Crank Arrangement on the Dynamics of a Quadruped Walking Machine

2015 ◽  
Vol 764-765 ◽  
pp. 213-217
Author(s):  
Fu Chen Chen ◽  
Shang Chen Wu ◽  
Yung Cheng Chen
Keyword(s):  
Dynamic Response ◽  
Dynamic Characteristics ◽  
Pitch Angle ◽  
Walking Machine ◽  
Design And Optimization ◽  
Future Design ◽  
Walking Machines ◽  
The One

The purpose of this study is to investigate the effect of crank arrangement on the dynamics of a quadruped walking machine. The dynamic characteristics of the walking machine, including the stance leg sequence, pitch angle and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0o or 90o and the one between the legs on the different sides should be 180o. The results of this study can serve as a reference for future design and optimization of quadruped walking machines.

Dynamics of a Quadruped Walking Machine

2013 ◽  
Vol 479-480 ◽  
pp. 385-389
Author(s):  
Fu Chen Chen ◽  
Shang Chen Wu ◽  
Yung Cheng Chen
Keyword(s):  
Dynamic Characteristics ◽  
Pitch Angle ◽  
Equation Of Motion ◽  
Transmission Efficiency ◽  
Basic Theory ◽  
Walking Machine ◽  
Driving Torque ◽  
Support Leg ◽  
Foot Trajectory

The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its structure. The basic theory behind the equation of motion is briefly introduced. The dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study has fewer changes in pitch angle during movement and exhibits less skidding while changing support leg.

scholarly journals Dynamic response improvement of hybrid system by implementing ANN-GA for fast variation of photovoltaic irradiation and FLC for wind turbine

2015 ◽  
Vol 64 (2) ◽  
pp. 291-314 ◽  
Author(s):  
Maziar Izadbakhsh ◽  
Alireza Rezvani ◽  
Majid Gandomkar
Keyword(s):  
Fuzzy Logic ◽  
Wind Speed ◽  
Dynamic Response ◽  
Wind Turbine ◽  
Hybrid System ◽  
Pitch Angle ◽  
Fuzzy Logic Controller ◽  
Control Method ◽  
Control Technique ◽  
Power Curves

Abstract In this paper, dynamic response improvement of the grid connected hybrid system comprising of the wind power generation system (WPGS) and the photovoltaic (PV) are investigated under some critical circumstances. In order to maximize the output of solar arrays, a maximum power point tracking (MPPT) technique is presented. In this paper, an intelligent control technique using the artificial neural network (ANN) and the genetic algorithm (GA) are proposed to control the MPPT for a PV system under varying irradiation and temperature conditions. The ANN-GA control method is compared with the perturb and observe (P&O), the incremental conductance (IC) and the fuzzy logic methods. In other words, the data is optimized by GA and then, these optimum values are used in ANN. The results are indicated the ANN-GA is better and more reliable method in comparison with the conventional algorithms. The allocation of a pitch angle strategy based on the fuzzy logic controller (FLC) and comparison with conventional PI controller in high rated wind speed areas are carried out. Moreover, the pitch angle based on FLC with the wind speed and active power as the inputs can have faster response that lead to smoother power curves, improving the dynamic performance of the wind turbine and prevent the mechanical fatigues of the generator

Flow Field Simulation in Water Washing Tank of Explosion-Proof Diesel

2014 ◽  
Vol 989-994 ◽  
pp. 3456-3459
Author(s):  
Ri Sheng Long ◽  
Zi Sheng Lian ◽  
Shao Ni Sun ◽  
Qi Liang Wang
Keyword(s):  
Flow Field ◽  
Flow Condition ◽  
Gas Flow ◽  
Outlet Temperature ◽  
Flow Field Simulation ◽  
Design And Optimization ◽  
Waste Gas ◽  
Future Design ◽  
Water Washing ◽  
Field Simulation

In order to improve the cooling & purifying effect of exhaust, reducing the water-jetting phenomenon during working time, the waste-gas flow field simulation in water-washing tank of Explosion-Proof Diesel (EPD) was conducted through ANSYSCFX/Fluent. The results revealed the inner flow condition and outlet temperature of emissions in water-washing tank. It provided a reference for the future design and optimization of the water-washing tank of EPD.

