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RISS 인기검색어
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- 저자 : Qingfei Han (검색결과 2 건)
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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.
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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.
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