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Static balancing of planar articulated robots
Giuseppe QUAGLIA,Zhe YIN
《机械工程前沿(英文)》 2015年 第10卷 第4期 页码 326-343 doi: 10.1007/s11465-015-0355-9
Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.
关键词: robotics static balancing pneumatic spring mechanical spring torque compensation
Design of damping valve for vehicle hydro pneumatic suspension
DONG Mingming, HUANG Hua, GU Lian
《机械工程前沿(英文)》 2008年 第3卷 第1期 页码 97-100 doi: 10.1007/s11465-008-0014-5
关键词: ability pneumatic necessity flowrate equivalent linearization
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0678-2
关键词: pneumatic artificial muscles soft robot modeling approach principle of virtual work external load
A pneumatic cylinder driving polyhedron mobile mechanism
Wan DING, Sung-Chan KIM, Yan-An YAO
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 55-65 doi: 10.1007/s11465-012-0301-z
A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.
Simulation of horizontal slug-flow pneumatic conveying with kinetic theory
GU Zhengmeng, GUO Liejin
《能源前沿(英文)》 2007年 第1卷 第3期 页码 336-340 doi: 10.1007/s11708-007-0050-6
关键词: velocity distribution detailed slug-flow gas-solid theory
Analysis and characterization of wind-solar-constant torque spring hybridized model
Shantanu ACHARYA,Subhadeep BHATTACHARJEE
《能源前沿(英文)》 2014年 第8卷 第3期 页码 279-289 doi: 10.1007/s11708-014-0312-z
关键词: hybrid vertical axis wind turbine Stirling engine solar-thermal energy wind energy constant torque spring
Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton
《机械工程前沿(英文)》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2
关键词: pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity
Back to the spring of Wuhan: facts and hope of COVID-19 outbreak
Guangbiao Zhou, Saijuan Chen, Zhu Chen
《医学前沿(英文)》 2020年 第14卷 第2期 页码 113-116 doi: 10.1007/s11684-020-0758-9
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词: soft robot soft pneumatic actuator kinematic model crawling robot modular design
A perspective of “Nuclear Hot Spring” for long-term sustainable economy of the world
Yingzhong LU
《能源前沿(英文)》 2011年 第5卷 第4期 页码 349-357 doi: 10.1007/s11708-011-0168-4
关键词: natural safety reactor full power natural circulation sustainable world economy
Caiyun LIU, Francisco PINTO, C. Mariano COSSANI, Sivakumar SUKUMARAN, Matthew P. REYNOLDS
《农业科学与工程前沿(英文)》 2019年 第6卷 第3期 页码 296-308 doi: 10.15302/J-FASE-2019269
The application of spectral reflectance indices (SRIs) as proxies to screen for yield potential (YP) and heat stress (HS) is emerging in crop breeding programs. Thus, a comparison of SRIs and their associations with grain yield (GY) under YP and HS conditions is important. In this study, we assessed the usefulness of 27 SRIs for indirect selection for agronomic traits by evaluating an elite spring wheat association mapping initiative (WAMI) population comprising 287 elite lines under YP and HS conditions. Genetic and phenotypic analysis identified 11 and 9 SRIs in different developmental stages as efficient indirect selection indices for yield in YP and HS conditions, respectively. We identified enhanced vegetation index (EVI) as the common SRI associated with GY under YP at booting, heading and late heading stages, whereas photochemical reflectance index (PRI) and normalized difference vegetation index (NDVI) were the common SRIs under booting and heading stages in HS. Genome-wide association study (GWAS) using 18704 single nucleotide polymorphisms (SNPs) from Illumina iSelect 90K identified 280 and 43 marker-trait associations for efficient SRIs at different developmental stages under YP and HS, respectively. Common genomic regions for multiple SRIs were identified in 14 regions in 9 chromosomes: 1B (60–62 cM), 3A (15, 85–90, 101–105 cM), 3B (132–134 cM), 4A (47–51 cM), 4B (71–75 cM), 5A (43–49, 56–60, 89–93 cM), 5B (124–125 cM), 6A (80–85 cM), and 6B (57–59, 71 cM). Among them, SNPs in chromosome 5A (89–93 cM) and 6A (80–85 cM) were co-located for yield and yield related traits. Overall, this study highlights the utility of SRIs as proxies for GY under YP and HS. High heritability estimates and identification of marker-trait associations indicate that SRIs are useful tools for understanding the genetic basis of agronomic and physiological traits.
关键词: genome-wide association study (GWAS) heat tolerance spectral reflectance spring wheat
《医学前沿(英文)》 2023年 第17卷 第3期 页码 562-575 doi: 10.1007/s11684-022-0977-3
关键词: SARS-CoV-2 COVID-19 host response bronchoalveolar lavage fluid (BALF)
Shujuan ZHANG,Guoqi SONG,Yulian LI,Jie GAO,Jiao WANG,Guiju CHEN,Haosheng LI,Genying LI,Zhendong ZHAO
《农业科学与工程前沿(英文)》 2014年 第1卷 第1期 页码 37-45 doi: 10.15302/J-FASE-2014008
关键词: common wheat spring radiation frost proteomic analysis 2-DE MALDI-TOF-TOF MS
张义民,贺向东,闻邦椿
《中国工程科学》 2002年 第4卷 第5期 页码 71-74
讨论了螺旋管簧的可靠性优化设计问题。在基本随机变量的概率特性已知的情况下,采用二阶矩法和可靠性优化设计方法对螺旋管簧进行了可靠性优化设计,通过计算机程序可以直接实现螺旋管簧的可靠性优化设计,迅速准确地得到螺旋管簧的可靠性优化设计信息。
张义民,刘巧伶,闻邦椿
《中国工程科学》 2004年 第6卷 第1期 页码 74-80
将可靠性设计理论与灵敏度分析方法相结合,讨论了车辆常用弹簧的可靠性灵敏度设计问题,提出了可靠性灵敏度设计的计算方法,给出了可靠性灵敏度的变化规律,研究了设计参数的改变对车辆常用弹簧可靠性的影响,为车辆常用弹簧的可靠性设计提供了理论依据。
标题 作者 时间 类型 操作
Design of damping valve for vehicle hydro pneumatic suspension
DONG Mingming, HUANG Hua, GU Lian
期刊论文
Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles
期刊论文
Simulation of horizontal slug-flow pneumatic conveying with kinetic theory
GU Zhengmeng, GUO Liejin
期刊论文
Analysis and characterization of wind-solar-constant torque spring hybridized model
Shantanu ACHARYA,Subhadeep BHATTACHARJEE
期刊论文
Back to the spring of Wuhan: facts and hope of COVID-19 outbreak
Guangbiao Zhou, Saijuan Chen, Zhu Chen
期刊论文
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
期刊论文
A perspective of “Nuclear Hot Spring” for long-term sustainable economy of the world
Yingzhong LU
期刊论文
Spectral reflectance indices as proxies for yield potential and heat stress tolerance in spring wheat
Caiyun LIU, Francisco PINTO, C. Mariano COSSANI, Sivakumar SUKUMARAN, Matthew P. REYNOLDS
期刊论文
Host protection against Omicron BA.2.2 sublineages by prior vaccination in spring 2022 COVID-19 outbreak
期刊论文
Comparative proteomic analysis of cold responsive proteins in two wheat cultivars with different tolerance to spring
Shujuan ZHANG,Guoqi SONG,Yulian LI,Jie GAO,Jiao WANG,Guiju CHEN,Haosheng LI,Genying LI,Zhendong ZHAO
期刊论文