A discrete model of a rope is developed and used to simulate the plane motion of the rope fixed at one end.Actually,two systems are presented,whose members are rigid but non-ideal joints involve elasticity or dissipat...A discrete model of a rope is developed and used to simulate the plane motion of the rope fixed at one end.Actually,two systems are presented,whose members are rigid but non-ideal joints involve elasticity or dissipation.The dissipation is reflected simply by viscous damping model, whereas the bending stiffness conception is based on the classical curvature-bending moment relationship for beams and simple geometrical formulas.Equations of motion are derived and their complexity is discussed from the computational point of view.Since modified extended backward differentiation formulas（MEBDF）of Cash are implemented to solve the resulting initial value problems,the technique scheme is outlined.Numerical experiments are performed and influences of the elasticity and damping on behaviour of the model are analyzed.Basic energy principles are used to verify the obtained results.展开更多
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
The attitude adjustment of rope system faces the challenging due to the difficulty in obtaining accurate three-dimensional(3D)mathematical model and solving by traditional methods.A set of adjustment systems is design...The attitude adjustment of rope system faces the challenging due to the difficulty in obtaining accurate three-dimensional(3D)mathematical model and solving by traditional methods.A set of adjustment systems is designed and used to investigate the automatic control for level or preset attitude adjustment of unknown weights and eccentric loads.The system principle and characteristics are analyzed.The 3D model is decomposed into two two-dimensional(2D)subsystems,and an adaptive fuzzy controller based on BP neural network and least squares(LSE)is designed.The simulation experiment uses MATLAB to train the level-adjustment data for testing algorithm,and a small load is used to verify the effectiveness of the system.The experimental results show that precise attitude adjustment can be achieved within the system load range,and the response speed is fast.This adjustment method provides a fast and effective method for precise adjustment of the load attitude.展开更多
Recently measured thermal conductivity in single-walled carbon nanotube ropes in the temperature range 8 - 350 K has been explained using an anisotropic dynamical model which not only takes into account the quasi two-...Recently measured thermal conductivity in single-walled carbon nanotube ropes in the temperature range 8 - 350 K has been explained using an anisotropic dynamical model which not only takes into account the quasi two-dimensional nature of the folded graphene sheets that forms the nanotubes, but also the intertube coupling, in addition to the phonon frequency and dimensionality dependent relaxation time of phonon-phonon scattering and interaction.展开更多
文摘A discrete model of a rope is developed and used to simulate the plane motion of the rope fixed at one end.Actually,two systems are presented,whose members are rigid but non-ideal joints involve elasticity or dissipation.The dissipation is reflected simply by viscous damping model, whereas the bending stiffness conception is based on the classical curvature-bending moment relationship for beams and simple geometrical formulas.Equations of motion are derived and their complexity is discussed from the computational point of view.Since modified extended backward differentiation formulas（MEBDF）of Cash are implemented to solve the resulting initial value problems,the technique scheme is outlined.Numerical experiments are performed and influences of the elasticity and damping on behaviour of the model are analyzed.Basic energy principles are used to verify the obtained results.
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National Natural Science Foundation of China(No.61605177)
文摘The attitude adjustment of rope system faces the challenging due to the difficulty in obtaining accurate three-dimensional(3D)mathematical model and solving by traditional methods.A set of adjustment systems is designed and used to investigate the automatic control for level or preset attitude adjustment of unknown weights and eccentric loads.The system principle and characteristics are analyzed.The 3D model is decomposed into two two-dimensional(2D)subsystems,and an adaptive fuzzy controller based on BP neural network and least squares(LSE)is designed.The simulation experiment uses MATLAB to train the level-adjustment data for testing algorithm,and a small load is used to verify the effectiveness of the system.The experimental results show that precise attitude adjustment can be achieved within the system load range,and the response speed is fast.This adjustment method provides a fast and effective method for precise adjustment of the load attitude.
文摘Recently measured thermal conductivity in single-walled carbon nanotube ropes in the temperature range 8 - 350 K has been explained using an anisotropic dynamical model which not only takes into account the quasi two-dimensional nature of the folded graphene sheets that forms the nanotubes, but also the intertube coupling, in addition to the phonon frequency and dimensionality dependent relaxation time of phonon-phonon scattering and interaction.
