African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping desi...African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping design of the leg mechanism of the legged robot,the principle of engineering bionics was applied.According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb,combined with the proportion and size of the structure of the ostrich hindlimb,the bionic rigid⁃flexible composite legged robot single⁃leg structure was designed.The locomotion of the bionic mechanical leg was simulated by means of ADAMS.Through the motion simulation analysis,the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied,and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm,and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg.Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49%.展开更多
Pushover analysis and time history analysis are conducted to explore the bi-directional seismic behavior of composite steel-concrete rigid frame bridge, which is composed of RC piers and steel-concrete composite girde...Pushover analysis and time history analysis are conducted to explore the bi-directional seismic behavior of composite steel-concrete rigid frame bridge, which is composed of RC piers and steel-concrete composite girders. Both longitudinal and transverse directions excitations are investigated using OpenSees. Firstly, the applicability of pushover analysis based on the funda- mental mode is discussed. Secondly, an improved pushover analysis method considering the contribution of higher modes is proposed, and the applicability on composite rigid frame bridges under bi-directional earthquake is verified. Based on this method, an approach to predict the displacement responses of composite rigid frame bridge under random hi-directional seismic excitations by revising the elasto-plastic demand curve is also proposed. It is observed that the developed method yield a good estimate on the responses of composite rigid frame bridges under bi-directional seismic excitations.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant Nos.51675221 and 91748211)the Science and Technology Development Planning Project of Jilin Province of China(Grant No.20180101077JC)the Science and Technology Research Project in the 13th Five⁃Year Period of Education Department of Jilin Province(Grant No.JJKH20190134KJ).
文摘African ostrich can run for 30 min at a speed of 60 km/h in the desert,and its hindlimb has excellent energy saving and vibration damping performance.In order to realize the energy⁃efficient and vibration⁃damping design of the leg mechanism of the legged robot,the principle of engineering bionics was applied.According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb,combined with the proportion and size of the structure of the ostrich hindlimb,the bionic rigid⁃flexible composite legged robot single⁃leg structure was designed.The locomotion of the bionic mechanical leg was simulated by means of ADAMS.Through the motion simulation analysis,the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied,and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm,and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg.Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49%.
基金the financial support provided by the National Science and Technology Support Program(No.2011BAJ09B02)the National Natural Science Foundation of China(No.51138007,51222810)
文摘Pushover analysis and time history analysis are conducted to explore the bi-directional seismic behavior of composite steel-concrete rigid frame bridge, which is composed of RC piers and steel-concrete composite girders. Both longitudinal and transverse directions excitations are investigated using OpenSees. Firstly, the applicability of pushover analysis based on the funda- mental mode is discussed. Secondly, an improved pushover analysis method considering the contribution of higher modes is proposed, and the applicability on composite rigid frame bridges under bi-directional earthquake is verified. Based on this method, an approach to predict the displacement responses of composite rigid frame bridge under random hi-directional seismic excitations by revising the elasto-plastic demand curve is also proposed. It is observed that the developed method yield a good estimate on the responses of composite rigid frame bridges under bi-directional seismic excitations.
