A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force

A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.

FUZZY COORDINATION AND FORCE/POSITION CONTROL OF ROBOTIC MANIPULATOR

It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.

Application of μ Theory in Compliant Force Control

The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking, Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority.

Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

Large Deformation Analysis and Synthesis of Elastic Closed-loop Mechanism Made of a Certain Spring Wire Described by Free Curves

Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model（SCM） with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.

Single-Atom Protecting Group for on-Surface Synthesis of Graphdiyne Nanowires

On-surface synthesis of semiconducting graphdiyne nanowires usually suffer severe side reactions owing to the high reactivity of the butadiynylene units at noble metal surfaces,limiting the production of isolated nanowires. In this work, we report the high-yield synthesis of branchless graphdiyne nanowires [-C≡C-Ph2-C≡C-]nvia on-surface Ullmann coupling of 1,4-bis（4-bromophenyl）-1,3-butadiyne molecules with chemical vapor deposition method.Non-contact atomic force microscopy with single-bond resolution reveals that single gold adatoms act as effective protecting groups for butadiynylene units by forming Au-π ligand bonds, preventing unwanted branched coupling reactions and enabling the synthesis of ultralong isolated graphdiyne nanowires. This study will stimulate further investigation on the role of various surface adatoms in protecting on-surface reactions.

Discrete state space method and modal extension method based impact sound synthesis model

The efficient and accurate synthesis of physical parameter-controllable impact sounds is essential for sound source identification. In this study, an impact sound synthesis model of a cylinder is proposed based on discrete state space（DSS） method and modal extension method（MEM）. This model is comprised of the whole three processes of the physical interaction, i.e., the Hertz contact process, the transient structural response process, and the sound radiation process. Firstly,the modal expanded DSS equations of the contact system are constructed and the transient structural response of the cylinder is obtained. Then the impact sound of the cylinder is acquired using improved discrete Raleigh integral. Finally, the proposed model is verified by comparing with existing models. The results show that the proposed impact sound synthesis model is more accurate and efficient than the existing methods and easy to be extended to the impact sound synthesis of other structures.

On-surface synthesis of one-dimensional carbyne-like nanostructures with sp-carbon

Carbyne is an infinite one-dimensional carbon chain comprising of sp-hybridized carbons.Due to its high chemical reactivity and extreme instability,the synthesis and structural diversity of carbyne have been much less investigated in the past decades compared to carbon allotropes built with sp^(2)hybridized carbons,such as fullerenes,carbon nanotubes,and graphene.The emerging on-surface synthesis strategy provides an extremely promising approach for the fabrication of novel carbyne-like nanostructures with atomic precision.Herein,we summarize recent exciting progress in the synthesis of carbyne-like nanostructures with one-dimensional sp-carbon on surfaces,including polyynes,cumulenes,and organometallic polyynes.We also point out the scientific challenges and prospects,encouraging scientists to explore the fabrication and characterization of single strands of carbyne in this young and promising research field.

含Benzo[a]azulene单元的锯齿状梯形共轭聚合物的表面在位合成

梯形共轭聚合物(CLPs)因其独特的光电性质而受到广泛关注。绝大多数CLPs是通过溶液方法合成的,但近年来,在超高真空环境中进行的表面原位合成策略逐渐崭露头角,成为CPL合成的新方法。表面原位合成方法能够克服传统溶液合成的限制,如随着聚合度增加而受限的溶解度和结构稳定性,从而实现复杂共轭结构的精确合成。Azulene衍生物是在表面合成非苯型CLPs的有吸引力的前体。与传统的只含六元环的CLPs相比,使用烷基取代的azulene作为前体分子,有望获得具有复杂骨架结构的CLPs,从而调控其电子性质,但目前很少有人探索这种策略。本文报道了3,3'-二溴-2,2’-二甲基-1,1’-联薁(DBMA)在Au(111)表面上的热化学反应。在室温的Au(111)衬底上,我们发现沉积的分子在重构表面的fcc(面心立方堆积)区域形成无定型的聚集体,并在100℃以下保持形貌不变。当退火温度高于150℃后,DBMA发生脱溴反应并与金原子络合形成具有复杂空间立体结构的2,2’-二甲基-1,1’-联薁有机金属聚合物,并展现出迥异的图像特征。随后在更高温度下退火,有机金属聚合物脱去金属原子并经历碳碳偶联反应。该过程伴随着甲基与相邻薁单元之间的分子内环化反应,形成了含有benzo[a]azulene单元的梯形共轭聚合物。有趣的是,我们发现当一侧甲基参与反应并在聚合物中形成六元环时,会显著地弯折聚合物链,使得另一侧甲基与薁单元之间的距离增加,并抑制预期的环化过程。我们通过键分辨扫描探针显微镜对反应过程中的相关结构进行了研究,发现反应结果与反应中间结构的应力关联紧密。我们的结果表明,烷基取代的azulene前体可应用于非苯型碳纳米结构的表面合成,并有望实现扩展的非苯型二维碳纳米结构。

