Stability margin of the quadruped bionic robot with spinning gait

Spinning gait is valuable for quadruped robot, which can be used to avoid obstacles quickly for robot walking in unstructured environment.A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait.The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing, which can improve the mobility of robot walking in the un-structured environments.The coordinated movement relationship between the body and the leg mechanism is presented.The stability of quadruped robot with spinning gait is analyzed based on the center of gravity ( COG) projection method.The effect of different body bending angle on the stabili-ty of quadruped robot with spinning gait is mainly studied.For the quadruped robot walking with spinning gait, during one spinning gait cycle, the supporting polygon and the trajectory of COG pro-jection point under different body bending angle are calculated.Finally, the stability margin of quadruped robot with spinning gait under different body bending angle is determined, which can be used to evaluate reasonableness of spinning gait parameters.     

变质心自旋弹头的建模及自适应滑模控制

对自旋弹头实现末端机动的变质心控制系统进行了研究.为了明确表示自旋弹头的运动参数与质量块运动参数之间的关系,采用牛顿力学方法建立自旋弹头的姿态运动模型.模型包括质量块运动方程、姿态运动的运动学方程和动力学方程.考虑到俯仰和偏航通道的动力学特性为非线性的、铰链耦合的,采用自适应滑模控制方法设计了变质心控制系统,对系统中的不确定项进行估计和补偿,保证系统的跟踪误差收敛到零.变质心控制系统通过对质量块的偏移运动进行控制,进而准确地控制自旋弹头的姿态运动.为了检验所设计的变质心控制系统的控制性能,利用MATLAB/Simulink软件构建系统的仿真模型,进行仿真研究.仿真结果表明:所设计的变质心控制系统具有较高的快速性和控制精度,实现了对自旋弹头姿态角的准确控制.     

网眼罗拉型集聚纺集聚区须条集聚机理分析

为深入研究网眼罗拉型集聚纺系统中纤维须条在流场作用下的运动规律,建立了集聚区域的计算流体动力学(CFD)模型,并运用Fluent软件对该区域的流场进行数值计算,然后建立了纤维微元在气流场中的动力学模型,利用自编的Matlab程序对其进行求解,最后获得了纤维在集聚区的运动轨迹.研究结果表明不同初始位置的纤维运动轨迹能够反映须条的集聚规律;气流的横向作用力能够使须条在集聚方向上发生集聚;上层纤维较网眼罗拉表面的纤维集聚速度快;y轴向气流力使须条贴伏在网眼罗拉表面.     

充液旋压内螺旋翅片铜管的表面加工质量

对内螺旋翅片铜管的高速充液旋压成形加工进行了系统研究,着重分析了充液旋压过程中对加工质量影响最大的两个因素－－旋压量及润滑状况。通过金相显微观察,对不同旋压量及润滑状况下加工的内螺旋翅片铜管旋压区塑性变形的特点作出了分析。     

Necking Point in PET High-speed Fiber Spinning

Cross-over method is established to predict necking point for PET high-speed fiber spuming. Even slowly crystallizing polymers such as PET can crystallize on the spinline at sufficiently high spinning speed. The development of running velocity, temperature, crystallinity and rheological force is investigated for the take-up velocity over a range of 6 000 - 10 000 m/min. The pos-ition of necking point, temperature rise and abrupt increase of crystallinity move closer to the spinneret with the increase of take-up velocity.     

Properties and Processing of the Pineapple Leaf Fiber

The properties and constituent of pineapple fiber were tested, and on the base of that, chemical treatment was used to improve the spinnability of the fiber, and the pure and blended yarn of pineapple fiber were produced in worsted and cotton spinning system.     

管道纺纱装置结构的优化

本文对管道纺纱装置的结构进行了深入的研究,提出了在原管道纺纱装置的基础上,将吸风装置绕输纤管道的轴线旋转180°的新方案。以这个设计方案为基础,对其主要的结构参数和主要的工艺参数进行了优化,求得了最佳结构参数和最佳工艺参数。再根据最佳结构参数制造有关零件,装在管道纺纱单头试验机上,以求得的最佳工艺参数为工艺务件,实际纺制28tex 纯棉纱。这个新装置不仅能稳定地纺纱,而且其成纱的缕纱强力与优化计算的结果基本一致。     

纯棉喷气纺纱的初步探讨

本文分析了日本 MJS-802和881喷气纺纱机纺纯棉时喷嘴加捻器的结构,指出其不足之处。通过试验研究,提出了喷气纺纱机纺纯棉时,喷嘴加捻器结构的关键技术参数。     

环锭纺捻陷现象的研究及捻度损失的计算

本文研究环锭纺动态捻度传递过程，对导纱钩的捻陷作用及捻度损失的计算进行了分析探讨。同时，对用欧拉张力公式计算在摩擦表面上运动纱线的张力的方法进行了补充修正。     

Ni—W—D合金刷镀钢领的纺纱性能研究

本文研究了Ｎｉ—Ｗ—Ｄ合金刷镀钢领的纺纱性能，对纺纱张力等进行测试与分析，结果表明，Ｎｉ－Ｗ－Ｄ钢领具有较优的纺纱性能。