Design and Underwater Tests of Subsea Walking Hexapod MAK-1

2016 ◽  
Author(s):  
Vadim V. Chernyshev ◽  
Vladimir V. Arykantsev ◽  
Andrey E. Gavrilov ◽  
Yaroslav V. Kalinin ◽  
Nikolay G. Sharonov
Keyword(s):  
Movement Control ◽  
Experimental Tests ◽  
Energy Usage ◽  
Walking Machine ◽  
Walking Machines ◽  
Sea Bottom ◽  
Different Types ◽  
Robotic Devices ◽  
And Control ◽  
System Power

An important role among machines for sea bottom exploration is assigned to the autonomous ground devices. Some rescue tasks also require subsea robotic devices. The main purpose of the work is to investigate and improve adaptive characteristics, traction properties and control methods of cyclic walking movers in underwater conditions. Traction properties of walking machines, which moves at sea bottom was analyzed. Some experience of development and experimental tests of the walking robot “Vosminog”, designed for work at weak and waterlogged grounds. Dynamic model of a walking machine has been shown. Studied an opportunity to increase adaptive characteristics and shape passableness of walking machines. Also design and results of underwater tests of subsea walking unit MAK-1 are discussed. During tests the performance of a walking unit has been checked and the influence of design features of a walking mover on its traction characteristics and ground passability has been investigated. Some details about control system, power system and energy usage, vertical motions and accelerations for different types of walking and conditions of movement has been given. Also, certain attention was given to testing of methods of standalone movement control of subsea unit in conditions of incomplete and ambiguous vision of current situation. Tests have shown that walking movers in subsea conditions can provide higher traction properties, in comparison with wheeled and tracked ones. The unit can be used for exploration of seabed resources and for rescue tasks.

Comparative Analysis of Frame-Core Wall Structure for Seismic Design

2012 ◽  
Vol 256-259 ◽  
pp. 2028-2033
Author(s):  
Jing Yang ◽  
Jiang Fan ◽  
Ji Xing Yuan ◽  
Qing Zhang
Keyword(s):  
Comparative Analysis ◽  
Dynamic Response ◽  
Seismic Performance ◽  
Seismic Design ◽  
Dynamic Characteristics ◽  
Wall Structure ◽  
Elastic Plastic ◽  
Linear Elastic ◽  
Plastic Phase

In this paper a skyscrapers frame-core wall structure as an example in Kun Ming, using two independent software, SATWE and ETABS, analyzed the dynamic characteristics and dynamic response of structures with earthquake in linear elastic phase and the elastic-plastic phase respectively, so that could evaluate rationality of the design of the structure as a whole and seismic performance superior or not, and it could provide an idea for audit drawing or proofread their own.

scholarly journals State-rescaling and re-designing the material city-region: Tensions of disruption and continuity in articulating the future of Greater Manchester

Urban Studies ◽  
2019 ◽  
Vol 57 (1) ◽  
pp. 198-217 ◽  
Author(s):  
Mike Hodson ◽  
Andrew McMeekin ◽  
Julie Froud ◽  
Michael Moran
Keyword(s):  
Urban Governance ◽  
Critical Role ◽  
City Region ◽  
National Space ◽  
Future Design ◽  
City Regions ◽  
The Future ◽  
The One ◽  
The Uk ◽  
The City