Experimental investigation on de-icing by an array of impact rod-type plasma synthetic jets

Since flight accidents due to aircraft icing occur from time to time,this paper proposes an array of impact rod-type plasma synthetic jet de-icing methods for aircraft icing problems.The impact rod-type plasma synthetic jet actuator(PSJA)is based on the traditional PSJA with an additional impact rod structure for better de-icing in the flight environment.In this work,we first optimize the ice-breaking performance of a single-impact rod-type PSJA,and then conduct an array of impact rod-type plasma synthetic jet ice-breaking experiments to investigate the relationship between crack expansion and discharge energy,ice thickness and group spacing.The results show that the impact force and impulse of a single-impact rod-type PSJA are proportional to the discharge energy,and there exists a threshold energy Qmin for a single actuator to break the ice,which is proportional to the ice thickness.Only when the discharge energy reaches above Qmin can the ice layer produce cracks,and at the same time,the maximum radial crack length produced during the ice-breaking process is proportional to the discharge energy.When the ice is broken by an array of impact rod PSJAs,the discharge energy and group spacing together determine whether the crack can be extended to the middle region of the actuator.When the group spacing is certain,increasing the energy can increase the intersection of cracks in the middle region,and the ice-fragmentation degree is increased and the ice-breaking effect is better.At the same time,the energy estimation method of ice breaking by an array of impact rod-type PSJAs is proposed according to the law when a single actuator is breaking ice.

Substrate orientation effect in covalent organic frameworks/2D materials heterostructure by high-resolution atomic force microscopy

Heterostructures based on covalent organic frameworks(COFs)and other two-dimensional(2D)materials attract considerable attention due to their extraordinary properties and tremendous application potential.Substrate effects play a crucial role in the integration of ultrathin COF films onto 2D materials through direct polymerization.In this study,highly ordered monolayer COFs were successfully constructed on the surfaces of highly oriented pyrolytic graphite(HOPG),hexagonal boron nitride(hBN),and molybdenum disulfide(MoS_(2)).High-resolution atomic force microscopy(HR-AFM)imaging clearly reveals the substrate orientation effect in COFs/2D materials heterostructure.Honeycomb networks formed via Schiff-base reaction and boronic acid condensation reaction can epitaxially grow in specific orientations relative to the underlying substrate lattices.This work provides direct evidence for substrate effects in the on-surface synthesis of COFs and paves the way for further investigation into the intrinsic electronic properties of monolayer COFs and the development of multifunctional hybrid devices.

基于附加弹簧摇杆滑块的柔顺恒力机构设计

文章阐述了一种能够实现恒力特性的柔顺机构,对设计的理论模型、具体构型和仿真结果进行了说明。基于附加弹簧摇杆滑块机构建立了理论分析模型,并通过虚功原理推导出运动静力学方程,再根据刚体替换综合法建立了柔顺恒力机构的具体构型,并利用有限元分析软件验证该模型的准确性与可行性。

水热条件对立方状Co_3O_4形貌的影响

研究了原料浓度、溶液酸度、水热反应温度和时间以及陈化方式等条件对立方状 Co3O4 形貌和粒度的影响 ,采用 XRD,TEM和 IR等手段跟踪反应过程 ,并表征产物 ,对水热过程中的相转变和尖晶石相

