To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of...To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.展开更多
The dynamic performances of floating-ring bearing with hydrodynamic/hydrostatic gas lubrication are studied theoretically and some calculated charts of dynamic coefficients are given in the paper. The method of stabil...The dynamic performances of floating-ring bearing with hydrodynamic/hydrostatic gas lubrication are studied theoretically and some calculated charts of dynamic coefficients are given in the paper. The method of stability analysis is also presented and it is proved that the high speed stability of such bearings is better than other types of gas bearings.展开更多
Spacecrafts free of all but gravitational forces are important in precision navigation,gravity field measurement and basic scientific research.The Inner-formation Flying System,one kind of spacecrafts free of all but ...Spacecrafts free of all but gravitational forces are important in precision navigation,gravity field measurement and basic scientific research.The Inner-formation Flying System,one kind of spacecrafts free of all but gravitational forces,is used for gravitational field measurement with high precision.Restraining the interfering factors on the inner-satellite is one of the keys to gravitational field measurement.Radiometer effect and residual gas damping are both interfering forces on the inner-satellite caused by gas molecules.By analyzing the mechanism of the two forces,a coupled model for radiometer effect and residual gas damping was established,which contained the coupling term and reflected the actual force of gas molecules on the inner-satellite.The simulation results showed the coupling property of radiometer effect and residual gas damping:The actual force of gas molecules is directly proportional to the average pressure in the cavity and the largest cross-sectional area of the inner-satellite,but is inversely proportional to the square root of the average temperature in the cavity.展开更多
基金The National High Technology Research and Development Program of China (863Program) (No.2006AA04Z234)
文摘To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
文摘The dynamic performances of floating-ring bearing with hydrodynamic/hydrostatic gas lubrication are studied theoretically and some calculated charts of dynamic coefficients are given in the paper. The method of stability analysis is also presented and it is proved that the high speed stability of such bearings is better than other types of gas bearings.
基金supported by the National Natural Science Foundation of China (Grant No. 11002076)National Defence Pre-Research (Grant No. 51320010201)
文摘Spacecrafts free of all but gravitational forces are important in precision navigation,gravity field measurement and basic scientific research.The Inner-formation Flying System,one kind of spacecrafts free of all but gravitational forces,is used for gravitational field measurement with high precision.Restraining the interfering factors on the inner-satellite is one of the keys to gravitational field measurement.Radiometer effect and residual gas damping are both interfering forces on the inner-satellite caused by gas molecules.By analyzing the mechanism of the two forces,a coupled model for radiometer effect and residual gas damping was established,which contained the coupling term and reflected the actual force of gas molecules on the inner-satellite.The simulation results showed the coupling property of radiometer effect and residual gas damping:The actual force of gas molecules is directly proportional to the average pressure in the cavity and the largest cross-sectional area of the inner-satellite,but is inversely proportional to the square root of the average temperature in the cavity.
