scholarly journals Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

2019 ◽  
Vol 10 (1) ◽  
pp. 294 ◽  
Author(s):  
Xin Sui ◽  
Hegao Cai ◽  
Dongyang Bie ◽  
Yu Zhang ◽  
Jie Zhao ◽  
...  
Keyword(s):  
Parametric Design ◽  
Three Dimensional ◽  
Structural Complexity ◽  
Automatic Generation ◽  
Simulation Software ◽  
Modular Robots ◽  
Simulation Platform ◽  
Modular Robot ◽  
Dimensional Simulation ◽  
Multi Body

In recent years, soft modular robots have become popular among researchers with the development of soft robotics. However, the absence of a visual 3D simulation platform for soft modular robots hold back the development of the field. The three-dimensional simulation platform plays an important role in the field of multi-body robots. It can shorten the design cycle, reduce costs, and verify the effectiveness of the optimization algorithm expediently. Equally importantly, evolutionary computation is a very effective method for designing the controller of multi-body robots and soft robots with hyper redundancy and large parametric design space. In this paper, a tradeoff between the structural complexity of the soft modular robot and computational power of the simulation software is made. A reconfigurable soft modular robot is designed, and the open-source simulation software VOXCAD is re-developed to simulate the actual soft robot. The evolutionary algorithm is also applied to search for the most efficient motion pattern for an established configuration in VOXCAD, and experiments are conducted to validate the results.

Development of program-driven plug-in for conical counter-rotating twin screw based on SolidWorks

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Liqun Dong ◽  
Junwei Zhang ◽  
Liang Qin ◽  
Ping Xue ◽  
Yun Ma ◽  
...  
Keyword(s):  
Parametric Design ◽  
Cone Angle ◽  
Three Dimensional ◽  
Visual Basic ◽  
Automatic Generation ◽  
Three Dimensional Model ◽  
Modeling Process ◽  
Basic Language ◽  
Twin Screw ◽  
Visual Basic Language

Abstract Owing to the existence of the cone angle, the size of a conical counter-rotating twin screw continuously changes along the axis, so it is not easy to model using SolidWorks. In this study, the parametric design of the modeling process is completed based on the Visual Basic language and a program-driven method. Finally, the SolidWorks program plug-in and user interface are developed to complete the automatic generation of the three-dimensional model of a conical counter-rotating twin screw.

Application of the Mechanical Impedance of Body Arm Movement Based on the Virtual Tennis System

2013 ◽  
Vol 791-793 ◽  
pp. 1436-1440
Author(s):  
Ling Hang Yang
Keyword(s):  
Virtual Reality ◽  
Three Dimensional ◽  
Arm Movement ◽  
Mechanical Impedance ◽  
Simulation Software ◽  
Computer Hardware ◽  
Calculation Results ◽  
Virtual System ◽  
Dimensional Simulation ◽  
Theoretical Results

With the development of computer hardware and software technology, virtual reality technology of computer has been widely used in various fields. Virtual teaching process is one of the main applications of virtual reality computer technology. Tennis is one of the most common sports. Tennis process mainly includes the process of catching a ball, serving a ball and hitting a ball. Virtual process of tennis system must establish an accurate numerical simulation model to calculate the mechanical impedance during the arm movement of human. According to this, it builds a model of the mechanical impedance of human arm in tennis virtual system using three-dimensional simulation software in this paper and gets the curve of mechanical impedance through the simulation. Finally, the article compares calculation results with the theoretical results and concludes that the theoretical results and simulation results are basically consistent which provide a theoretical reference for the design of the development of virtual system for the human.

IBSIMU: A three-dimensional simulation software for charged particle optics

2010 ◽  
Vol 81 (2) ◽  
pp. 02B703 ◽  
Author(s):  
T. Kalvas ◽  
O. Tarvainen ◽  
T. Ropponen ◽  
O. Steczkiewicz ◽  
J. Ärje ◽  
...  
Keyword(s):  
Charged Particle ◽  
Three Dimensional ◽  
Simulation Software ◽  
Charged Particle Optics ◽  
Dimensional Simulation ◽  
Particle Optics

Three-Dimensional Stress Analysis and Configuration Optimization of Cross Wavy Primary Surface Recuperator for Microturbine System

2008 ◽  
Author(s):  
D. J. Zhang ◽  
M. Zeng ◽  
Q. W. Wang
Keyword(s):  
High Temperature ◽  
Stress Distribution ◽  
Stress Analysis ◽  
Parametric Design ◽  
Minimum Principle ◽  
High Stress ◽  
Three Dimensional ◽  
Automatic Generation ◽  
Temperature And Pressure ◽  
Air Passage

