scholarly journals Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Runxiao Wang ◽  
Wentao Zhao ◽  
Shujun Li ◽  
Shunqi Zhang
Keyword(s):  
High Speed ◽  
Mathematical Formulation ◽  
Legged Robots ◽  
Slip Model ◽  
Spring Stiffness ◽  
Running Speed ◽  
Fast Running ◽  
J Curve ◽  
The Stability ◽  
Leg Spring

Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness.

Advanced Parallel Actuation of a Serial Robotic Leg

2016 ◽  
Author(s):  
Nathan Cahill ◽  
Matthew Holgate ◽  
Kyle Schroeder ◽  
Thomas G. Sugar
Keyword(s):  
High Speed ◽  
Large Body ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Gait Pattern ◽  
Legged Robots ◽  
Parallel Structure ◽  
Force Output ◽  
Fast Running ◽  
Mobile Mass

Advanced actuation methods are needed in legged robots in order to build robust and efficient robotic systems. State of the art robots either consume much more energy than their biological counterparts or are dramatically less mobile. Advanced actuation methods are necessary to achieve both efficiency and mobility. Many highly mobile legged robots are actuated in serial, but serial actuation has many known weaknesses. This research explores a new and promising method of actuation that is a hybrid of serial and parallel actuation. This method is able to draw from the large body of research conducted on parallel manipulators over the last several decades. This research has shown that parallel manipulators can offer many advantages over serial arms including: smaller mobile mass, more rigidity, faster end effector speeds, and large force capacity. All of these advantages are well suited for the requirements of legged robots. In this paper, the authors detail the implementation of this advanced actuation method from conceptualization to the first stages of testing. It details the choice of configuration, which was important, and somewhat counter intuitive. It also walks through the kinematic solutions, showing relatively simple solutions to challenging problems. The goal of the work is to use multiple, small motors in parallel to actuate the hip and the knee. In this way, during the stance phase of gait, multiple motors can be used in parallel to provide a powerful burst for push-off. Our two-link parallel structure allows the motors to cross multiple joints and therefore can be used to actuate several joints at once. In addition, by mounting motors at the base, the inertia of the leg is greatly reduced.B@Creating a fast, efficient leg structure is the first step in our project. The higher level goal of this research is to create a quadruped robot that is designed for efficient and fast running. The novel leg structure described in this paper will be capable of the types of motions associated with high speed gait. The robot needs to be capable of both high speed motions and high force output, without being excessively heavy. It should also be capable of accurate three dimensional control, and meet certain manipulability criterion. In this paper we show a functional and promising 3D printed leg prototype. This paper will provide a detailed description of this unique approach to actuation. It will also show the solution to the kinematic equations. Finally, as a proof of concept, the leg was moved in a gait pattern over a treadmill.

A Statistical Study of Process Variables to Optimize a High Speed Curtain Coater: Part I

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 20-26 ◽  
Author(s):  
PEEYUSH TRIPATHI ◽  
MARGARET JOYCE ◽  
PAUL D. FLEMING ◽  
MASAHIRO SUGIHARA
Keyword(s):  
Boundary Layer ◽  
Experimental Design ◽  
High Speed ◽  
Statistical Study ◽  
Process Variables ◽  
High Speeds ◽  
The Stability ◽  
Air Removal ◽  
Removal System

Using an experimental design approach, researchers altered process parameters and material prop-erties to stabilize the curtain of a pilot curtain coater at high speeds. Part I of this paper identifies the four significant variables that influence curtain stability. The boundary layer air removal system was critical to the stability of the curtain and base sheet roughness was found to be very important. A shear thinning coating rheology and higher curtain heights improved the curtain stability at high speeds. The sizing of the base sheet affected coverage and cur-tain stability because of its effect on base sheet wettability. The role of surfactant was inconclusive. Part II of this paper will report on further optimization of curtain stability with these four variables using a D-optimal partial-facto-rial design.

LANDSLIDE RISK MANAGEMENT IN THE COASTAL ZONE OF THE KUIBYSHEV RESERVOIR DUE THE DESIGN OF HIGH-SPEED LINE "MOSCOW-KAZAN"

2017 ◽  
Author(s):  
Nikolai Petrov ◽  
Nikolai Petrov ◽  
Inna Nikonorova ◽  
Inna Nikonorova ◽  
Vladimir Mashin ◽  
...  
Keyword(s):  
High Speed ◽  
Computational Models ◽  
Stable State ◽  
Landslide Risk ◽  
Kuibyshev Reservoir ◽  
Stepped Surface ◽  
The Stability ◽  
Landslide Slope ◽  
The Village

