In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
To find out the effect of the shape of fused taper region on the optical fiber coupler, the fiber couplers were fabricated at different drawing speeds with a six-axes fiber coupler machine. The results, which were obt...To find out the effect of the shape of fused taper region on the optical fiber coupler, the fiber couplers were fabricated at different drawing speeds with a six-axes fiber coupler machine. The results, which were obtained fi＇om the shape of fused taper region measured with microscope, show that there is a close correlation between the cone angle and optical performance of fiber coupler. High-performance fiber coupler cannot be obtained until rheological shape is controlled accurately. The numerical analysis model, which was built based on generalized Maxwell viscoelastic theory, is resolved with ANSYS software. The calculated results accord with the experimental data. It can apply a theoretic basis for forecasting the shape of fiber coupler fabricated under the conditions of different technological parameters.展开更多
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
基金Project (50605063) supported by the National Natural Science Foundation of ChinaProject(NCET-040753) supported by New Century Excellent Talents in University, ChinaProject (20050533037) supported by the Doctoral Program of Higher Education, China
文摘To find out the effect of the shape of fused taper region on the optical fiber coupler, the fiber couplers were fabricated at different drawing speeds with a six-axes fiber coupler machine. The results, which were obtained fi＇om the shape of fused taper region measured with microscope, show that there is a close correlation between the cone angle and optical performance of fiber coupler. High-performance fiber coupler cannot be obtained until rheological shape is controlled accurately. The numerical analysis model, which was built based on generalized Maxwell viscoelastic theory, is resolved with ANSYS software. The calculated results accord with the experimental data. It can apply a theoretic basis for forecasting the shape of fiber coupler fabricated under the conditions of different technological parameters.
