Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
By spraying concrete on inner surface,air-supported fabric structures can be used as formwork to construct reinforced concrete shell structures.The fabric formwork has the finished form of concrete structure.Large dev...By spraying concrete on inner surface,air-supported fabric structures can be used as formwork to construct reinforced concrete shell structures.The fabric formwork has the finished form of concrete structure.Large deviation from the desired shape of concrete shells still remains as central problem due to dead weight of concrete and less stiffness of fabric formwork.Polyurethane can be used not only as a bonding layer between fabrics and concrete but also as an additional stiffening layer.However,there is little research on mechanical behaviors of the polyurethane shell structure.This paper presents experimental studies on an inflated fabric model with and without polyurethane,including relief pressure tests,vertical loading tests and horizontal loading tests.Experimental results show that the additional polyurethane layer can significantly enhance the stiffness of the fabric formwork.Compared with the experiment,a numerical model using shell layered finite elements has a good prediction.The reinforcement by polyurethane to improve stiffness of air-supported fabric formwork is expected to be considered in the design and construction of the concrete shell,especially dealing with the advance of shape-control.展开更多
To solve the problems of divergence,low accuracy and project application of membrane wrinkling analysis,an analysis method of zero shear modulus and equivalent stiffness was proposed.This method is an improvement to t...To solve the problems of divergence,low accuracy and project application of membrane wrinkling analysis,an analysis method of zero shear modulus and equivalent stiffness was proposed.This method is an improvement to the previous method (Method I) of local coordinate transposition and stiffness equivalence.The new method is derived and the feasibility is theoretically proved.A small-scale membrane structure is analyzed by the two methods,and the results show that the computational efficiency of the new method (Method II) is approximately 23 times that of Method I.When Method II is applied to a large-scale membrane stadium structure,it is found that this new method can quickly make the second principal stress of one way wrinkled elements zero,and make the two principal stresses of two-way wrinkled elements zero as well.It could attain the correct load responses right after the appearance of wrinkled elements,which indicates that Method II can be applied to wrinkling analysis of large-scale membrane structures.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
基金Projects(51178263,51378307)supported by the National Natural Science Foundation of China
文摘By spraying concrete on inner surface,air-supported fabric structures can be used as formwork to construct reinforced concrete shell structures.The fabric formwork has the finished form of concrete structure.Large deviation from the desired shape of concrete shells still remains as central problem due to dead weight of concrete and less stiffness of fabric formwork.Polyurethane can be used not only as a bonding layer between fabrics and concrete but also as an additional stiffening layer.However,there is little research on mechanical behaviors of the polyurethane shell structure.This paper presents experimental studies on an inflated fabric model with and without polyurethane,including relief pressure tests,vertical loading tests and horizontal loading tests.Experimental results show that the additional polyurethane layer can significantly enhance the stiffness of the fabric formwork.Compared with the experiment,a numerical model using shell layered finite elements has a good prediction.The reinforcement by polyurethane to improve stiffness of air-supported fabric formwork is expected to be considered in the design and construction of the concrete shell,especially dealing with the advance of shape-control.
基金Project(020940) supported by the Natural Science Foundation of Guangdong Province,China
文摘To solve the problems of divergence,low accuracy and project application of membrane wrinkling analysis,an analysis method of zero shear modulus and equivalent stiffness was proposed.This method is an improvement to the previous method (Method I) of local coordinate transposition and stiffness equivalence.The new method is derived and the feasibility is theoretically proved.A small-scale membrane structure is analyzed by the two methods,and the results show that the computational efficiency of the new method (Method II) is approximately 23 times that of Method I.When Method II is applied to a large-scale membrane stadium structure,it is found that this new method can quickly make the second principal stress of one way wrinkled elements zero,and make the two principal stresses of two-way wrinkled elements zero as well.It could attain the correct load responses right after the appearance of wrinkled elements,which indicates that Method II can be applied to wrinkling analysis of large-scale membrane structures.