High-speed railway "Moscow-Kazan" by the draft crosses the Volga (Kuibyshev reservoir) in Chuvashia region 500 m below the village of New Kushnikovo. The crossing plot is a right-bank landslide slope with a stepped surface. Its height is 80 m; the slope steepness -15-16o. The authors should assess the risk of landslides and recommend anti-landslide measures to ensure the safety of the future bridge. For this landslide factors have been analyzed, slope stability assessment has been performed and recommendations have been suggested. The role of the following factors have been analyzed: 1) hydrologic - erosion and abrasion reservoir and runoff role; 2) lithologyc (the presence of Urzhum and Northern Dvina horizons of plastically deformable rocks, displacement areas); 3) hydrogeological (the role of perched, ground and interstratal water); 4) geomorphological (presence of the elemental composition of sliding systems and their structure in the relief); 5) exogeodynamic (cycles and stages of landslide systems development, mechanisms and relationship between landslide tiers of different generations and blocks contained in tiers). As a result 6-7 computational models at each of the three engineering-geological sections were made. The stability was evaluated by the method “of the leaning slope”. It is proved that the slope is in a very stable state and requires the following measures: 1) unloading (truncation) of active heads blocks of landslide tiers) and the edge of the plateau, 2) regulation of the surface and groundwater flow, 3) concrete dam, if necessary.

Dynamic Performance of High-Speed Electric Multiple Unit within Multi-Body System Simulation

2019 ◽  
Vol 12 (4) ◽  
pp. 339-349
Author(s):  
Junguo Wang ◽  
Daoping Gong ◽  
Rui Sun ◽  
Yongxiang Zhao
Keyword(s):  
High Speed ◽  
Rapid Development ◽  
Dynamic Performance ◽  
Body System ◽  
High Speed Railway ◽  
Evaluation Indexes ◽  
Actual Operation ◽  
Multiple Unit ◽  
The Stability ◽  
Multi Body

Background: With the rapid development of the high-speed railway, the dynamic performance such as running stability and safety of the high-speed train is increasingly important. This paper focuses on the dynamic performance of high-speed Electric Multiple Unit (EMU), especially the dynamic characteristics of the bogie frame and car body. Various patents have been discussed in this article. Objective: To develop the Multi-Body System (MBS) model of EMU, verify whether the dynamic performance meets the actual operation requirements, and provide some useful information for dynamics and structural design of the proposed EMU. Methods: According to the technical characteristics of a typical EMU, a MBS model is established via SIMPACK, and the measured data of China high-speed railway is taken as the excitation of track random irregularity. To test the dynamic performance of the EMU, including the stability and safety, some evaluation indexes such as wheel-axle lateral forces, wheel-axle lateral vertical forces, derailment coefficients and wheel unloading rates are also calculated and analyzed in detail. Results: The MBS model of EMU has better dynamic performance especially curving performance, and some evaluation indexes of the stability and safety have also reached China’s high-speed railway standards. Conclusion: The effectiveness of the proposed MBS model is verified, and the dynamic performance of the MBS model can meet the design requirements of high-speed EMU.

scholarly journals Influence of Whey Protein Micro-Gel Particles and Whey Protein Micro-Gel Particles-Xanthan Gum Complexes on the Stability of O/W Emulsions

Polymers ◽  
2021 ◽  
Vol 13 (14) ◽  
pp. 2301
Author(s):  
Man Zhang ◽  
Bin Liang ◽  
Hongjun He ◽  
Changjian Ji ◽  
Tingting Cui ◽  
...  
Keyword(s):  
Oxidative Stability ◽  
Whey Protein ◽  
High Speed ◽  
Xanthan Gum ◽  
Physical Stability ◽  
Theoretical Support ◽  
Gel Particles ◽  
Oil In Water ◽  
The Stability ◽  
The Impact

Appropriate pretreatment of proteins and addition of xanthan gum (XG) has the potential to improve the stability of oil-in-water (O/W) emulsions. However, the factors that regulate the enhancement and the mechanism are still not clear, which restricts the realization of improving the emulsion stability by directional design of its structure. Therefore, the effects of whey protein micro-gel particles (WPMPs) and WPMPs-XG complexes on the stability of O/W emulsion were investigated in this article to provide theoretical support. WPMPs with different structures were prepared by pretreatment (controlled high-speed shear treatment of heat-set WPC gels) at pH 3.5–8.5. The impact of initial WPC structure and XG addition on Turbiscan Indexes, mean droplet size and the peroxide values of O/W emulsions was investigated. The results indicate that WPMPs and XG can respectively inhibit droplet coalescence and gravitational separation to improve the physical stability of WPC-stabilized O/W emulsions. The pretreatment significantly enhanced the oxidative stability of WPC-stabilized O/W emulsions. The addition of XG did not necessarily enhance the oxidative stability of O/W emulsions. Whether the oxidative stability of the O/W emulsion with XG is increased or decreased depends on the interface structure of the protein-XG complex. This study has significant implications for the development of novel structures containing lipid phases that are susceptible to oxidation.