Recuperator in a microturbine system, which has to work under a high temperature and high pressure condition, is a key component to improve the electricity efficiency of the system. High temperature and pressure may cause high stress inside the Cross-Wavy Primary Surface (CWPS) sheet, and it is essential to analyze the stress distribution to ensure the security while the recuperator is working. In this paper the combined thermomechanical design of a CWPS recuperator for a 100kW microturbine system is presented. With the ANSYS Parametric Design Language (APDL), calculation procedures for heat transfer and stress analysis are combined in order to perform a reliable strength prediction of the recuperator. A program has been generated, which allows the automatic generation of the numerical model, the mesh and the boundary conditions. Also with the energy minimum principle, an optimal configuration of the air and gas passages is obtained. The results show that the material of the primary sheet (0Cr18Ni11Nb) is reliable. The stress distribution changes with the different configuration of the passages. Since the air pressure is much higher than that of the exhaust gas, the configuration of the primary sheet is much better when the sectional area of the gas passage is larger than that of the air passage. If the pitch of the sheet is maintained at 2mm, the best configuration is obtained when the dimension of passage is at r = 0.35–0.42mm, R = 0.55–0.48mm.

Simulation Study on Different Composition Fuels in Lean-Burn CNG Engine

2013 ◽  
Vol 448-453 ◽  
pp. 3430-3433
Author(s):  
Chang Qing Song ◽  
Jun Li ◽  
Da Wei Qu ◽  
Qi Jie Liu
Keyword(s):  
Three Dimensional ◽  
Hydrocarbon Fuel ◽  
Simulation Software ◽  
Combustion Model ◽  
Lean Burn ◽  
Maximum Heat ◽  
Cng Engine ◽  
Valve Opening ◽  
Dimensional Simulation ◽  
Combustion Processes

The Paper has Established a Combustion Model of Lean-Burn CNG Engine by Three-Dimensional Simulation Software AVL FRIE. Based on Test Validation in the Model, the Combustion Processes of Seven CNG Samples were Simulated and Compared from the Intake Valve Closed to the Exhaust Valve Opening. the Effects on Different Composition Fuels for CNG Engine were Researched. the Results Showed that: the Maximum Average Pressure within the Cylinder , the Highest Average Temperature, the Maximum Heat Release Rate, the Initial Mass Fraction of Fuels, CO and NO Formation Increased with the Hydrocarbon Fuel Ratio C/H, the Composition of Heavy Paraffin in CNG Directly Affected the Performance and Service Life of the Engine.

Development of a Three-Dimensional Simulation Model of Vehicle-Bridge Railing Crash: A Computer-Aided Approach to Bridge Railing Stiffness Design

1998 ◽  
Vol 1647 (1) ◽  
pp. 104-110
Author(s):  
Yuqing Wang ◽  
Yosuke Tamura ◽  
Hirotoshi Ishikawa ◽  
Kazuhiko Ando
Keyword(s):  
Simulation Model ◽  
Analytical Data ◽  
Three Dimensional ◽  
Vehicle Performance ◽  
Heavy Trucks ◽  
Stiffness Design ◽  
Dimensional Simulation ◽  
Multi Body ◽  
Crash Model ◽  
High Degree

To improve the conventional lengthy and inefficient design process for bridge railings, which features repetitions of costly full-scale experiments, and to support the bridge railing design with analytical data, this research developed a three-dimensional (3-D) simulation model that can reconstruct a vehicle-bridge railing impact analytically and visually using MADYMO (MAthematical DYnamic MOdel), developed by TNO. Both the vehicle and the bridge railing are modeled as rigid multi-body systems. A nonlinear tire model and a 3-D suspension are introduced to increase the reality of the vehicle motion during impact. The bridge railing is divided into poles and longitudinal railings. The bending characteristics of the poles and the longitudinal railings are described by the properties of corresponding universal joints attached to them. The simulation model is verified by experimental data of three different conditions using heavy trucks (8 tons and 20 tons). The validation reveals that the 3-D model can reconstruct vehicle-bridge railing crashes with a high degree of accuracy with respect to the vehicle performance and the deformation of the bridge railing, which are the most important concerns in the designs of bridge railings. The validated crash model is then employed to determine the necessary stiffness of the bridge railing under different conditions. Curves describing the relationship between the stiffness of the poles and the longitudinal railings are calculated for various impact severity values. These curves provide analytical grounds for the stiffness designs of the bridge railings.

scholarly journals A new meta-module design for efficient reconfiguration of modular robots

2021 ◽  
Author(s):  
Irene Parada ◽  
Vera Sacristán ◽  
Rodrigo I. Silveira
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Central Point ◽  
The Other ◽  
Three Dimensions ◽  
Modular Robots ◽  
The Novel ◽  
Modular Robot ◽  
Module Design ◽  
Rotational Degrees Of Freedom

AbstractWe propose a new meta-module design for two important classes of modular robots. The new meta-modules are three-dimensional, robust and compact, improving on the previously proposed ones. One of them applies to so-called edge-hinged modular robot units, such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, while the other one applies to so-called central-point-hinged modular robot units, which include Molecubes and Roombots. The new meta-modules use the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve their length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunneling-based reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended. We also prove that the size of the new meta-modules is optimal and cannot be further reduced.

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