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
This paper presents a new thermal computer, which is driven by heat current and not electricity current. The basic thermal logic gate, such as thermal logic AND gate. thermal logic NOT gate, thermal logic OR gate are ...This paper presents a new thermal computer, which is driven by heat current and not electricity current. The basic thermal logic gate, such as thermal logic AND gate. thermal logic NOT gate, thermal logic OR gate are discussed in this paper. Compared with electronic computer, it can work at some special environment, such as high temperature and high pressure Consequently, the heat computer is not only a new special computer, but also a lot of new heat computation cell or device could be invented in the future. The thermal computer and control device are a new thermal energy machines powered by heat energy, it is significant for the environmental protection, energy usage and developed and new discipline development.展开更多
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.
基金Acknowledgment： The paper was supported by the Nature Science Foundation of China （No. 50876034）, Ph.D. Science Foundation of Ministry. of Education of China （No. 20040487039）： Key Discipline Construction Foundation of Shanghai Education Commission （No. J5180｜）： Science Foundation of Shanghai Education Commission （No. 08ZY79） SSPU Science Foundation （No. DZ207004）.
文摘This paper presents a new thermal computer, which is driven by heat current and not electricity current. The basic thermal logic gate, such as thermal logic AND gate. thermal logic NOT gate, thermal logic OR gate are discussed in this paper. Compared with electronic computer, it can work at some special environment, such as high temperature and high pressure Consequently, the heat computer is not only a new special computer, but also a lot of new heat computation cell or device could be invented in the future. The thermal computer and control device are a new thermal energy machines powered by heat energy, it is significant for the environmental protection, energy usage and developed and new discipline development.
