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Zongquan Deng,Yiqun Liu,Liang Ding,Haibo Gao,Haitao Yu,Zhen Liu 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10
Minimizing the energy and flow consumption is significant to realize the locomotion of a hydraulically actuated hexapod robot formobile field applications. This paper proposes a low energy cost foot trajectory planning method to realize a constant velocity of the bodyand optimize the power and flow consumption of a hexapod robot. A dephased gait generating method is also proposed to decrease theflow demand. A simulation platform for hexapod robots was developed using C++ and based on the vortex physics engine. Power andflow consumption models were derived to verify the proposed methods. The simulation platform was used to verify the effectiveness ofthe proposed methods at optimizing the power and flow consumption.
Numerical simulations of motion behaviors of pan mechanism in a cooking robot with granular cuisine
Yuan Chen,Zongquan Deng,Bing Liang 대한기계학회 2011 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.25 No.3
A discrete element method (DEM) model under a specific movement of wall is developed to simulate the motion behaviors of pan mechanism in a cooking robot with granular cuisine. Two performance indices describing the featured motion in Chinese cuisine are proposed to determine the main influential factors on motion behaviors. A series of simulation experiments is conducted under various conditions, and simulation results are presented to establish the relationship between the performance indices and the main influential factors. A few cuisine experiments are carried out to verify the effectiveness of these simulation results, which provide the theoretical basis and practical guideline for the design, optimization, and application of pan mechanism.
Stiffness modeling of a family of 6-DoF parallel mechanisms with three limbs based on screw theory
Bing Liang,Hongjian Yu,Zongquan Deng,Xiaojun Yang,Hong Hu 대한기계학회 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.1
The stiffness modeling of a family of six degrees of freedom (DoF) parallel mechanisms with configurations of 3-RUPU is presented. The mobility of the mechanisms is firstly analyzed, and then the stiffness analysis and modeling of the family of mechanisms is developed by a novel screw-theory based method. The method employs screw theory as a tool for force analysis and deformation analysis. Based on the developed stiffness model, two global flexibility indices, which refer to the maximum and minimum singular values of compliance matrix, are introduced to evaluate the compliance of parallel mechanisms. Finally, a case study is presented to demonstrate the effectiveness of the method in analyzing and evaluating the stiffness behavior of the presented parallel mechanisms.
Analysis of the repeatability of a deployable space tri-prism mast based on the Monte Carlo method
Mingxing Gao,Rongqiang Liu,Hongwei Guo,Zongquan Deng 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.3
Space deployable mast, which is a supporting mechanism, especially for a space telescope, requires high repeatability. In this study, a deployed space tri-prism mast was taken as the research object, and the change of a tensional cable’s tension force was equivalent to an external load. Based on the accurate stiffness model of the mast, the repeatability of the tri-prism mast was calculated by using the Monte Carlo method. Then, the influences of the number of units, the change in the tension force, the thickness of the linkage, and the radius of the tensional cable on the repeatability of the tri-prism mast were studied. Moreover, the correctness of the analytical model was verified by the repeatability experiments. Results demonstrated that the proposed method could be used to analyze the repeatability of tri-prism mast. This study provided references and suggestions for the design of high-precision space deployable mast.
Air rudder mechanism dynamics considering two elements: Joint clearance and link flexibility
Yuntao Li,Qiquan Quan,He Li,Dewei Tang,Zhonghong Li,Wenyang Fan,Zongquan Deng 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.7
Both the impact phenomenon in the clearance revolute joint and the link deformation will influence the dynamics of the air rudder transmission mechanism, which could reduce the flight quality of an aircraft. Given the effect of the two elements, a feasible simulation method with two improvements of previous methods is proposed to analyze the dynamic characteristics of the mechanism. In previous studies, the parameters of the contact force model in multi-body dynamics software were generally determined by experience, which may cause uncertainty in the calculation precision of the contact force. Furthermore, it is difficult to solve for the elastic link deformation in the practical mechanism using the available analytical methods due to the complicated section of the link. In this paper, a Continuous contact force (CCF) model was proposed and embedded in the ADAMS by developing a routine of the CCF model. Then, the flexible model was obtained by ANSYS to obtain the elastic link deformation. The experimental results indicate that the proposed simulation method can be effectively applied to predict the dynamic behavior of the mechanism.
Yufei Liu,Haibo Gao,Liang Ding,Guangjun Liu,Zongquan Deng,Nan Li 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.8
To control autonomous walking of a legged robot, it is essential to obtain the instantaneous velocity and posture of the robot. This paper presents a full body state estimation algorithm for a hexapod robot to estimate the velocity and posture of the trunk body without geometric knowledge of the environment. The velocity and posture estimates of the hexapod robot with passive compliant ankles are further processed by a data fusion method that is proposed based on the extended Kalman filter (EKF) technique, utilizing the leg kinematics model of the robot and the readouts from an on–board inertial measurement unit (IMU). The absolute footholds of the hexapod robot are estimated together with the velocity and posture of the trunk body, with consideration of intermittent ground contacts. Experiments have been conducted on both flat and uneven terrains, and the results have confirmed the effectiveness of the proposed approach.