The air bag deformation data were obtained by high-speed dynamic videos experiments. Based on gas–liquid flow VOF model, dynamic mesh technique and deformation data, numerical simulations for different structure mode...The air bag deformation data were obtained by high-speed dynamic videos experiments. Based on gas–liquid flow VOF model, dynamic mesh technique and deformation data, numerical simulations for different structure models were achieved, and the law of water motion and influencing factors were analyzed.The results show that the flow in the length direction of the jig is smooth, and second pulsation appears in the separation time and forms the secondary separation. The installation position of screen and the number of air bags have a great influence on the uniformity of flow and velocity. The screen height cannot be too low to avoid forming the unstable flow. At the same time, the screen height cannot be too high, otherwise water velocity will be too small and was unable to provide enough power. At the height of 1.4m,velocity unevenness is minimum and the best uniform flow can be obtained. Compared with double air bags, there are the following features of single air bag: water flow is not smooth, the time achieving the maximum velocity is too long, maximum velocity is smaller, and overall effect is worse than double air bags.展开更多
In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
基金provided by the Project of National Scientific and Technical Supporting Programs Funded of China(No.2012BAB13B03)
文摘The air bag deformation data were obtained by high-speed dynamic videos experiments. Based on gas–liquid flow VOF model, dynamic mesh technique and deformation data, numerical simulations for different structure models were achieved, and the law of water motion and influencing factors were analyzed.The results show that the flow in the length direction of the jig is smooth, and second pulsation appears in the separation time and forms the secondary separation. The installation position of screen and the number of air bags have a great influence on the uniformity of flow and velocity. The screen height cannot be too low to avoid forming the unstable flow. At the same time, the screen height cannot be too high, otherwise water velocity will be too small and was unable to provide enough power. At the height of 1.4m,velocity unevenness is minimum and the best uniform flow can be obtained. Compared with double air bags, there are the following features of single air bag: water flow is not smooth, the time achieving the maximum velocity is too long, maximum velocity is smaller, and overall effect is worse than double air bags.
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
