Description of a Propulsion Unit Used in Guiding a Walking Machine by Recognizing a Three-point Bordered Path

A reconfigurable propulsion unit based on the Peaucellier-Lipkin mechanism has the ability to describe exact straight or curved paths depending on the selected ratio between the lengths of two of its links. The Peaucellier-Lipkin mechanism with one degree of freedom is transformed into a more sophisticated parallel kinematic chain by including four more degrees of freedom. The resulting propulsion unit is able to adapt its kinematic structure and reach instant centers of rotation, in accordance with the presence of three points that border a geometric path. A laser sensor mounted on the body of the machine detects each point. Once the machine has detected the exact location of the border of the road, it walks along a curve parallel to that border. Although the proposed research describes only one propulsion unit or leg, the methodology can be applied to all the legs of the walking machine. The novel 5-DOF leg is able to reach different centers of rotation, providing either the concave or convex arcs that satisfy the basic principle of displacement of walking machines.

Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

Optimising Body Layout Design of Limbed Machines

This paper presents our efforts to explain why mammals have large thigh muscles while insects have small ones. After a discussion of this observation a definition of body foot ratio is defined which describes how animals stand and how their legs are arranged. To investigate the mechanics, we present a closed optimum solution of the body foot ratio for a 2D two-leg walking machine. A multi-walker is used as a case for 3D general analysis, and the numerical simulation is presented. Both 2D and 3D case studies can explain the above observations of mammals and insects. These findings can also be used as a guide for the design of man-made limbed machines.

Geometric design of crab-like climbing and walking robots

This paper considers the geometric design of crab-like walkers and climbers, without decoupling leg design from overall machine design. Crab-like machines represent an important sub-class of multi-legged robots, being particularly well suited to crossing difficult terrains. Firstly, the kinematic configurations and constraints are described, which determine the machine’s kinematic characteristics. The influence of the design parameters on the kinematic workspace is discussed. Finally, a two stage design methodology is presented, comprising kinematic design and design optimisation, the latter being based on the use of design maps rather than numerical optimisation. The performance measures considered during design optimisation include kinematic, static and quasi-static measures.

Pedestrian choice behavior analysis and simulation of vertical walking facilities in transfer station

Considering the interlayer height, luggage, the difference between queuing pedestrians, and walking speed, the pedestrian choice model of vertical walking facilities is established based on a support vector machine. This model is verified with the pedestrian flow data of Changchun light-rail transfer station and Beijing Xizhimen transfer station. Adding the pedestrian choice model of vertical walking facilities into the pedestrian simulation model which is based on cellular automata, the pedestrian choice behavior is simulated. In the simulation, the effects of the dynamic influence factors are analyzed. To reduce the conflicts between pedestrians in opposite directions, the layout of vertical walking facilities is improved. The simulations indicate that the improved layout of vertical walking facilities can improve the efficiency of pedestrians passing.

On the Optimal Modes of Controlled Transfer of Walking Propulsion Devices

The problem of walking machine leg transfer is considered.Optimal laws of transfer are determined with regard to geometrical features ofgroundand underwater.Complex optimality criterion is introduced as the sum of indexes of quality of the movement multiplied each by weight coefficients.The solution is provided based on the walking machine“Ortonog.”

下肢步行机器辅助训练对痉挛型偏瘫脑性瘫痪患儿步态改善的效果分析

目的探讨下肢步行机器辅助训练对痉挛型偏瘫脑性瘫痪(简称脑瘫)患儿步态改善的效果分析。方法2022年5月至2023年11月哈尔滨医科大学附属第四医院儿童康复中心门诊收治偏瘫脑瘫儿童16例,随机分为对照组和观察组各8例。对照组给予患儿常规康复训练,观察组在此基础上联合下肢步行机器辅助训练,训练时间均为30 min,每周6次。对训练前后儿童步长、单侧支撑时间、步态周期、摆动时间的步态参数进行采集,对干预前后8周数据变化进行分析。结果治疗后两组治疗方法对偏瘫患儿患侧步长长度变长、患侧单侧支撑时间变长、患侧和健侧步态周期、摆动时间的差异有统计学意义(P<0.05),且常规康复训练联合下肢步行机器辅助训练优于常规康复训练,更趋向于正常步态。结论下肢步行机器辅助训练可以改善偏瘫患儿患侧步态周期,增加患侧步长、单侧支撑时间,延长患侧摆动时间,缩短健侧摆动时间,改善偏瘫步态。

一种基于模型轨迹的步进炉装钢提速方法

步进式加热炉通常采用步进炉装出钢机装入冷钢坯和取出炉内的热钢坯,然后通过出炉辊道送到粗轧机组进行轧制。轧机的轧制速度较快,对炉区装钢机的装钢速度和装钢效率有很高的要求。通过分析装钢步序和加热炉及炉前辊道的设备工艺,找出限制装钢机提速的制约条件,提出了电液同步控制的模型轨迹控制方案。在电气控制模型和自动化程序上加以优化,提高了加热炉装钢机的装钢速度,节约了加热炉生产的燃料成本,最终达到了提高加热炉工作效率的目的。

