A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a ...A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion's method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.展开更多
Lattice Boltzmann Equation(LBE) method is utilized to simulate impinging stream(IS) in a T-junction mixer using a TD2G9 model. It aims to investigate the influence of Reynolds number(Re), aspect ratio of outlet diamet...Lattice Boltzmann Equation(LBE) method is utilized to simulate impinging stream(IS) in a T-junction mixer using a TD2G9 model. It aims to investigate the influence of Reynolds number(Re), aspect ratio of outlet diameter to inlet diameter, ratio of opposite inlet velocities, and the thermal boundary conditions on flow, mixing and heat transfer characteristics. In particular, the vortex evolution, velocity distribution, mixing index and Nusselt number(Nu) distribution in the T-junction mixer are explored in details. Four types of vortices and flow regimes are observed. The instantaneous and time-averaged flow and thermal fields,including vortex structure, transition of flow regimes, streamline and the Nusselt number distribution are discussed. Distinct quantitative transitions, even for dramatic change, are observed near the critical Re. At a low or moderate aspect ratio, the symmetric coherent structure is observed in an unstable flow regime. At a larger aspect ratio, the flow in the T-mixer becomes turbulent and asymmetric. The unequal injections velocities of the nozzles impose significant influence on the flow structure,mixing and heat transfer in vertical tube. Using larger difference between the two inlet velocities can result in more obvious change in flow characteristics. Moreover, mixing index is found to be valid in evaluating the mixing degree under a sinusoidal inlet velocity.展开更多
基金Supported by the National Natural Science Foundation of China(No.61175069,51075272,51475300)
文摘A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion's method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.
基金supported by the National Natural Science Foundation of China(Grant No.51576211)the Foundation for the Author of National Excellent Doctoral Dissertation of China(Grant No.201438)
文摘Lattice Boltzmann Equation(LBE) method is utilized to simulate impinging stream(IS) in a T-junction mixer using a TD2G9 model. It aims to investigate the influence of Reynolds number(Re), aspect ratio of outlet diameter to inlet diameter, ratio of opposite inlet velocities, and the thermal boundary conditions on flow, mixing and heat transfer characteristics. In particular, the vortex evolution, velocity distribution, mixing index and Nusselt number(Nu) distribution in the T-junction mixer are explored in details. Four types of vortices and flow regimes are observed. The instantaneous and time-averaged flow and thermal fields,including vortex structure, transition of flow regimes, streamline and the Nusselt number distribution are discussed. Distinct quantitative transitions, even for dramatic change, are observed near the critical Re. At a low or moderate aspect ratio, the symmetric coherent structure is observed in an unstable flow regime. At a larger aspect ratio, the flow in the T-mixer becomes turbulent and asymmetric. The unequal injections velocities of the nozzles impose significant influence on the flow structure,mixing and heat transfer in vertical tube. Using larger difference between the two inlet velocities can result in more obvious change in flow characteristics. Moreover, mixing index is found to be valid in evaluating the mixing degree under a sinusoidal inlet velocity.