陶瓷内衬钢管的研究

采用ＳＨＳ－离心法制备陶瓷内衬钢管时，离心力对Ｆｅ＿２Ｏ＿３和Ａｌ的燃烧过程及其产物的相分离和组织有重要影响，陶瓷内衬钢管具有良好的机械性能和耐蚀性，计算表明，复合钢管中，陶瓷层受压应力，金属管受张应力，这种残余应力分布使复合管具有良好的抗机械冲击和抗热冲击性。

六方片状氢氧化镁的合成及其第一性原理分析

分别以硝酸镁和氯化镁为原料,氨气为沉淀剂,采用一步水热法制备六方片状氢氧化镁,并利用扫描电镜(SEM)和X射线衍射(XRD)对产品进行表征。采用第一原理赝势平面波方法,对氢氧化镁的各个经常显露面族的能量、电子结构和布居数进行理论计算。结果表明,p轨道对氢氧化镁晶体各表面的结构稳定性起着主导作用,氢氧化镁晶体(001)面的总能量较低,O-Mg和H-Mg键的结合力较强,存在热力学稳定性,会成为顽强显露晶面,较好地解释了氢氧化镁六方片状形貌的成因。

活塞式压缩机动力计算方法的研究

介绍了解析法计算综合活塞力和切向力的方法和利用Excel软件计算功能确定双作用缸在气体膨胀、吸气、压缩、排气过程对应的曲柄转角。利用Excel软件的函数、公式功能实现气体力的计算和绘制综合活塞力、切向力图的方法,并且实现了Excel数据处理在三维CAD环境下切向力图的绘制,极大地简化了压缩机设计中动力计算的工作量,提高了机械设计效率和设计计算精度。

纳米纤维素/磁性纳米球的原位合成及表征

利用实验室自制芦苇浆纳米纤维素原位合成纳米纤维素/磁性纳米球。通过原子力显微镜、透射电子显微镜、环境扫描电子显微镜、固含量、孔隙率、傅里叶变换红外光谱以及X射线衍射测试分析,结果表明磁性粒子为纳米Fe3O4,纳米Fe3O4与纳米纤维素通过化学键合和物理吸附使得纳米Fe3O4充分分散在纳米纤维素中,形成纳米纤维素/磁性纳米球;纳米纤维素浓度为1.0%,搅拌速度为500r/min,总铁离子浓度为0.0065mol/L(磁性粒子理论质量相对于纳米纤维素质量分数为5%)最佳制备条件下,原位合成纳米纤维素/磁性纳米球,经真空冷冻干燥,所得纳米纤维素/磁性纳米球具有磁化强度73.39A.m2/kg(以每克灰分计)、矫顽力1599.96A/m的磁特性。

模态力法用于机床结构系统动态分析的研究

提出了一个适用于机床结构系统动态性能分析的高效而精确的计算方法．通过对机床中零件间多种复杂连接关系的研究，建立了分析模型装配技术，从而把零件有限元分析、结合面特征与模态综合紧密集成在一起，同时，为了提高模态综合精度和满足机床结构薄弱区域识别的需要，建立了若干新的计算公式该方法具有计算速度快、精度高，对硬件环境要求低等优点，为结构布局修改及优化设计提供了高效手段．

基于多压力传感器负压波的管道检测法

提出了一种基于多压力传感器负压波的管道泄漏检测方法。该方法运用泵站前端与后端的各个压力传感器接收到负压波的先后顺序,根据此顺序进行合力判断负压波是由管道泄漏引起还是由泵站工况调整引起。该方法能降低系统漏报率、提高系统泄漏定位的精度,并确保系统能够有效运行。

线矢力各向同性分析与其在机构构型综合中的应用

鉴于线矢力与机构的承载能力密切相关,对线矢力的各向同性条件进行了研究,得到了线矢力满足各向同性的一般条件,提出了一种事先考虑驱动副布置的冗余驱动移动三自由度并联机构构型综合方法。该方法首先综合与支链约束力螺旋和驱动力螺旋均互易的运动链;然后再构造与支链约束力螺旋互易而与驱动力螺旋不互易的驱动副,从而得到了数种典型的满足驱动线矢力各向同性的冗余驱动三自由度移动并联机构构型;最后,对其中的一种典型机构4-PRRR进行了分析,结果表明,该机构在运动过程中始终满足承载能力各向同性,验证了前述线矢力各向同性分析与构型综合理论的正确性。