In recent years,countries worldwide have actively advocated electric vehicles for environmental protection.How-ever,restrictions on the driving range and charging have hampered the promotion of electric vehicles.This ...In recent years,countries worldwide have actively advocated electric vehicles for environmental protection.How-ever,restrictions on the driving range and charging have hampered the promotion of electric vehicles.This study proposes a portable,auxiliary photovoltaic power system based on a foldable scissors mechanism for electric vehicles.The system includes a photovoltaic power generation module and an electricity transfer module.The photovoltaic power generation module built based on a foldable scissors mechanism is five times smaller than in its unfolded state,improving its portability in its folded state.The electricity transfer module transfers electricity into the cabin via wireless power transfer units and stores electricity in supercapacitors.Solar simulation exper-iments were conducted to evaluate the system’s performance:maximum output power of 1.736 W is measured when the load is 5Ω,while maximum wireless power transfer efficiency is up to 57.7% with 10Ω load.An elec-tric vehicle in Chengdu city was simulated for a case study.The results show that the annual output of a single photovoltaic power system can drive the MINIEV for 423.625 km,indicating that the proposed system would be able to supply power for electric vehicles as an auxiliary power supply system.展开更多
As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general par...As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.展开更多
In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with onl...In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with only one liner motor while ensuring the stability of the lift. Finite element analysis in ANSYS is performed to verify the material strength. The control system with Sunplus SCM achieves the voice control of wheelchair walking and lifting.展开更多
A mathematical model has been established for the research on scissor elevator for ship passenger stairs.The kinematical and kinetic simulation analyses were carried out with MATLAB/Simulink.The relative kinetic relat...A mathematical model has been established for the research on scissor elevator for ship passenger stairs.The kinematical and kinetic simulation analyses were carried out with MATLAB/Simulink.The relative kinetic relation between hydraulic cylinder and other parts,as well as its rules of change has been found.A 3-D model of ship scissor elevator was established with Pro/E.The design of the mechanism was optimized in Pro/MECHANICA based on the findings from simulation analysis.Practice has proved that the design is scientific and reasonable and could serve as the theoretical guidance and reference for the design of scissor mechanism of other uses.展开更多
An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its o...An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its own shape,according to the environment,realizing a transformation of wheel shape into leg shape and vice versa.Each wheel-legged mechanism has one degree of freedom,which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a leg.First,the force analysis of the conversion process of the wheel-legged mechanism is carried out,while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is obtained.The results showed that the shape conversion can be better realized by increasing the friction factor of the trigger point.Next,the kinematics analysis of the robot,including climbing the obstacles,stairs and gully,is carried out.The motion of the spokes tip is obtained,in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged mechanism.The parameters of the wheel-legged structure are optimized,to obtain better stability and obstacle climbing ability.Finally,a dynamic simulation model is established by ADAMS,to verify the obstacle climbing performance and gait rationality of the robot,in addition to a prototype experiment.The results showed that the surmountable obstacle height of the robot is about3.05 times the spoke radius.The robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism,making it more suitable for field reconnaissance and exploration missions.展开更多
基金supported by the National Natural Science Foundation of China under grants no.51975490the Science and Technology Projects of Sichuan under grant nos.2021JDRC0118,2021JDRC0096,2021YFSY0059,and 2021YFQ0055.
文摘In recent years,countries worldwide have actively advocated electric vehicles for environmental protection.How-ever,restrictions on the driving range and charging have hampered the promotion of electric vehicles.This study proposes a portable,auxiliary photovoltaic power system based on a foldable scissors mechanism for electric vehicles.The system includes a photovoltaic power generation module and an electricity transfer module.The photovoltaic power generation module built based on a foldable scissors mechanism is five times smaller than in its unfolded state,improving its portability in its folded state.The electricity transfer module transfers electricity into the cabin via wireless power transfer units and stores electricity in supercapacitors.Solar simulation exper-iments were conducted to evaluate the system’s performance:maximum output power of 1.736 W is measured when the load is 5Ω,while maximum wireless power transfer efficiency is up to 57.7% with 10Ω load.An elec-tric vehicle in Chengdu city was simulated for a case study.The results show that the annual output of a single photovoltaic power system can drive the MINIEV for 423.625 km,indicating that the proposed system would be able to supply power for electric vehicles as an auxiliary power supply system.
基金supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 52075467)the Natural Science Foundation of Hebei Province of China(Grant No.E2021203109)+1 种基金the State Key Laboratory of Robotics and Systems(HIT)(Grant No.SKLRS-2021-KF-15)the Industrial Robot Control and Reliability Technology Innovation Center of Hebei Province(Grant No.JXKF2105).
文摘As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.
基金Supported by Special Topic of the Ministry of Education about Humanities and Social Sciences(12JDGC007)ZheJiang Henglin Chair Industry Co.,Ltd.-Hefei University of Technology Green Seat and Intelligent House Innovate Team
文摘In order to achieve a wheelchair lift function, this paper designs a tri-scissors mechanism. Through the so-called H-type transmission and L-type swing rod, the three scissors mechanisms lift in the same rate with only one liner motor while ensuring the stability of the lift. Finite element analysis in ANSYS is performed to verify the material strength. The control system with Sunplus SCM achieves the voice control of wheelchair walking and lifting.
文摘A mathematical model has been established for the research on scissor elevator for ship passenger stairs.The kinematical and kinetic simulation analyses were carried out with MATLAB/Simulink.The relative kinetic relation between hydraulic cylinder and other parts,as well as its rules of change has been found.A 3-D model of ship scissor elevator was established with Pro/E.The design of the mechanism was optimized in Pro/MECHANICA based on the findings from simulation analysis.Practice has proved that the design is scientific and reasonable and could serve as the theoretical guidance and reference for the design of scissor mechanism of other uses.
基金financially supported by the National Key R&D Program of China(No.2017YFE0112200)Hebei Province Science and Technology Support Program(No.19391825D)Postgraduate Innovation Subsidy Project of Hebei Province(No.CXZZBS2021134)。
文摘An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its own shape,according to the environment,realizing a transformation of wheel shape into leg shape and vice versa.Each wheel-legged mechanism has one degree of freedom,which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a leg.First,the force analysis of the conversion process of the wheel-legged mechanism is carried out,while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is obtained.The results showed that the shape conversion can be better realized by increasing the friction factor of the trigger point.Next,the kinematics analysis of the robot,including climbing the obstacles,stairs and gully,is carried out.The motion of the spokes tip is obtained,in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged mechanism.The parameters of the wheel-legged structure are optimized,to obtain better stability and obstacle climbing ability.Finally,a dynamic simulation model is established by ADAMS,to verify the obstacle climbing performance and gait rationality of the robot,in addition to a prototype experiment.The results showed that the surmountable obstacle height of the robot is about3.05 times the spoke radius.The robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism,making it more suitable for field reconnaissance and exploration missions.
