Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotio...Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.展开更多
A theoretical model is proposed to calculate the internal contact distributions and contact forces of a 3×4×4×4 twisted NbSn cable under applied axial strain.The critical current density reduction of th...A theoretical model is proposed to calculate the internal contact distributions and contact forces of a 3×4×4×4 twisted NbSn cable under applied axial strain.The critical current density reduction of the whole cable can be calculated.The thin rod theory is employed to analyze the mechanical behavior of each strand.According to the regular helical structure,the contact distribution of each strand is obtained,and the contact force in the cable is analyzed.At last,a prediction about the critical current density of the twisted cable is made.The results show that decreasing the pitch length can reduce the contact forces between strands.展开更多
基金supported by the State Key Laboratory of Robotics and System (HIT) (SKLRS-2009-MS-09)the National Natural Science Foundation of China (NSFC) (Grants 61503008, 51575005)the China Postdoctoral Science Foundation (Grant 2015M570013)
文摘Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.
基金Project supported by the National Natural Science Foundation of China(Nos.11202087,11472120 and 11421062)the National Key Project of Magneto-Constrained Fusion Energy Development Program(No.2013GB110002)+1 种基金the National Key Project of Scientific Instrument and Equipment Development(No.11327802)New Century Excellent Talents in University of Ministry of Education of China(NCET-13-0266)
文摘A theoretical model is proposed to calculate the internal contact distributions and contact forces of a 3×4×4×4 twisted NbSn cable under applied axial strain.The critical current density reduction of the whole cable can be calculated.The thin rod theory is employed to analyze the mechanical behavior of each strand.According to the regular helical structure,the contact distribution of each strand is obtained,and the contact force in the cable is analyzed.At last,a prediction about the critical current density of the twisted cable is made.The results show that decreasing the pitch length can reduce the contact forces between strands.
