A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of ...A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.展开更多
The Kebao coal basin is located at the middle segment of the Xiaojiang fault zone in the central part of Yunnan Province. The coal-bearing strata of Tertiary age are made up of alluvial fan-lacustrine-swamp genetic se...The Kebao coal basin is located at the middle segment of the Xiaojiang fault zone in the central part of Yunnan Province. The coal-bearing strata of Tertiary age are made up of alluvial fan-lacustrine-swamp genetic sequences. Sinistral strike-slip motion of the N-S trending fault zone has created a locally transtensional or transpres sional tectonic environment, giving rise to the relative movement of fault blocks in the basement, and the development of a strike-slip coal basin at the surface. Based on de tailed sedimentary-structural analyses, the paper proposes geodynamic models for the coal basin formation and its deformation.展开更多
A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive h...A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.展开更多
文摘A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.
文摘The Kebao coal basin is located at the middle segment of the Xiaojiang fault zone in the central part of Yunnan Province. The coal-bearing strata of Tertiary age are made up of alluvial fan-lacustrine-swamp genetic sequences. Sinistral strike-slip motion of the N-S trending fault zone has created a locally transtensional or transpres sional tectonic environment, giving rise to the relative movement of fault blocks in the basement, and the development of a strike-slip coal basin at the surface. Based on de tailed sedimentary-structural analyses, the paper proposes geodynamic models for the coal basin formation and its deformation.
文摘A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.
