排序方式: 共有28条查询结果,搜索用时 0 毫秒
1.
2.
3.
4.
提出了一种应用于水下机器人方向舵、滑块为原动件的曲柄滑块传动机构,形状记忆合金差动驱动是该机构的突出特点.分析了形状记忆合金差动驱动的曲柄滑块机构运动机理,基于形状记忆合金驱动器的变形能力和力学性能,采用多目标优化设计理论和算法,对形状记忆合金差动驱动的滑块行程和作用在滑块上的初始驱动力进行了综合优化,得到了曲柄滑块机构的结构优化参数,同时为形状记忆合金差动驱动器的性能参数设计提供了理论依据和设计准则.虚拟样机仿真试验验证了机构良好的驱动和传动性能. 相似文献
5.
6.
7.
8.
The armored cable used in a deep-sea remotely operated vehicle(ROV) may undergo large displacement motion when subjected to dynamic actions of ship heave motion and ocean current. A novel geometrically exact finite element model for two-dimensional dynamic analysis of armored cable is presented. This model accounts for the geometric nonlinearities of large displacement of the armored cable, and effects of axial load and bending stiffness. The governing equations are derived by consistent linearization and finite element discretization of the total weak form of the armored cable system, and solved by the Newmark time integration method. To make the solution procedure avoid falling into the local extreme points, a simple adaptive stepping strategy is proposed. The presented model is validated via actual measured data. Results for dynamic configurations, motion and tension of both ends of the armored cable, and resonance-zone are presented for two numerical cases, including the dynamic analysis under the case of only ship heave motion and the case of joint action of ship heave motion and ocean current. The dynamics analysis can provide important reference for the design or product selection of the armored cable in a deep-sea ROV system so as to improve the safety of its marine operation under the sea state of 4 or above. 相似文献
9.
10.
水下六足机器人具有丰富的步态样式和冗余的肢体结构,凭借其离散式的地面支撑和对水下障碍、礁坪等复杂特殊地形的极强适应性,具有广泛的应用前景。本文通过充分的文献调研和总结,对目前水下六足机器人平台发展现状进行了综述。针对水下六足机器人的海底爬行能力,分别从稳定性判据、路径规划与自适应行走方法 3项关键技术进行了分析和总结;在稳定性判据方面,分别针对水下六足机器人静态稳定性判据与动态稳定性判据进行阐述;在路径规划方面,在目前典型陆地六足机器人路径规划方法的基础上,结合水下六足机器人独有的运动特性进行阐述;针对水下六足机器人自适应行走方面,分别阐述传统自适应调整方法与目前基于深度强化学习的方法进行介绍;最后对这些关键技术的未来发展趋势进行了展望。 相似文献