Design and Simulation Analysis of Two-Joint Rope-Driven Underactuated Gripper

传统攀爬机器人的抱持机构都是采用全驱动的机构,具有结构复杂,控制繁琐,无自适应的缺点。为了改变这种状态,提升攀爬机器人抱持机构的抱持性能,设计了一种基于绳驱式欠驱动原理的抱持机构,具有结构简单,驱动源较少,自适应好的优点。同时对此欠驱动机构进行静力学模型的建立,并运用ADAMS/Cable模块对欠驱动手爪进行运动学以及动力学仿真分析。此仿真方法为绳驱式欠驱动手爪仿真提供了一种新的方法,并通过仿真验证轮手抱持杆件的可行性,从而验证了欠驱动手爪作为攀爬机器人抱持机构的可行性。</p

Preparation and structure of BFBA monolayer on PEI-coated single crystal silicon substrate

在涂敷有聚合物PEI涂层的单晶硅表面上制备了HFBA单层分子膜,接触角测量及XPS结果表明,HFBA在PEI表面产生了化学吸附发生了化学键合(酰胺键),形成了低表面能的HFBA单分子层膜.这一吸附反应的动力学行为可能表现为Langmuir单分子层化学吸附

Development of deep sea ARV cables physical characteristics

Aiming at the challenging frontier problem of umbilical cable properties theory, which has been puzzled by this kind of robot for many years but has not been solved yet, this paper proposes an umbilical cable properties modelling method based on Kirchhoff elastic bar theory. This method analyzes the force on the umbilical cable member in the equilibrium state, obtains the Kirchhoff equation of the mobile cable in the equilibrium state, and then establishes the physical characteristics model of the mobile cable, and obtains the form of umbilical cable and the stress on the end point by solving the model. The new modelling theory research on the physical characteristics of deep-sea umbilical cable carried out in this paper is expected to solve the problem of "unclear" problems of deep-sea slender umbilical cable, get rid of the dilemma of "blind man and elephant", and provide guarantee for the safe and efficient operation of deep-sea robots