基于ABAQUS软件的采煤机行走轮应力分析

介绍了一种四行走轮采煤机行走轮机构设计方案,并以此为基础,通过ABAQUS进行仿真模型构建,通过有限元分析方法,从弯曲应力和接触应力两个角度验证四行走轮采煤机行走轮机构运行时行走轮应力分布特点,初步确认设计方案的有效性。同时,为进一步确认四行走轮采煤机行走轮机构设计方案的应用成效,研究中还会将设计方案应用于工程实践。

滇中引水工程现浇仰拱全工序施工装备设计与应用

为实现敞开式TBM掘进与现浇仰拱同步施工,提升现浇仰拱衬砌质量,缩短工程工期,结合长大敞开式TBM水工隧洞现浇仰拱施工边界条件,研制大跨径现浇仰拱全工序施工装备。从功能要求、主桥、支腿、前后爬坡轨、行走系统、仰拱衬砌等方面对现浇仰拱全工序施工装备开展详细设计,提出将主桥行车路面抬高,在主桥下部设置11个长度12 m功能作业区的创新思路,并在现场进行充分验证。工程实践表明:1)全工序现浇仰拱装备主桥支撑系统、行走驱动系统、模板浇筑系统使用效果初步达到设计预期;2)全工序现浇仰拱装备组装效率高、整体移动便捷、与现场施工工序契合度高、人员作业空间大,劳动强度低,施工进度最高可达到240 m/月,有效提升了TBM施工现浇仰拱技术的发展水平;3)全工序施工装备作为水工隧洞全新的工装,开创了新的施工工艺。但是该装备使本来狭窄的隧道显得更为拥挤,掘进施工交通流量受限,导致浇筑混凝土、钢筋、轨排的运输与TBM掘进物料运输之间的矛盾逐步显现,保障施工通道和TBM掘进有效进度匹配性的问题有待进一步研究。

钢桥顶推施工步履机横向布置方案分析

以某跨高速公路桥梁工程为例,基于数值模拟,建立了斜交钢箱梁桥顶推有限元模型,开展了不同步履机横桥向数量方案对主梁各构件内力以及结构下挠变化的影响研究,从而得到了更加安全合理的方案。研究结论总结如下:增加步履机横桥向数量可降低主梁各构件应力峰值,改善结构受力状态,且对支承位置处的腹板和顶板改善效果最大,对加劲肋的改善效果最小。通过本工程的验证,以期为类似工程提供参考。

矿用掘锚一体机行走机构分部结构分析与参数设计研究

基于矿用掘锚一体机中行走机构分部为研究背景,详细介绍和阐释了行走机构分部中张紧轮组、张紧装置、履带架、支重轮、履带链和驱动装置等6个主要机械构件的主要零件组成及其所起到的功能作用,并进一步针对行走机构分部内相关参数进行了设计,指明了履带链装置机械构件、驱动装置机械构件、液压马达机械构件、行走减速器机械构件和张紧装置机械构件等相关核心参数的设计结果。研究结果为改善和提高矿用掘锚一体机中行走机构分部的性能可靠性奠定了基础,在此基础上后续可以对行走机构分部进行进一步的优化研究,旨在使其带动掘锚一体机整机实现在掘进工作面内良好、稳定的运移。

跨文化遗产河流超大钢箱梁桥施工技术

目前钢箱梁桥梁的安装一般采用吊装法,而超大钢箱梁因为尺寸、重量大,一般采用分段分节吊装的方式,分段处需要设置临时支墩作为临时支撑。对于跨文化遗产河流的钢箱梁桥,因保护文化遗产河流的需要,不能在河道以及其保护范围打设钢管桩、灌注桩,也不可设置临时便桥或临时工作墩,导致通常采用的分段吊装法不适用。对跨文化遗产运河超大钢箱梁桥施工关键技术进行研究,采用深化设计技术、智能化制造技术以及免临时支架的超大钢箱梁安装技术,保证了工程质量与施工安全,保护了跨文化遗产运河。

Improving Kinematic Flexibility and Walking Performance of a Six-legged Robot by Rationally Designing Leg Morphology

This paper explores the design of leg morphology in a six-legged robot.Inspired by nature,where animals have different leg morphology,we examined how the difference in leg morphology influences behaviors of the robot.To this end,a systematic search was conducted by scanning over the parameter space consisting of default angles of leg joints of the six-legged robot,with two main objectives:to maximize the kinematic flexibility and walking performance of the robot.Results show that(1)to have a high kinematic flexibility with both the torso and swing legs,the femur segment should tilt downwards by 5°-10°and the tibia segment should be vertically downwards or with a slight inward tilt;(2)to achieve relatively energy-efficient and steady walking,the tibia segment should be approximately vertically downwards,with the femur segment tilting upwards to lower the torso height.The results of this study suggest that behaviors of legged robots can be passively enhanced by careful mechanical design choices,thereby leading to more competent legged machines.

