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基于MATLAB的仿壁虎机器人天花板粘附运动仿真 被引量:3
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作者 陈建敏 俞志伟 戴振东 《系统仿真技术》 2011年第4期254-260,共7页
壁虎脚掌具有"范德华力"的干粘附特性,而实现仿壁虎机器人在负表面(如天花板)运动具有极高的难度,基于MATLAB/SimMechanic建立了仿壁虎机器人动力学模型。采用变弹性阻尼模型构建粘附力模型,模拟脚掌的粘附力各向异性。利用... 壁虎脚掌具有"范德华力"的干粘附特性,而实现仿壁虎机器人在负表面(如天花板)运动具有极高的难度,基于MATLAB/SimMechanic建立了仿壁虎机器人动力学模型。采用变弹性阻尼模型构建粘附力模型,模拟脚掌的粘附力各向异性。利用规划的负表面步态进行天花板粘附运动仿真,仿真表明仿壁虎机器人能按照预定的步态实现天花板的粘附运动,而天花板的非稳定性扰动来自脚掌粘附支撑相和脱附摆动相的交替处,为未来仿壁虎机器人天花板爬行实验提供仿真参考数据。 展开更多
关键词 仿壁虎机器人 天花板运动 粘附力模型 MATLAB/SimMechanics
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Seismic Design Loads of Truss Arch Frames with Ceilings subjected to Vertical and Horizontal Earthquake Motions
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作者 Koichiro Ishikawa 《Journal of Mathematics and System Science》 2017年第11期308-315,共8页
Spatial structures such as a gymnasium and an exhibition hall often use ceilings because of enhancing sound effects and reducing heating bills. Although the ceiling members fell down on a large scale due to the seismi... Spatial structures such as a gymnasium and an exhibition hall often use ceilings because of enhancing sound effects and reducing heating bills. Although the ceiling members fell down on a large scale due to the seismic motion according to the past great earthquake disaster reports, structural engineers particularly do not carry out the seismic design. The study gives structural engineers the equivalent static loads for the design of the earthquake-proof design of the ceiling system. In particular, it is significant to investigate the dynamic behavior and the applied seismic loads for the complicated vibration of the long span arch building structures with RC columns. 展开更多
关键词 Truss arch frame RC column Knee brace Vertical and horizontal earthquake motions Earthquake-proof design Equivalent static load Dominant natural mode
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