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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.
《化学科学与工程前沿(英文)》 2023年 第17卷 第12期 页码 1949-1961 doi: 10.1007/s11705-023-2360-6
关键词: photocatalytic N2 fixation Pt/CdMoO4 tetracycline degradation Schottky barrier
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