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1.
《Mechatronics》2022
A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR. 相似文献
2.
《Advanced Powder Technology》2022,33(12):103879
Heat transfer within ceramic feedstock powders is still unclear, which impedes optimization of the thermal and mechanical properties of the thermal sprayed coatings. The microspheres (yttria-stabilized zirconia YSZ and lanthanum zirconate LZO) were prepared via the electro-spraying assisted phase inversion method (ESP). The thermal properties of the two ESP microspheres and a commercial hollow spherical powder (HOSP) were investigated by using theoretical, experimental, and simulation methods. Thermal conductivity of the single microsphere was estimated via a novel nest model that was derived from the Maxwell-Eucken 1 and the EMT model. Thermal conductivity of a single YSZ/LZO-ESP microsphere prepared at 1100–1200 °C was within 0.36–0.75 W/m K, which was ~ 20 % lower than that of a single YSZ-HOSP microsphere with a similar porosity. Heat flux simulation showed that high tortuosity around the multi-scaled voids of the ESP microsphere led to a more efficient decrease in thermal conductivity compared with total porosity. 相似文献
3.
《Mechatronics》2022
This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path. 相似文献
4.
针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。 相似文献
5.
面对三维空间移动机器人从起始点到终止点的最短路径问题,提出一种新型的边缘点树启发式搜索(TreeEP)算法,该方法将地图空间进行密度可调的三维离散化处理,根据障碍安全距离筛选出障碍物的可靠边缘点信息,再利用树扩散架构选出最能引导搜索方向的潜力点进行扩散搜索,最终得出最短路径。提出局部调整策略,得到改进的Tree-EP算法。实验结果表明,在带障碍复杂地形最短路径搜索应用中,提出的Tree-EP算法与已有方法相比,能找到更短的移动路径。 相似文献
7.
8.
基于双应力加速寿命试验的关节轴承寿命预测与可靠性分析 总被引:1,自引:0,他引:1
自润滑关节轴承寿命主要是由衬垫的磨损性能决定的,但衬垫的磨损一般是非线性的,使得寿命难以预测。采用同时改变载荷和摆频2种应力的方法进行加速寿命试验,建立以pv值、磨损量退化数据为输入参数,寿命值为输出参数的灰色神经网络预测模型。经验证该预测模型对关节轴承寿命预测的最大误差仅为7.33%,平均误差仅为3.892%。对不同加速应力下自润滑关节轴承可靠性进行评估,结果表明,关节轴承的可靠性在L_(10)(可靠度为90%时的寿命)之前下降趋势缓慢,然后迅速下降,pv值越大可靠性下降越迅速;随着pv值的增大,关节轴承寿命近似呈指数下降,经验证可用逆幂率加速模型反映二者关系。 相似文献
9.
AbstractIn recent years, to prevent accidents and disaster are desired by implementing maintenance and management of facilities, such as conducting periodic inspections with appropriate frequency at plants. However, because the dangerous materials such as flammable gas and explosives is used in a plant, and there are many dangerous places in a plant such as high-temperature environment and high places and narrow spaces, it is desirable to use a remote-controlled robot for safety work and short inspections. Against this background, the Disaster Robotics Category-Plant Disaster Prevention Challenge was held in Japan at the World Robot Summit 2018. Our team was ranked 3rd in this competition, because our strategy of ‘inspection and investigation in cooperation with UGV and UAV’ was effective. In this paper, the competition contents of World Robot Summit 2018 and the robot inspection system that we are studying are explained. And what kind of strategy was challenged and result for these given competition tasks by using our robot system are introduced. And the lessons learned such as advantages and issues in UGV and UAV collaboration work at this competition are described for evaluate a robot investigation system for disaster response and inspection work at plants. 相似文献
10.
Significant emergency measures should be taken until an emergency event occurs. It is understood that the emergency is characterized by limited time and information, harmfulness and uncertainty, and decision-makers are always critically bound by uncertainty and risk. This paper introduces many novel approaches to addressing the emergency situation of COVID-19 under spherical fuzzy environment. Fundamentally, the paper includes six main sections to achieve appropriate and accurate measures to address the situation of emergency decision-making. As the spherical fuzzy set (FS) is a generalized framework of fuzzy structure to handle more uncertainty and ambiguity in decision-making problems (DMPs). First, we discuss basic algebraic operational laws (AOLs) under spherical FS. In addition, elaborate on the deficiency of existing AOLs and present three cases to address the validity of the proposed novel AOLs under spherical fuzzy settings. Second, we present a list of Einstein aggregation operators (AgOp) based on the Einstein norm to aggregate uncertain information in DMPs. Thirdly, we are introducing two techniques to demonstrate the unknown weight of the criteria. Fourthly, we develop extended TOPSIS and Gray relational analysis approaches based on AgOp with unknown weight information of the criteria. In fifth, we design three algorithms to address the uncertainty and ambiguity information in emergency DMPs. Finally, the numerical case study of the novel carnivorous (COVID-19) situation is provided as an application for emergency decision-making based on the proposed three algorithms. Results explore the effectiveness of our proposed methodologies and provide accurate emergency measures to address the global uncertainty of COVID-19. 相似文献