Advanced Materials Research Vols. 479-481

Abstract: Obstacle robot crawler is a very complex mechanical products. Crawler robot obstacle for traditional development pattern of the development cycle there is a long, complicated process, development costs are too high, difficult issues such as performance testing, this twin-tracked to the more impaired actual robot context of the study, the application of simulation technology robot design and development research. Use of 3D modeling software Pro / E and two-body dynamics simulation software to create more obstacles the robot tracked the virtual prototype model, the virtual prototype model based on a variety of simulation experiments, and the test results analysis.

Abstract: Undulate fin is the main propelling organ of MPF mode fish, which could produce propelling wave continually and controllabily while swimming, and this propelling mode has characteristics of high efficiency and low disturbance to fluid field. In this paper, biological structure of “Nilotic Ghost” fish’s long flexible fin(Undulate Fin) is studied with physiological anatomizing and X-ray perspectiving means. Then motion characteristics of the undulate fin are revealed with pictures from fish’s swimming video. Under the bionical conclusions, a hydraulic-driven bionic joint for undulating thruster is designed, including a pair of restoration springs. At last some calculating simulation and testing experiments are carried out, so as to analyze and verify this bionic joint’s characteristics. Results show that, bionic joint driven by hydraulic system could immitate the flexible movements of natural rib in undulate fin, which are described as position restoration, changing of swaying range as well as frequency.

Abstract: Owing to great demands for artificial robot upper limbs in industrial production lines, dangerous rescue and even the assistance for disabled people, the research and design is carried out about a robot upper limb which is composed of 6 DOFs. In order to illustrate the robot upper limb system comprehensively, the forward kinematics analysis is finished according to the mechanism. At the same time, the workspace of the designed robot upper limb is analyzed and simulated, and the Monte-carlo simulation results show that the workspace is a continuous closed space, which means that the hand of the designed limb can reach anywhere in the workspace. Moreover, the pingpong grasp experiments are conducted, from the experiment results we can see that the robot upper limb can track and grasp objects around it quickly and accurately.

Abstract: In order to improve the adaptability and moving stabilization of the flexible squirm robot in pipe, its key structures, including brake wheels, flexible spring axle and guide head, are optimized. For the new designed robot, its moving ability and trafficability in straight pipe and L-shape pipe are analyzed. Proceed with the robot's moving qualification, mechanical model of the robot in pipe is established and its squirming qualifications are proposed. Finally, a flexible squirm robot is developed to verify the validity of the proposed method.

Abstract: This article analyzes the static and dynamic characteristics of the mcrocantilever. Methods about how to improve the frequency resolution is given on theory. Four pairs of resonant excited and detecting mechanism are analyzed with examples. Besides, the feasibility of the four methods applied in gas sensor is also discussed in the article.

Abstract: A new wheeled vehicle had been developed for crop close proximity monitoring of Miscanthus, which could be one of the most potential candidate of bioenergy crop, and have been paid attention nowadays. The new vehicle employed 4WD-4WS system. And 3x3x3 meters steel frame structure was especially designed for tall crops as Miscanthus. The new data acquisition vehicle makes data sampling much convenient and efficient without huge labor consumption. The data acquired by remote sensing system on the platform could increases the spatial, spectral and temporal resolution of the crop remote sensing data significantly, comparing to satellite and aerial remote sensing system.

Abstract: The jet water shape of the nozzle will become a self-oscillating shape, if the triangle and U shape models are made into the normal nozzle. Using the VOF model , the jet shape of the nozzle will be simulated through a commercial CFD software 'FLUENT'. The VOF model (Volume of Fluid) is a surface-tracking technique applied to a fixed Eulerian mesh. It is designed for two or more immiscible fluids where the position of the interface between the fluids is of interest. The CFD simulation results shows that the jet shape of the nozzle is oscillate in a fixed period.

Abstract: This paper suggests design method for input interface of cam shedding mechanism under multiple working conditions and multiple types of machine according to the process requirement on loom shedding mechanism for compatibility to multiple working conditions and multiple types of machine as well as motion coordination, and describes the relation between number of heddle frame and tooth number of gear for change, gives the standard center distance for corresponding number of gear teeth, establishes the model of output unit of cam shedding mechanism, and whereby educes the calculating method of shedding cam design parameters and the design idea on seriation of cam shedding mechanism, meanwhile determines adaptive fabric textures of cam shedding mechanism as well as each suitable type and number of cam.

Abstract: Based on a configuration palletizing robot, its kinematic models were built by using D-H method. Solver program and interface are developed by using Matlab software and numerical method. Then, its three-dimensional workspace drawing and sectional drawing are derived in the context of any number value of key parameter. Based on that, in order to analyze the influence of workspace caused by the change of robot structure parameters quantificational, the concept of workspace influence coefficient is introduced. The influence coefficient curves of the length and rotation angle of connecting rods on workspace are calculated. Those reveal the influence extent and influence trend caused by the change of unit length of the robot structure parameters and provide a basis for robot’s structural optimization from kinematic view.

Abstract: The gravity oil feed method dose not suit for microgravity environment as the same way dose for ground lubrication system. It is the key problem to be solved that how to supply the oil to friction surface in space liquid lubrication system. It analyzed the lubricating manner. A space liquid lubrication system was designed based on a principle of using deformation energy to supply oil. In the analysis of its basic structure and operating principle, the film calculation mode was established based on the elastohydrodynamic lubrication theory. The lubricating performance was simulated by ANSYS finite element analysis software in microgravity. The calculation results show that: in the microgravity, it could achieve elastohydrodynamic lubrication on friction surface in this lubrication system. When the oil supply hole diameter is 2mm, the film-thickness ratio changes between 1.91 and 4.28. It belongs to elastohydrodynamic lubrication. The hole diameter decreases, the film thickness reduces. The minimum film-thickness ratio is 0.93 when the temperature changes widely from -50°C~+80°C. It belongs to boundary lubrication state.