Dynamics modelling and analysis of a large-load swinging platform

Swing platform is widely used to simulate the motion attitude of vehicles, ships and aircraft while carrying large loads. Aiming at the excessive driving force and output power of the driving parts caused by the large load swing platform, a new swing platform which can bear the large load was established. The swing platform is equipped with four spring branch chains between the moving platform and the static platform of the 6-UPS parallel mechanism, so as to offset the gravity of the large load and the inertia force of the large load in the process of motion, and the driving force of each branch chain is reduced. In this paper, the structure of the swing platform is introduced, and the dynamics of the swing platform is modeled using the Newton-Euler dynamics equation. Finally, the driving force of each branch chain of the swing platform is obtained by simulation of the dynamics of the swing platform. The simulation results show that the swing platform with four spring branch chains can effectively reduce the driving force of each branch chain compared with the traditional 6-UPS parallel mechanism swing platform.

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

To research the power consumption characteristics of mobile system of an electrically driven large-load-ratio six-legged robot with engineering capability is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in the duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

TAMBAL BAN SEPEDA MOTOR YANG ERGONOMIS MENGGUNAKAN ARDUINO UNO

Tire patch is an activity to repair the tire incompletely only on the part that is leaking. the tire patch tool uses canned gas as a heater, the use of canned gas as a tire heater turns out to have many shortcomings such as the results of the patch being less sticky, the patching time is quite long and it costs a lot of money to buy canned gas. The methodology used in this study is the method of validity, namely testing the hot temperature on an Arduino Uno-based automatic tire patch with a Bluetooth connection. The result of designing an ergonomic motorcycle tire patch tool based on Arduino Uno. The control system tool can work in accordance with its supporting instruments by detecting hot temperatures to operating the device using a Bluetooth connection, there are two types of support systems which are often referred to as software and hardware, so the design process is carried out on both of these supports. The test was carried out 3 times. The first test using a temperature of 80-100 oC takes 3 minutes 28 seconds. The second test using a temperature of 100-120 oC takes 4 minutes 30 seconds with poor results because the results of the patch cannot withstand a large load and cannot withstand being used for too long, while the last or third test uses a temperature of 120-160 oC with the required time. 5 minutes 40 seconds with good patching results.

Automatic Control Optimization for Large-Load Plant-Protection Quadrotor

In this article, methods for the attitude control optimization of large-load plant-protection quadrotor unmanned aerial vehicles (UAVs) are presented. Large-load plant-protection quadrotors can be defined as quadrotors equipped with sprayers and a tank containing a large amount of water or pesticide, allowing the quadrotors to water plants or spray pesticide during flight. Compared to the control of common small quadrotors, two main points need to be considered in the control of large-load plant-protection quadrotors—first, the water in the tank gradually diminishes during flight and the physical parameters change during this process. Second, the size and mass of the rotors are especially large, which greatly slows the response rate of the rotors. We present an extended-state reinforcement learning (RL) algorithm to solve these problems. The moment of inertia (MOI) of the three axes and the dynamic response constant of the rotors are included in the state list of the quadrotor during the training process, so that the controller can learn these changes in the models. The controlling laws are automatically generated and optimized, which greatly simplifies the tuning process compared to those of traditional control algorithms. The controller in this article is tested on a 10 kg class large-load plant-protection quadrotor, and the flight performance verifies the effectiveness of our work.