提出了一种新型弹性足式机器人腿部结构设计方法。设计了一种结构简单、响应速度快、抗冲击性强的新型足式机器人腿LCS-Leg(Linkage cable-drive spring leg)。该机器人腿采用弹性连杆机构和线驱动系统,有效降低了腿部惯量和着地冲击力...提出了一种新型弹性足式机器人腿部结构设计方法。设计了一种结构简单、响应速度快、抗冲击性强的新型足式机器人腿LCS-Leg(Linkage cable-drive spring leg)。该机器人腿采用弹性连杆机构和线驱动系统,有效降低了腿部惯量和着地冲击力,提高了机器腿的响应速度和减振抗冲能力。使用复数矢量法和D-H方法建立该机器腿运动学模型,基于此模型求解足端运动工作空间,分析了LCS-Leg的越障能力。设计单腿仿真试验平台,对两种不同结构的机器腿进行仿真,对比两者的质心高度、前进速度和足端接触力,验证了所设计机器腿的运动性能。试制弹性足式机器人腿及其试验平台,通过实物样机单腿行走试验,验证了设计方法的有效性,并完成了四足机器人整体结构设计。展开更多
Short-leg shear wall structures are a new form of building structure that combine the merits of both frame and shear wall structures. Its architectural features, structure bearing and engineering cost are reasonable. ...Short-leg shear wall structures are a new form of building structure that combine the merits of both frame and shear wall structures. Its architectural features, structure bearing and engineering cost are reasonable. To analyze the elastic-plastic response of a short-leg shear wall structure during an earthquake, this study modified the multiple-vertical-rod element model of the shear wall, considered the shear lag effect and proposed a multiple-vertical-rod element coupling beam model with a new local stiffness domain. Based on the principle of minimum potential energy and the variational principle, the stiffness matrixes of a short-leg shear wall and a coupling beam are derived in this study. Furthermore, the bending shear correlation for the analysis of different parameters to describe the structure, such as the beam height to span ratio, short-leg shear wall height to thickness ratio, and steel ratio are introduced. The results show that the height to span ratio directly affects the structural integrity; and the short-leg shear wall height to thickness ratio should be limited to a range of approximately 6.0 to 7.0. The design of short-leg shear walls should be in accordance with the ＂strong wall and weak beam＂ principle.展开更多
文摘提出了一种新型弹性足式机器人腿部结构设计方法。设计了一种结构简单、响应速度快、抗冲击性强的新型足式机器人腿LCS-Leg(Linkage cable-drive spring leg)。该机器人腿采用弹性连杆机构和线驱动系统,有效降低了腿部惯量和着地冲击力,提高了机器腿的响应速度和减振抗冲能力。使用复数矢量法和D-H方法建立该机器腿运动学模型,基于此模型求解足端运动工作空间,分析了LCS-Leg的越障能力。设计单腿仿真试验平台,对两种不同结构的机器腿进行仿真,对比两者的质心高度、前进速度和足端接触力,验证了所设计机器腿的运动性能。试制弹性足式机器人腿及其试验平台,通过实物样机单腿行走试验,验证了设计方法的有效性,并完成了四足机器人整体结构设计。
文摘Short-leg shear wall structures are a new form of building structure that combine the merits of both frame and shear wall structures. Its architectural features, structure bearing and engineering cost are reasonable. To analyze the elastic-plastic response of a short-leg shear wall structure during an earthquake, this study modified the multiple-vertical-rod element model of the shear wall, considered the shear lag effect and proposed a multiple-vertical-rod element coupling beam model with a new local stiffness domain. Based on the principle of minimum potential energy and the variational principle, the stiffness matrixes of a short-leg shear wall and a coupling beam are derived in this study. Furthermore, the bending shear correlation for the analysis of different parameters to describe the structure, such as the beam height to span ratio, short-leg shear wall height to thickness ratio, and steel ratio are introduced. The results show that the height to span ratio directly affects the structural integrity; and the short-leg shear wall height to thickness ratio should be limited to a range of approximately 6.0 to 7.0. The design of short-leg shear walls should be in accordance with the ＂strong wall and weak beam＂ principle.