In a context of globalisation, the emergence of city-regions and the politics and dynamics of their constitution has been debated for almost two decades. Recent writings have extended this focus to seeing city-regions as a geopolitical project of late capitalism where the state takes a critical role in the re-design of city-regions to make them amenable to international competition and to secure strategic inward investments in the built environment and infrastructure. We explore this issue in the context of state redesign of sub-national space in England and focus on Greater Manchester, as the de facto exemplar of ‘devolution’ to English city-regions. We argue that though re-scaling in Greater Manchester is a long-term historical process this has been punctuated by the UK state’s process of ‘devolution’ since 2014, this has involved a re-design and formalisation of Greater Manchester’s governing arrangements. It has also involved invoking a long dormant role for city-regional planning in articulating the future design of the material city-region over the next two decades as an attempt to formalise and continue a pre-existing, spatially selective growth trajectory by new means. Yet, the disruption of new hard governing arrangements also provides challenges to that trajectory. This produces tensions between, on the one hand, the pursuit of a continuity politics of growth through agglomeration, material transformation of the city-region and narrow forms of urban governance and, on the other hand, a more disruptive politics of the future of the city-region, its material transformation and how it is governed. These tensions are producing new political possibilities and spaces in the transformation of Greater Manchester. The implications of this are discussed.

The Mechanics of Parallel Mechanisms and Walking Machines

1994 ◽  
Vol 208 (6) ◽  
pp. 367-377 ◽  
Author(s):  
S J Zhang ◽  
D J Sanger ◽  
D Howard
Keyword(s):  
Parallel Mechanism ◽  
Virtual Work ◽  
The Body ◽  
Position Vector ◽  
Parallel Mechanisms ◽  
Active Joint ◽  
End Effector ◽  
Walking Machine ◽  
Walking Machines ◽  
Fixed Base

A parallel mechanism is one whose links and joints form two or more serially connected chains which join the fixed base and the end effector The mechanism of a multi-legged walking machine can be considered as a parallel mechanism whose base is not fixed and whose configuration changes during different phases of its gait. This paper presents methods for analysing the mechanics of parallel mechanisms and walking machines using vector and screw algebra Firstly, displacement analysis is covered; this includes general methods for deriving the position vector of any joint in any leg and for calculating the active joint displacements in any leg. Secondly, velocity analysis is covered which tackles the problem of calculating active joint velocities given the velocity, position and the orientation of the body and the positions of the feet. Thirdly, the static analysis of these classes of mechanisms using the principle of virtual work and screw algebra is given. Expressions are derived for the actuator forces and torques required to balance a given end effector (or body) wrench and, in the case of a walking machine, the ground reactions at the feet. Numerical examples are given to demonstrate the application of these methods.

Optimal tripod turning gait generation for hexapod walking machines

Robotica ◽  
2000 ◽  
Vol 18 (6) ◽  
pp. 639-649 ◽  
Author(s):  
S. Miao ◽  
D. Howard
Keyword(s):  
Rotation Angle ◽  
Gait Generation ◽  
Walking Machine ◽  
Walking Machines ◽  
Machine Layout ◽  
The Stability

This paper describes an algorithm for generating a tripod turning gait which, when given an arbitrarily located turning centre, firstly maximises the rotation angle (angular stride) and then secondly optimises the stability. It does not require a specific walking machine layout or leg workspace shape, and it can deal with changes in the position of the CG caused by walking on a gradient or by uneven loading.

Adjustments of Ground Motion Input Based on Ground Micro Tremor Test to Determine Ground Dynamic Characteristics and its Anisotropy

2011 ◽  
Vol 90-93 ◽  
pp. 1447-1453
Author(s):  
Jun Zuo
Keyword(s):  
Dynamic Response ◽  
Ground Motion ◽  
Structure Analysis ◽  
Dynamic Characteristics ◽  
Seismic Anisotropy ◽  
Time History ◽  
Test Analysis ◽  
Analysis Process

According to the seismic anisotropy theory and the test observation, this paper puts forward the conception of the ground micro tremor anisotropy, and researches the method of the micro tremor test analysis about the anisotropy of the ground dynamic characteristics. Given the anisotropic characteristics of the ground motion, it analyzes the influence of the ground motion anisotropy on the seismic dynamic response of the structure, and the existent problems about the selection and adjustment of the existing seismic time history in the structure analysis process. Finally, this paper puts forward the new selection and adjustment solution of ground motion input based on the ground micro tremor test to determine the ground dynamic characteristics and the ground anisotropy.

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