-mirrors simultaneously deploying will seriously affect all the sub-mirrors surface accuracy because of the coupling effect.Thus,there are theoretical value and practical significance for the controlling surface accuracy and attitude accuracy of space telescope.

Room-temperature plastic inorganic semiconductors for flexible and deformable electronics

Flexible electronics ushers in a revolution to the electronics industry in the 21st century.Ideally,all components of a flexible electronic device including the functional component shall comply with the deformation to ensure the structural and functional integrity,imposing a pressing need for developing roomtemperature strain-tolerant semiconductors.To this end,there is a long-standing material dilemma:inorganic semiconductors are typically brittle at room temperature except for size-induced flexibility;by contrast,organic semiconductors are intrinsically soft and flexible but the electrical performance is poor.This is why the discovery of bulk plasticity in Ag2S at room temperature and ZnS in darkness is groundbreaking in solving this long-standing material dilemma between the mechanical deformability and the electrical performance.The present review summarizes the background knowledge and latest advances in the emerging field of plastic inorganic semiconductors.At the outset,we argue that the plasticity of inorganic semiconductors is vital to strain tolerance of electronic devices,which has not been adequately emphasized.The mechanisms of plasticity are illustrated from the perspective of chemical bonding and dislocations.Plastic inorganic materials,for example,ionic crystals(insulators),ZnS in darkness,and Ag2S,are discussed in detail in terms of their prominent mechanical properties and potential applications.We conclude the article with several key scientific and technological questions to address in the future study.

Modeling Method and Application of Rational Finite Element Based on Absolute Nodal Coordinate Formulation

In multibody system dynamics, the absolute nodal coordinate formulation （ANCF） uses power functions as interpolating polynomials to describe the displacement field. It can get accurate results for flexible bodies that undergo large deformation and large rotation. However, the power functions are irrational representation which cannot describe the complex shapes precisely, especially for circular and conic sections. Different from the ANCF representation, the rational absolute nodal coordinate formulation （RANCF） utilizes rational basis functions to describe geometric shapes, which allows the accurate representation of complicated displacement and deformation in dynamics modeling. In this paper, the relationships between the rational surface and volume and the RANCF finite element are provided, and the generalized transformation matrices are established correspondingly. Using these transformation matrices, a new four-node three-dimensional RANCF plate element and a new eight-node three-dimensional RANCF solid element are proposed based on the RANCF. Numerical examples are given to demonstrate the applicability of the proposed elements. It is shown that the proposed elements can depict the geometric characteristics and structure configurations precisely, and lead to better convergence in comparison with the ANCF finite elements for the dynamic analysis of flexible bodies.