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DOI: 10.11817/j.issn.1672-7207.2018.01.010 基于SLIP模型的液压驱动单腿机器人竖直跳跃控制 陈志伟,金波,朱世强,庞云天,黄翰林,陈刚 (浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州,310027) 摘要:针对液压驱动足式机器人竖直跳跃控制,提出一种基于SLIP竖直跳跃动力学模型实现液压驱动机器人竖直跳跃的控制策略.分析SLIP竖直跳跃动力学模型并求解其动力学微分方程得到质心运动轨迹,将关节型单腿机器人竖直跳跃髋部的运动轨迹映射到SLIP模型质心的运动轨迹,通过机器人运动学逆解得到机器人关节运动轨迹,以此驱动关节运动;同时建立关节型单腿机器人竖直跳跃动力学方程和液压驱动执行器动力学方程,应用MATLAB/Simulink软件进行动态跳跃控制仿真并进行样机试验.研究结果表明:基于SLIP竖直跳跃动力学模型的控制策略可实现液压驱动单腿机器......
Electrical Properties and Applications of (ZrO2)0.92(Y2O3)0.08 Electrolyte Thin Wall Tubes Prepared by Improved Slip Casting Method 苏文辉1,裴力1,贺天民1,吕喆1,曲志刚1,刘江1 (1.Department of Physics, Jilin... wall tubes were prepared by improved slip casting method. The length and wall thickness of the tubes are 266 mm and 0.4~0.9 mm, respectively and the relative density is 96.7%. The microstructure......
Defect aggregates in the Sr2MgSi2O7 persistent luminescence materialJorma Hls1,2,Taneli Laamanen1,3,Mika Lastusaari1,2,Pavel Novák41. Department of Chemistry,University of Turku2. Turku University... of the Eu2+ doped and defect containing Sr2MgSi2O7 persistent luminescence material were studied using the density functional theory(DFT) .The defects may act as energy storage or even luminescence quenching......
Defect aggregates in the Sr2MgSi2O7 persistent luminescence materialJorma Hls1,2,Taneli Laamanen1,3,Mika Lastusaari1,2,Pavel Novák41. Department of Chemistry,University of Turku2. Turku University... of the Eu2+ doped and defect containing Sr2MgSi2O7 persistent luminescence material were studied using the density functional theory(DFT) .The defects may act as energy storage or even luminescence quenching......
:1672-7207(2011)03-0785-06 Experiments of persistent loading reinforced concrete beams with freeze-thaw cycles DIAO Bo, SUN Yang, YE Ying-hua (School of Transportation Science and Engineering, Beihang University, Beijing 100191, China) Abstract: By adopting quickly freeze-thaw experiments in laboratory, the reinforced concrete beams with different persistent loads were investigated by experiments......
J. Cent. South Univ. Technol. (2010) 17: 1327-1335 DOI: 10.1007/s11771-010-0638-6 Effects of interface slip and semi-rigid joint on elastic seismic response of steel-concrete composite frames QI... Heidelberg 2010 Abstract: The stiffness matrix of semi-rigidly connected composite beams considering interface slip was established and the calculation method for elastic seismic response of composite......
Effect of RE3+ electronegativities on luminescence property of Ba5Si8O21:Eu2+ persistent phosphor董志良1,秦艺1,杨勇1,2,周大成1,2,徐旭辉1,2,邱建备11. College of Materials Science and Engineering,Kunming University of Science and Technology2. Key Laboratory of Advanced Materials of Yunnan Province摘 要:A series of Ba5Si8O21:0.02Eu2+,0.09RE3+ persistent phosphors were......
Effect of RE3+ electronegativities on luminescence property of Ba5Si8O21:Eu2+ persistent phosphor董志良1,秦艺1,杨勇1,2,周大成1,2,徐旭辉1,2,邱建备11. College of Materials Science and Engineering,Kunming University of Science and Technology2. Key Laboratory of Advanced Materials of Yunnan Province摘 要:A series of Ba5Si8O21:0.02Eu2+,0.09RE3+ persistent phosphors were......
J. Cent. South Univ. (2019) 26: 2000-2010 DOI: https://doi.org/10.1007/s11771-019-4147-y Navier’s slip condition on time dependent Darcy-Forchheimer nanofluid using spectral relaxation method... by incorporating various effects, such as the Brownian and thermophoresis effects, Navier’s slip condition and convective thermal boundary conditions. To solve the governing equations, using suitable similarity......
: The twinning and slip activities of AZ31 magnesium alloy sheet at a strain rate of 1 200 s-1 were investigated. Dynamically mechanical properties of various oriented samples were measured using Split Hopkinson Pressure Bar(SHPB). Optical microscope observations reveal that the dominant deformation mechanism is twinning for 90? oriented sample, and is slip for 45? and 0? oriented samples. TEM......