Motion analysis of screw drive in-pipe cleaning robot

In-pipe cleaning robots often need to carry cleaning tools, and their tails are connected with cables such as water pipes and air pipes. Especially when cleaning vertical straight pipes and curved pipes, a greater traction is required. Therefore, a new type of screw drive in-pipe cleaning robot was designed in this paper. The robot solves the problems of small traction, complex structure, and unstable motion of the in-pipe cleaning robot. The kinematics modeling was carried out on the screw drive in-pipe cleaning robot’s screw module for generating traction, and the force analysis was performed on this basis. The function model of the torque, air pressure, and traction of the screw module was established, which was verified by the simulation and experiment. The results show that the screw in-pipe cleaning robot has a large traction, stable operation, and can be well adapted to the vertical straight pipes and curved pipes.

Calculation and Analysis of Truss Internal Force Based on Beam Element

For plane truss structure, starting from the analysis of ideal truss model, the influence of tangential deformation and angular deformation on the secondary internal force of the truss is fully considered through Python program. It is obtained through analysis that: in the ideal truss model, the Pδ second-order effect causes the member to produce tangential deformation and angular deformation, resulting in secondary internal forces. Numerical analysis shows that due to the influence of secondary internal force, the axial force error of ideal truss model can reach 19.731% and the secondary shear force is almost all the members of the truss, and the secondary moment only appears at the support. The research results have important reference value for the engineering design and high-precision internal force analysis of truss structures.

Static Force Analysis of a 3-DOF Robot for Spinal Vertebral Lamina Milling

In order to realize robot-assisted spinal laminectomy surgery and meet the clinical needs of the robot workspace, including accuracy in human–robot collaboration, an asymmetrical 3-DOF spatial translational robot is proposed, which can realize spinal laminectomy in a fixed posture. First, based on the screw theory, the constraint screw system of the robot was established, and the degree of freedom was derived to verify the spatial translational ability of the robot. Then, a kinematic model of the robot was established, and a static force model of the robot was derived based on the kinematic model. The mathematical relationship between the external force and the joint force/torque was obtained, with the quality of all links considered in the model. Finally, we modeled the robot and imported it into ADAMS to obtain the static force simulation results of the 3D model. The force error was approximately 0.001 N and the torque error was approximately 0.0001 N∙m compared with the simulation results of the mathematical model, accounting for 1% of the joint force/torque, which is acceptable. The result also showed the correctness of the mathematical models, and provides a theoretical basis for motion control and human–robot collaboration.

Take-off control and characteristics of FanWing

Purpose As a short take-off and landing aircraft, FanWing has the capability of being driven under power a short distance from a parking space to the take-off area. The purpose of this paper is to design the take-off control system of FanWing and study the factors that influence the short take-off performance under control. Design/methodology/approach The force analysis of FanWing is studied in the take-off phase. Two take-off control methods are researched, and several factors that influence the short take-off performance are studied under control. Findings The elevator and fan wing control systems are designed. Although the vehicle load increases under the fan wing control, the fan wing control is not a recommended practice in the take-off phase for its sensitivity to the pitch angle command. The additional pitch-down moment has a significant influence on the control system and the short take-off performance that the barycenter variation of FanWing should be considered carefully. Practical implications The presented efforts provide a reference for the location of the center of gravity in designing FanWing. The traditional elevator control is more recommended than the fan wing control in the take-off phase. Originality/value This paper offers a valuable reference on the control system design of FanWing. It also proves that there is an additional pith-down moment that needs to be paid close attention to. Four factors that influence the short take-off performance are compared under control.

Analisis Kekuatan Program Kesehatan (Program KB)

Analisis kekuatan program KB dengan evidence based analysis, field force analysis, institutional strengthening analysis dan need community analysis.

Research on a Critical Hydraulic Gradient of Piping in Noncohesive Soils

The critical hydraulic gradient of cohesive soil is an important condition for judging soil piping. For force analysis of movable particles in pore channels of soil, this study proposes to consider the influence of surrounding particles on the drag force of movable particles by water flow. According to the principle of relative motion, considering the interaction force between moving objects in still water, the value of the drag force of water flow that is affected by surrounding particles is calculated, to derive the method of the critical hydraulic gradient. This calculation method is suitable for the results of previous piping tests, and the method is accurate and concise.