The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.How...The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.However,the lightweight design of HDU is a huge challenge due to the need for structural strength.This paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its weight.First,a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed.Then,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the shell.Finally,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed HDU.The experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype model.This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.展开更多
A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. ...A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. By dividing one most significant bit unary source into 16 elements located in 16 separated regions of the array, the linear gradient errors and quadratic errors can be averaged and eliminated effectively. A novel static performance testing method is proposed. The measured differential nonlinearity and integral nonlinearity are 0.42 and 0.39 least significant bit, respectively. For 12-bit resolution, the converter reaches an update rate of 100 MS/s. The chip operates from a single 1.8 V voltage supply, and the core die area is 0.28 mm^2.展开更多
文摘The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.However,the lightweight design of HDU is a huge challenge due to the need for structural strength.This paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its weight.First,a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed.Then,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the shell.Finally,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed HDU.The experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype model.This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.
基金Project supported by the National High Technology Research and Development Program of China(No.2008AA010700)
文摘A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. By dividing one most significant bit unary source into 16 elements located in 16 separated regions of the array, the linear gradient errors and quadratic errors can be averaged and eliminated effectively. A novel static performance testing method is proposed. The measured differential nonlinearity and integral nonlinearity are 0.42 and 0.39 least significant bit, respectively. For 12-bit resolution, the converter reaches an update rate of 100 MS/s. The chip operates from a single 1.8 V voltage supply, and the core die area is 0.28 mm^2.