scholarly journals High-Speed Video Analysis of the Process Stability in Plasma Spraying

2021 ◽  
Author(s):  
K. Bobzin ◽  
M. Öte ◽  
M. A. Knoch ◽  
I. Alkhasli ◽  
H. Heinemann
Keyword(s):  
Plasma Spraying ◽  
High Speed ◽  
Plasma Jet ◽  
Plasma Jets ◽  
Time Dependent ◽  
Acquisition Time ◽  
Fast Fourier Transformation ◽  
Frequency Spectra ◽  
Dependent Signal ◽  
The Stability

AbstractIn plasma spraying, instabilities and fluctuations of the plasma jet have a significant influence on the particle in-flight temperatures and velocities, thus affecting the coating properties. This work introduces a new method to analyze the stability of plasma jets using high-speed videography. An approach is presented, which digitally examines the images to determine the size of the plasma jet core. By correlating this jet size with the acquisition time, a time-dependent signal of the plasma jet size is generated. In order to evaluate the stability of the plasma jet, this signal is analyzed by calculating its coefficient of variation cv. The method is validated by measuring the known difference in stability between a single-cathode and a cascaded multi-cathode plasma generator. For this purpose, a design of experiment, covering a variety of parameters, is conducted. To identify the cause of the plasma jet fluctuations, the frequency spectra are obtained and subsequently interpreted by means of the fast Fourier transformation. To quantify the significance of the fluctuations on the particle in-flight properties, a new single numerical parameter is introduced. This parameter is based on the fraction of the time-dependent signal of the plasma jet in the relevant frequency range.

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

scholarly journals Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

2021 ◽  
Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin
Keyword(s):  
Legged Robots ◽  
Measurement Unit ◽  
Support Vector ◽  
Hexapod Robot ◽  
Terrain Classification ◽  
Adaptive Locomotion ◽  
Joint Torques ◽  
Active Compliance ◽  
Outdoor Environments ◽  
The Stability

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

Stability of Milling Operations With Asymmetric Cutter Dynamics in Rotating Coordinates

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
Alptunc Comak ◽  
Orkun Ozsahin ◽  
Yusuf Altintas
Keyword(s):  
Time Domain ◽  
Machine Tools ◽  
High Speed ◽  
End Mill ◽  
Spindle Shaft ◽  
Milling Operations ◽  
Stability Model ◽  
Principal Directions ◽  
The Stability ◽  
Rotating Coordinates

High-speed machine tools have parts with both stationary and rotating dynamics. While spindle housing, column, and table have stationary dynamics, rotating parts may have both symmetric (i.e., spindle shaft and tool holder) and asymmetric dynamics (i.e., two-fluted end mill) due to uneven geometry in two principal directions. This paper presents a stability model of dynamic milling operations with combined stationary and rotating dynamics. The stationary modes are superposed to two orthogonal directions in rotating frame by considering the time- and speed-dependent, periodic dynamic milling system. The stability of the system is solved in both frequency and semidiscrete time domain. It is shown that the stability pockets differ significantly when the rotating dynamics of the asymmetric tools are considered. The proposed stability model has been experimentally validated in high-speed milling of an aluminum alloy with a two-fluted, asymmetric helical end mill.

Transition of streamwise streaks in zero-pressure-gradient boundary layers

2002 ◽  
Vol 472 ◽  
pp. 229-261 ◽  
Author(s):  
LUCA BRANDT ◽  
DAN S. HENNINGSON
Keyword(s):  
Boundary Layer ◽  
Pressure Gradient ◽  
High Speed ◽  
Plate Boundary ◽  
Transition Process ◽  
Free Stream Turbulence ◽  
Tollmien Schlichting ◽  
Streamwise Streaks ◽  
The Stability ◽  
Optimal Disturbances

A transition scenario initiated by streamwise low- and high-speed streaks in a flat-plate boundary layer is studied. In many shear flows, the perturbations that show the highest potential for transient energy amplification consist of streamwise-aligned vortices. Due to the lift-up mechanism these optimal disturbances lead to elongated streamwise streaks downstream, with significant spanwise modulation. In a previous investigation (Andersson et al. 2001), the stability of these streaks in a zero-pressure-gradient boundary layer was studied by means of Floquet theory and numerical simulations. The sinuous instability mode was found to be the most dangerous disturbance. We present here the first simulation of the breakdown to turbulence originating from the sinuous instability of streamwise streaks. The main structures observed during the transition process consist of elongated quasi-streamwise vortices located on the flanks of the low-speed streak. Vortices of alternating sign are overlapping in the streamwise direction in a staggered pattern. The present scenario is compared with transition initiated by Tollmien–Schlichting waves and their secondary instability and by-pass transition initiated by a pair of oblique waves. The relevance of this scenario to transition induced by free-stream turbulence is also discussed.

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