A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can...A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.展开更多
A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disc...A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.展开更多
In this paper,a coupled CFD-CSD method based on N-S equations is described for static aeroelastic correction and jig-shape design of large airliners.The wing structural flexibility matrix is analyzed by a finite eleme...In this paper,a coupled CFD-CSD method based on N-S equations is described for static aeroelastic correction and jig-shape design of large airliners.The wing structural flexibility matrix is analyzed by a finite element method with a double-beam model.The viscous multi-block structured grid is used in aerodynamic calculations.Flexibility matrix interpolation is fulfilled by use of a surface spline method.The load distributions on wing surface are evaluated by solving N-S equations with a parallel algorithm.A flexibility approach is employed to calculate the structural deformations.By successive iterations between steady aerodynamic forces and structural deformations,a coupled CFD-CSD method is achieved for the static aeroelastic correction and jig-shape design of a large airliner.The present method is applied to the static aeroelastic analysis and jig-shape design for a typical large airliner with engine nacelle and winglet.The numerical results indicate that calculations of static aeroelastic correction should employ tightly coupled CFD-CSD iterations,and that on a given cruise shape only one round of iterative design is needed to obtain the jig-shape meeting design requirements.展开更多
基金Supported by the National High Technology Research and Development Programme of China（2006AA04Z220）； the National Natural Science Foundation of China（60705027）；Partially Supported by Progranl for Changjiang SchoLars and Innovative Research Team in University（PCSIRT）（IRT0423）.
文摘A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
文摘A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.
基金supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘In this paper,a coupled CFD-CSD method based on N-S equations is described for static aeroelastic correction and jig-shape design of large airliners.The wing structural flexibility matrix is analyzed by a finite element method with a double-beam model.The viscous multi-block structured grid is used in aerodynamic calculations.Flexibility matrix interpolation is fulfilled by use of a surface spline method.The load distributions on wing surface are evaluated by solving N-S equations with a parallel algorithm.A flexibility approach is employed to calculate the structural deformations.By successive iterations between steady aerodynamic forces and structural deformations,a coupled CFD-CSD method is achieved for the static aeroelastic correction and jig-shape design of a large airliner.The present method is applied to the static aeroelastic analysis and jig-shape design for a typical large airliner with engine nacelle and winglet.The numerical results indicate that calculations of static aeroelastic correction should employ tightly coupled CFD-CSD iterations,and that on a given cruise shape only one round of iterative design is needed to obtain the jig-shape meeting design requirements.
