In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each...In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.展开更多
To improve design capabilities for the knitted fabric pattern,a preliminary study is carried out for the design method.Based on mathematical theory,pattern could be created automatically by computer with inputting dif...To improve design capabilities for the knitted fabric pattern,a preliminary study is carried out for the design method.Based on mathematical theory,pattern could be created automatically by computer with inputting different parameters for mathematical functions.The knitted fabric simulation is realized by M1 CAD pattern preparation system of STOLL Company.In the pattern,different color unit is replaced by obverse stitch with different color,or by obverse stitch and reverse stitch with the same color separately,after that the effects of knitted fabrics could be simulated.Designing with this method,it would not only help to acquire a great of diversity patterns,but also improve design efficiency and save cost.展开更多
This paper studied the impact resistance of 3D integrated cellular woven composite panel under persudo-static impact, comprised the test result with property of typical 3D woven composites, analyzed some parameters th...This paper studied the impact resistance of 3D integrated cellular woven composite panel under persudo-static impact, comprised the test result with property of typical 3D woven composites, analyzed some parameters that maybe affect composites＇ impact resistance and at last used SEM to observe the damage process and mechanism of samples. The result shows that the impact resistance of 3D integrated cellular woven composites is much better than the performance of typical 3D woven composites; it is an active method to improve the impact resistance of composites that developing preform with cellular on the basis of typical 3D woven structure; for different 3D integrated cellular woven structure, the value of absorbed-energy is increasing with the hollow percentage; tiny deformatlen will not emerge on samples until the acting force gets to 85% of the maximum; similar with typical 3D woven composites, the delaminated phenomenon of 3D integrated cellular woven composites is also unapparent during impact process.展开更多
A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of ...A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.展开更多
The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degre...The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.展开更多
基金Project (No. 50305021) supported by the National Natural ScienceFoundation of China
文摘In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.
基金Doctoral fundation of Tianjin Polytechnic University,China(No.029066)
文摘To improve design capabilities for the knitted fabric pattern,a preliminary study is carried out for the design method.Based on mathematical theory,pattern could be created automatically by computer with inputting different parameters for mathematical functions.The knitted fabric simulation is realized by M1 CAD pattern preparation system of STOLL Company.In the pattern,different color unit is replaced by obverse stitch with different color,or by obverse stitch and reverse stitch with the same color separately,after that the effects of knitted fabrics could be simulated.Designing with this method,it would not only help to acquire a great of diversity patterns,but also improve design efficiency and save cost.
基金Supported by Zhejiang Science and Technology Research Project(No.2005C21073)
文摘This paper studied the impact resistance of 3D integrated cellular woven composite panel under persudo-static impact, comprised the test result with property of typical 3D woven composites, analyzed some parameters that maybe affect composites＇ impact resistance and at last used SEM to observe the damage process and mechanism of samples. The result shows that the impact resistance of 3D integrated cellular woven composites is much better than the performance of typical 3D woven composites; it is an active method to improve the impact resistance of composites that developing preform with cellular on the basis of typical 3D woven structure; for different 3D integrated cellular woven structure, the value of absorbed-energy is increasing with the hollow percentage; tiny deformatlen will not emerge on samples until the acting force gets to 85% of the maximum; similar with typical 3D woven composites, the delaminated phenomenon of 3D integrated cellular woven composites is also unapparent during impact process.
文摘A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.
基金supported by the Joint Training Doctoral Project of China Scholarship CouncilFunds for the Central Universities (Grant No. 3202003905)Scientific Innovation research of College Graduates in Jiangsu Province (Grant No. CXLX12_0080)
文摘The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.
