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Kinematic analysis of flexible bipedal robotic systems

Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 795-818页

作者： R.FAZEL A.M.SHAFEI S.R.NEKOO Department of Mechanical Engineering Shahid Bahonar University of KermanKerman ***Iran Departamento de Ingenieria de Sistemas y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous *** distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic *** is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases ***,the human leg bones that are involved in walking are supported by viscoelastic muscles and ***,for achieving more exact results,it is essential to model the robot links with viscoelastic *** this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of *** most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational *** extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned *** overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue *** solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are *** effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of

关键词： bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient

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Microscopic phase-field study on order-disorder transition of the antiphase domain boundary formed between L1_2 phases

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Science China(Technological Sciences) 2011年第12期54卷 3409-3414页

作者： ZHANG MingYi YANG Kun CHEN Zhen WANG YongXin FAN XiaoLi State Key Laboratory of Solidification Processing Northwestern Polytechnical University Xi＇an 710072 China

Kinetics of order-disorder transition at antiphase domain boundary （APDB） formed between L12 （Ni3A1） phases is investigated using microscopic phase-field model. The results demonstrate that whether order-disorder transition happens or not depends on the atomic structure of the APDB. Accompanied with the enrichment of V and depletion of Ni and A1, the ordered APDB with phase-shift vector of a/2[100] transforms into a thin disordered phase layer. Whereas at the APDB with phase shift vector of a/2[110], which remains ordered with temporal evolution, Ni and A1 enrich and V depletes. Composition evolution of APDB with order-disorder transition favors the nucleation of DO22 phase, and the formation of disordered phase layer accelerates the growth of DO22 phase. The disordered phase caused by order-disordered transition of the APDB can be considered as the transient phase along the precipitation path of DO22 phase.

关键词： microscopic phase-field antiphase domain boundary order-disorder transition transient phase Ni-AI-V alloy

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