In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot＇s hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Fi...In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot＇s hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Firstly,the change rule in each swing angle of the hydraulic quadruped robot＇s four legs is analyzed and converted to the displacement change of the hydraulic cylinder by calculating their geometric relationship.Secondly,the robot＇s dynamic model is built in ADAMS and its hydraulic and control system models are built in AMESim. The displacement change of the hydraulic cylinder in the hydraulic system is used as the driving function of the dynamics model in ADAMS,and the driving force of the dynamics model is used as the loads of the hydraulic system in AMESim. By introducing the PID closed-loop control in the control system,the co-simulation between hydraulic system and mechanical system is implemented. Finally,the curve of hydraulic cylinders＇ loads,flow and pressure are analyzed and the results show that they fluctuate highly in accordance with the real situation. The study provides data support for the development of a hydraulic quadruped robot＇s physical prototype.展开更多
Anti-structured defects bridge atom migration among heterogeneous sublattices facilitating diffusion but could also result in the collapse of ordered structure.Component distribution Ni（75）AlxV（25-x） alloys are in...Anti-structured defects bridge atom migration among heterogeneous sublattices facilitating diffusion but could also result in the collapse of ordered structure.Component distribution Ni（75）AlxV（25-x） alloys are investigated using a microscopic phase field model to illuminate relations between anti-structured defects and composition,precipitate order,precipitate type,and phase stability.The Ni（75）AlxV（25-x） alloys undergo single Ni3V（stage Ⅰ）,dual Ni3Al and Ni3V（stage Ⅱ with Ni3V prior;and stage Ⅲ with Ni3Al prior）,and single Ni3Al（stage Ⅳ） with enhanced aluminum level.For Ni3V phase,anti-structured defects（V（Ni1）,Niy,except V（Ni2）） and substitution defects（Al（Ni1）,Al（Ni2）,Alv） exhibit a positive correlation to aluminum in stage I,the positive trend becomes to negative correlation or smooth during stage Ⅱ.For Ni3 Al phase,anti-structured defects（Al（Ni）,Ni（Al）） and substitution defects（V（Ni）,V（Al）） have a positive correlation to aluminum in stage Ⅱ,but Ni（Al） goes down since stage Ⅲ and lasts to stage Ⅳ.V（Ni） and V（Al） fluctuate when Ni3Al precipitates prior,but go down drastically in stageⅣ.Precipitate type conversion of single Ni3V/dual（Ni3V＋Ni3Al） affects Ni3V defects,while dual（Ni3V＋Ni3Al）/single Ni3 Al has little effect on Ni3Al defects.Precipitate order swap occurred in the dual phase region affects on Ni3Al defects but not on Ni3V.展开更多
文摘In order to observe the change and fluctuation in flow and pressure of a hydraulic quadruped robot＇s hydraulic system when the robot walks on trot gait,a co-simulation method based on ADAMS and AMESim is proposed. Firstly,the change rule in each swing angle of the hydraulic quadruped robot＇s four legs is analyzed and converted to the displacement change of the hydraulic cylinder by calculating their geometric relationship.Secondly,the robot＇s dynamic model is built in ADAMS and its hydraulic and control system models are built in AMESim. The displacement change of the hydraulic cylinder in the hydraulic system is used as the driving function of the dynamics model in ADAMS,and the driving force of the dynamics model is used as the loads of the hydraulic system in AMESim. By introducing the PID closed-loop control in the control system,the co-simulation between hydraulic system and mechanical system is implemented. Finally,the curve of hydraulic cylinders＇ loads,flow and pressure are analyzed and the results show that they fluctuate highly in accordance with the real situation. The study provides data support for the development of a hydraulic quadruped robot＇s physical prototype.
基金Project supported by the Natural Science Basic Research Plan in Shaanxi Province of China(Grant No.2016JQ5014)the Fundamental Research Funds for the Central Universities,China(Grant No.3102014JCQ01024)+2 种基金the Research Fund of the State Key Laboratory of Solidification Processing(NWPU),China(Grant No.114-QP-2014)the Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20136102120021)the National Natural Science Foundation of China(Grant Nos.51474716 and 51475378)
文摘Anti-structured defects bridge atom migration among heterogeneous sublattices facilitating diffusion but could also result in the collapse of ordered structure.Component distribution Ni（75）AlxV（25-x） alloys are investigated using a microscopic phase field model to illuminate relations between anti-structured defects and composition,precipitate order,precipitate type,and phase stability.The Ni（75）AlxV（25-x） alloys undergo single Ni3V（stage Ⅰ）,dual Ni3Al and Ni3V（stage Ⅱ with Ni3V prior;and stage Ⅲ with Ni3Al prior）,and single Ni3Al（stage Ⅳ） with enhanced aluminum level.For Ni3V phase,anti-structured defects（V（Ni1）,Niy,except V（Ni2）） and substitution defects（Al（Ni1）,Al（Ni2）,Alv） exhibit a positive correlation to aluminum in stage I,the positive trend becomes to negative correlation or smooth during stage Ⅱ.For Ni3 Al phase,anti-structured defects（Al（Ni）,Ni（Al）） and substitution defects（V（Ni）,V（Al）） have a positive correlation to aluminum in stage Ⅱ,but Ni（Al） goes down since stage Ⅲ and lasts to stage Ⅳ.V（Ni） and V（Al） fluctuate when Ni3Al precipitates prior,but go down drastically in stageⅣ.Precipitate type conversion of single Ni3V/dual（Ni3V＋Ni3Al） affects Ni3V defects,while dual（Ni3V＋Ni3Al）/single Ni3 Al has little effect on Ni3Al defects.Precipitate order swap occurred in the dual phase region affects on Ni3Al defects but not on Ni3V.
