The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate ...The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.展开更多
The radial force is a critical factor to determine the sealing performance of radial lip seals.The effects of radial force produced by garter spring and interference on the static contact properties and sealing perfor...The radial force is a critical factor to determine the sealing performance of radial lip seals.The effects of radial force produced by garter spring and interference on the static contact properties and sealing performance of a radial lip seal are investigated by numerical simulations and experiments.Finite-element analysis and mixed elastohydrodynamic lubrication simulation are used.Radial force,contact width,temperature in the sealing zone,the reverse pumping rate and friction torque are measured.A critical value of interference for a cost-effectively designed radial lip seal is found.Spring force is required to compensate the decrease of the radial force because of the interference and used as a possible way to obtain intelligent control of sealing performance.The quantitative results gotten in this study could provide guide for the seal design and improvement.展开更多
基金supported by National Basic Research Program of China(973 Program, Grant No. 2013CB035502)International Science and Technology Cooperation Project with Russia (Grant No. 2010DFR70270)+2 种基金National Natural Science Foundation of China (Grant No. 51275106)"111" Project (Grant No. B07018)Key Laboratory Opening Funding of Aerospace Mechanism and Control, China (Grant No. HIT. KLOF.2010057)
文摘The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.
基金supported by the National Natural Science Foundation of China(Grant No.51175283)the National Science and Technology Major Project of China(Grant No.2013ZX04010021)the Ph.D Programs Foundation of Ministry of Education of China(Grant No.20130002110006)
文摘The radial force is a critical factor to determine the sealing performance of radial lip seals.The effects of radial force produced by garter spring and interference on the static contact properties and sealing performance of a radial lip seal are investigated by numerical simulations and experiments.Finite-element analysis and mixed elastohydrodynamic lubrication simulation are used.Radial force,contact width,temperature in the sealing zone,the reverse pumping rate and friction torque are measured.A critical value of interference for a cost-effectively designed radial lip seal is found.Spring force is required to compensate the decrease of the radial force because of the interference and used as a possible way to obtain intelligent control of sealing performance.The quantitative results gotten in this study could provide guide for the seal design and improvement.
