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Gecko's Ground Reaction Forces on Level/Vertical/Inverted Surfaces
Aihong Ji(지아홍),Zhendong Dai(대젠동),Zhouyi Wang(왕주이),Jintong Wang(왕진통) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Geckos can run even on an inverted surfaces with exceptional speed, strength and agility for their size, representing in many respects an ideal model system for the study of terrestrial locomotion. By measuring the ground reaction force(GRF)s generated by animals when walking upright, climbing vertically or walking on an. inverted surface, we can understand animals adhesion mechanism and locomotion dynamics. We used a sensors array to measure the GRFs. When geckos walked on vertical and inverted surfaces, the lateral force and the fore-aft force play an important role.
Position error compensation of the multi-purpose overload robot in nuclear power plants
Qin, Guodong,Ji, Aihong,Cheng, Yong,Zhao, Wenlong,Pan, Hongtao,Shi, Shanshuang,Song, Yuntao Korean Nuclear Society 2021 Nuclear Engineering and Technology Vol.53 No.8
The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation.
Qian Li,Aihong Ji,Huan Shen,Renshu Li,Kun Liu,Xiangming Zheng,Lida Shen,Qingfei Han 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.2
The design of a flapping-wing aircraft is mainly inspired by flying animals: to improve the lift and efficiency of flapping-wing aircraft, their wings, an essential part of the aircraft, mimic the configuration and geometric characteristics of flying animals. Herein, we conducted wing parameter optimization experiments by changing the wing-vein layout, aspect ratio (AR), surface area, and leading-edge-rod flexibility of a flapping-wing aircraft having four wings with double wing clap-and-fling effects. The AR and leading-edge-rod flexibility significantly influenced the lift through the aircraft’s clap-and-fling effects. Analyzing the wing deformation and lift fluctuation revealed that the leading-edge-rod flexibility delayed the trailing-edge separation during clapping, resulting in a large lift at the beginning of peeling. A pentagonal wing of 155-mm wing length, 5.0 AR, a 100-mm breaking point, and an 80-mm wing-vein convergence point at the leading-edge-rod near the wing root was deemed the optimal wing design. This optimal wing design was used to build a 30 g flapping-wing aircraft for an outdoor flight test, which could fly for 6.5 min with a 4.5-g load, thus demonstrating the developed prototype’s potential for autonomous flight.
Error compensation for snake arm maintainer under variable loads
Guodong Qin,Huapeng Wu,Aihong Ji,Huan Shen,Qian Li,Qingfei Han,Zhikang Yang,Shikun Wen 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.2
The cable-driven snake arm maintainer (SAM) simplifies the electronics of the entire snake arm and is well suited for operation in narrow and high-risk environments. However, the structural features of the SAM, the large slenderness ratio and the effects of variable loads and rigid-flexible coupling deformation lead to large end position error. In order to improve the positional accuracy, a joint space error compensation model of a SAM is constructed using the matrix differentiation method. The error parameters under different loads and different poses are identified based on the principles of variable parameter error compensation and a linearized variable-load variable-parameter model. Parameter errors are then calculated by the Levenberg-Marquardt nonlinear damped least-squares algorithm. Finally, we verify the effectiveness of the proposed algorithm by simulation and error compensation experiments. The results of the study provide a theoretical basis for further accuracy improvement and application expansion of the SAM.