Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the ...Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.展开更多
This research investigates the use of single dielectric barrier discharge(SDBD) actuators for energizing the tip leakage flow to suppress rotating stall inception and extend the stable operating range of a low speed a...This research investigates the use of single dielectric barrier discharge(SDBD) actuators for energizing the tip leakage flow to suppress rotating stall inception and extend the stable operating range of a low speed axial compressor with a single rotor.The jet induced by the plasma actuator adds momentum to the flow in the tip region and has a significant impact on the tip-gap flow.Experiments are carried out on a low speed axial compressor with a single rotor.The static pressure is measured at both the rotor inlet and outlet.The flow coefficient and pressure rise coefficient are calculated.Then the characteristic line is acquired to show the overall performance of the compressor.With unsteady plasma actuation of 18kV and 60W the compressor stability range improvement is realized at rotor speed of 1500 r/min – 2400 r/min.展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.
基金supported by the National Natural Science Foundation of China,project No.50906085International S&T Cooperation Program of China,project No.2013DFR61080
文摘This research investigates the use of single dielectric barrier discharge(SDBD) actuators for energizing the tip leakage flow to suppress rotating stall inception and extend the stable operating range of a low speed axial compressor with a single rotor.The jet induced by the plasma actuator adds momentum to the flow in the tip region and has a significant impact on the tip-gap flow.Experiments are carried out on a low speed axial compressor with a single rotor.The static pressure is measured at both the rotor inlet and outlet.The flow coefficient and pressure rise coefficient are calculated.Then the characteristic line is acquired to show the overall performance of the compressor.With unsteady plasma actuation of 18kV and 60W the compressor stability range improvement is realized at rotor speed of 1500 r/min – 2400 r/min.
