Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism

节能减振步行机构的仿生设计及仿真分析

张锐¹,庞浩¹,何远^1,2,韩佃雷¹,文立阁³,江磊⁴,李建桥¹

（1. 吉林大学 工程仿生教育部重点实验室,长春 130022;

2. 长春长光睿视光电技术有限责任公司,长春 130102;

3. 吉林大学 机械与航天工程学院,长春 130022;

4. 中国北方车辆研究所,北京 100072）

摘要：非洲鸵鸟能以60 km/h的速度持续奔跑30分钟,其后肢结构具有优良的节能、减振性能。为实现腿式机器人高效节能、缓冲减振的腿部机构的设计,根据鸵鸟跗骨间关节的被动回弹特性以及腿部的输出刚度可变特性,结合鸵鸟后肢结构的比例和尺寸,设计出了仿生刚-柔复合腿式机器人单腿结构。并且利用ADAMS软件模拟了仿生机械腿的运动。通过运动仿真分析,研究了内弹簧刚度系数在一定范围内的变化对机身质心垂直加速度以及电机功耗的影响,获得最佳的内弹簧刚度系数为200 N/mm,并进一步验证了内外弹簧机制能够有效地降低机械腿的能耗。仿真结果表明,采用内外弹簧机制能够有效降低电机约72.49%能耗。

关键词：工程仿生;仿生机械腿;被动回弹特性;刚-柔复合结构;节能减振

     

基于尺度解析模拟的HC375液力变矩器的流场分析与特性预测

针对传统的一维束流研究方法无法描述大功率液力变矩器工作腔内复杂的时变瞬态湍流的流动状态,采用多物理场耦合方法构建了一种介质流动与传热的动态耦合数值模型,并给出了液力变矩器瞬态仿真设计方法.通过定性和定量分析液力变矩器内部的流动结构发现,动态混合模型(Dynamic hybrid RANS - LES, DHRL)中的SBES(Stress -blended eddy simulation)方法能够充分识别工作腔内边界层的流动状态,可实现对多流域耦合复杂流动现象的精准捕捉.通过台架实验表明,采用DES模型和     

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A bilinear differential forms approach to parametric structured state-space modelling

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Low dielectric loss ceramics in the Mg4Nb2O9-ZnAl2O4-TiO2 ternary system

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Experimental and theoretical comparative analysis of modified graphene (G-O,Pd-G,Pd-G-O) sensing performance toward SO2 in agricultural greenhouse

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Magnetic resonance imaging (MRI) of PEM dehydration and gas manifold flooding during continuous fuel cell operation

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