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RISS 인기검색어
- 검색키워드
- 저자 : Jinzhu Zhang (검색결과 2 건)
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Dynamics analysis of leg mechanism of six-legged firefighting robot
Jinzhu Zhang,Zhenlin Jin,Yuming Zhao 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.1
A novel 3-DOF Leg mechanism (LM), which consists of a 2RUS+RU PM, a space parallelogram mechanism and a connecting spherical joint is proposed. The LM has good protective characteristics. The whole LM is driven by the 2RUS+RU PM. The kinematics formulae and the inertial force formulae at their mass centers of moving links are derived. Based on the principle of virtue work, the dynamics formula is built for solving the dynamic driving force of the LM. An analytic example on the kinematics and dynamics is given. The kinematics and dynamics results of the example are verified by a simulation model of the LM. On the basis of the kinematics results, motion characteristics of the LM are analyzed and the leg layout of the robot is determined. The LM is improved according to the dynamics results. The dynamic model of improved LM is established. The workspace of improved LM is drawn.
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Effect of Liquid Mulch on the Transpiration Rate and Water Use Efficiency of Drip-irrigated Cotton
Yunguang Li,Zhenhua Wang,Jinzhu Zhang,Wenhao Li 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.1
This study was carried out to address the ever severer white pollution issue in the cotton fields of arid areas and to primarily stop the increase of film residuals in cotton fields. The feasibility of replacing plastic films with liquid mulch in combination with drip irrigation was evaluated. A bucket experiment was conducted to investigate the effects of liquid mulch on the transpiration rate and water use efficiency (WUE) of drip-irrigated cottons. A total of 5 treatments were set up: liquid mulch (1900 kg/hm2) coupled with drip irrigation (LFD1), liquid mulch (2200 kg/hm2) coupled with drip irrigation (LFD2), liquid mulch (2500 kg/hm2) coupled with drip irrigation (LFD3), plastic film coupled with drip irrigation (PFD) and drip irrigation without mulch (NFD or control). The results showed that in the bud stage, the peak value of cotton leaf transpiration rate in LFD3 was 0.95 mmol•m-2•s-1 (or 21.99%) higher than that in control but 0.39 mmol•m-2•s-1 (or 6.89%) lower than that in PFD. The WUE in LFD3 was the highest in any cotton growth stage among the treatments. The peak value of WUE in the seedling and bud stages was 16.90% and 15.03%, respectively higher in LFD3 than in control. When used at an appropriate dosage, liquid mulch can lower the transpiration rate and significantly raise the WUE of drip-irrigated cottons, thus paving the way towards high yields. In addition, liquid mulch has no negative effects on the soil environment and thus is of important research value and good application prospect in light of drip-irrigated cottons in arid areas.
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