The coupling of the local contact problems between the components and the deformation of the components in the mechanical system were discovered.A series of coordinate systems have been founded to describe the mechani...The coupling of the local contact problems between the components and the deformation of the components in the mechanical system were discovered.A series of coordinate systems have been founded to describe the mechanical system with the contact problems.The method of isolating the boundary of contact body from others has been used to describe the constraint between the contacting points.A more generalized static mechanics model of the mechanical system with the contact problems has been founded through the principle of virtual work.As an application,the model was used to study the multi_teeth engagement problems in the inner meshed planet gear systems.The stress distribution of contact gears was got.A test has verified that the static contact model and the computational method are right.展开更多
For a biped robot,the most essential components are its joints,including hip,knee,and ankle joints.In this paper,the construction method of a new type of joint is proposed.The main feature of this joint is that a comb...For a biped robot,the most essential components are its joints,including hip,knee,and ankle joints.In this paper,the construction method of a new type of joint is proposed.The main feature of this joint is that a combined transmission consisting of harmonic geardrive and planet gear drive is adopted in its system,and it possesses smaller volume,greaterdriving torque,and fine-looking appearance.Using this type of joint,a practical biped robotnamed NAIWR-I was constructed.The computer simulations and experiments with NAI-WR-I robot show that the method of mechanism synthesis proposed in this paper is reason-able and feasible.展开更多
文摘The coupling of the local contact problems between the components and the deformation of the components in the mechanical system were discovered.A series of coordinate systems have been founded to describe the mechanical system with the contact problems.The method of isolating the boundary of contact body from others has been used to describe the constraint between the contacting points.A more generalized static mechanics model of the mechanical system with the contact problems has been founded through the principle of virtual work.As an application,the model was used to study the multi_teeth engagement problems in the inner meshed planet gear systems.The stress distribution of contact gears was got.A test has verified that the static contact model and the computational method are right.
基金Supported by the Natural Science Foundation of Hunan Provincethe Scientific Research Foundations of NUAA and CSUT.
文摘For a biped robot,the most essential components are its joints,including hip,knee,and ankle joints.In this paper,the construction method of a new type of joint is proposed.The main feature of this joint is that a combined transmission consisting of harmonic geardrive and planet gear drive is adopted in its system,and it possesses smaller volume,greaterdriving torque,and fine-looking appearance.Using this type of joint,a practical biped robotnamed NAIWR-I was constructed.The computer simulations and experiments with NAI-WR-I robot show that the method of mechanism synthesis proposed in this paper is reason-able and feasible.
