排水管道清淤作业机器人结构方案创新设计     

许冯平  于淼  耿超  邓宗全 《中国科技纵横》2011,(6):326-326,320

文中简要介绍了排水管道清淤方法,主要综述了国内的排水管道清淤作业机器人的结构方案,分析了各自特点和局限性。针对排水管道清淤作业机器人方案设计的一般陡问题,即拖动力、管径适应性和越障性。在上述综述的基础上,提出了一种排水管道清淤作业机器人设计方案,并给出了详细地分析和讨论。结果表明,该方案的排水管道清淤作业机器人具有大拖动力、管径适应性好,并具有一定得越障能力。  相似文献   

Active Control of Free Paraboloidal Membrane Shells Using Photostrictive Actuators     

王新杰  岳洪浩  邓宗全 《天津大学学报(英文版)》2011,17(1):6-12

The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.  相似文献   

Configuration synthesis and performance evaluation metrics of lunar rover locomotion systems     

邓宗全  张朋  高海波  胡明 《天津大学学报(英文版)》2009,15(3):193-200

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers (LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed.Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed.The analysis results indicate that the new locomotion system configuration has good trafficability performance.  相似文献   

国家工科机械基础课程教学基地建设的研究与实践   总被引：3，自引：0，他引：3  

邓宗全  宋宝玉  陈明  王黎钦  王知行 《中国大学教学》2006,(2):12-14

一、立项背景机械原理、机械设计、机械设计基础和机械设计CAD技术基础等课程是量大、面广的技术基础课,是培养学生分析解决机械工程实际问题能力、培养综合设计能力和创新精神的主干课程,在人才培养的教学计划中占有重要的地位。原来承担这些教学任务的机械原理教研室和机械设计教研室都是我国最早建立的机械学科之一,经过多年的建设,在教学、科研及队伍建设等方面有良好基础。因此哈尔滨工业大学国家工科机械基础课程教学基地于1996年12月被原国家教委批准立项筹建。基地建设的目标是以师资队伍建设为龙头,以教学改革为重点,在人才培养…  相似文献