Quantum Hierarchical Agglomerative Clustering Based on One Dimension Discrete Quantum Walk with Single-Point Phase Defects

As an important branch of machine learning,clustering analysis is widely used in some fields,e.g.,image pattern recognition,social network analysis,information security,and so on.In this paper,we consider the designing of clustering algorithm in quantum scenario,and propose a quantum hierarchical agglomerative clustering algorithm,which is based on one dimension discrete quantum walk with single-point phase defects.In the proposed algorithm,two nonclassical characters of this kind of quantum walk,localization and ballistic effects,are exploited.At first,each data point is viewed as a particle and performed this kind of quantum walk with a parameter,which is determined by its neighbors.After that,the particles are measured in a calculation basis.In terms of the measurement result,every attribute value of the corresponding data point is modified appropriately.In this way,each data point interacts with its neighbors and moves toward a certain center point.At last,this process is repeated several times until similar data points cluster together and form distinct classes.Simulation experiments on the synthetic and real world data demonstrate the effectiveness of the presented algorithm.Compared with some classical algorithms,the proposed algorithm achieves better clustering results.Moreover,combining quantum cluster assignment method,the presented algorithm can speed up the calculating velocity.

基于改进麻雀算法优化支持向量机的滚动轴承故障诊断研究

针对群智能算法优化支持向量机模型应用在滚动轴承故障诊断领域中易陷入局部最优、准确率较低的问题,提出了一种基于改进麻雀算法(sparrow search algorithm,SSA)优化支持向量机(support vector machine,SVM)的滚动轴承故障诊断方法。首先引入均匀化分布Chebyshev混沌映射初始化麻雀种群,以提高种群空间分布均匀性,之后将自适应惯性权重融入麻雀算法的发现者位置更新,最后对更新位置后的最优麻雀进行随机游走扰动,提高算法的全局和局部搜索能力,避免算法陷入局部最优。将该算法用于支持向量机的参数优化,构建改进麻雀算法优化支持向量机故障诊断模型实现对轴承故障信号的分类诊断。滚动轴承故障诊断试验分析结果表明,该算法模型故障分类效果明显优于粒子群算法优化支持向量机模型、遗传算法优化支持向量机模型和麻雀算法优化支持向量机模型,能够有效识别滚动轴承各故障类型。

横轴掘锚一体机行走部设计与研究

随着矿区快速掘进、高效支护的发展,横轴掘锚一体机应用越来越多,行走部是其重要的组成部分。主要对行走部总体结构、主要设计参数、应用过程中可能出现的常见故障以及解决方法进行分析与介绍,为横轴掘锚一体机设计研发人员提供一定的参考。

大直径盾构隧道弧形件预制拼装技术与智能化安装机应用

为解决传统盾构隧道弧形件(口子件)在拼装施工中存在的拼装工艺不先进、拼装精度差、装备智能化程度低、施工进度慢等技术难题,通过引进装备设计和智能化控制理念,采用弧形构件内部穿行式设计思路,结合毫米级负载敏感液压系统和亚毫米级位姿测量系统,研制出一台可实现弧形件一键智能化拼装的穿行式弧形件智能安装机。该装备具有精调数据测量系统、自动检测与感知、自动运算与分析处理、自动决策与动作执行、人机交互与信息储存等智能化控制技术,在上海轨道交通市域线机场联络线JCXSG-11标工程首次应用,取得了良好的拼装效果。结果表明:1)安装机液压系统控制精度达到0.5 mm,弧形件拼装精度达到±5 mm,实现了高精度拼装;2)安装机通过智能化控制技术,实现了一键式操作,每循环工作耗时32 min,施工效率提高30%以上,节省人工50%以上;3)穿行式弧形件智能安装机工作性能稳定可靠,可实现运行状态、控制方式、传感器数据、液压油缸行程数据、通信状态等参数的记录与储存,实现人机交互。

螺旋桨叶轮自由曲面五轴高速数控加工技术

本研究主要探究了五轴高速数控加工技术在螺旋桨叶轮加工中的应用。文章首先介绍了螺旋桨的整体构造和桨叶形成方式,通过构建工件坐标系{O-XYZ},得到了螺旋桨叶轮在三维坐标系中的模型坐标。在应用五轴数控加工技术时,刀轴控制方式和驱动方法,以及刀位轨迹的规划、刀具的选择与夹具的设计等,都是决定叶轮自由曲面加工质量与加工效率的关键技术,本研究对此展开了简要分析。

悬链形上加劲钢桁梁桥顶推施工监控技术研究

以钱塘江新建大桥悬链形上加劲连续钢桁梁桥顶推施工为研究对象,采用数值计算和现场实测相结合的方法,对悬链形上加劲钢桁梁桥“步履机+滑块”顶推施工全过程监控技术进行了研究。首先,采用Midas Civil有限元软件建立了悬链形上加劲钢桁梁桥各施工阶段的有限元模型,分析了各主要工况下的结构受力状态;其次,基于有限元分析结果和现场实测情况提出了应力和变形的测点布置及监控方法,并对钢桁梁桥顶推施工过程中的关键环节进行了补充监控;最后,对施工过程中的线形进行了理论和实测验证,对应力指标测点进行了合理设计和部署。研究结果表明:在顶推施工过程中,杆件内力较合理,在顶推施工过程中和成桥后主桥结构实测的结构线形与受力均满足计算和设计要求。