Criterion to Estimate Optimum Lateral Static Stability Margin

2007 ◽  
Author(s):  
Brian Lee ◽  
Larisa Zaichik ◽  
Yury Yashin ◽  
Vadim Perebatov ◽  
Victor Rodchenko
Keyword(s):  
Stability Margin ◽  
Static Stability

Structural design and gait research of a new bionic quadruped robot

2021 ◽  
pp. 095440542199566
Author(s):  
Jiu-Peng Chen ◽  
Hong-Jun San ◽  
Xing Wu ◽  
Bin-Zhou Xiong
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Quadruped Robot ◽  
Superior Performance ◽  
Linkage Mechanism ◽  
Wide Range ◽  
Planning Algorithm ◽  
Planning Experiment ◽  
Strength And Stiffness ◽  
Foot Trajectory

Quadruped bionic robot has a strong adaptability to the environment, compared with wheeled and tracked robots, it has superior motion performance, and has a wide range of application prospects in rescue and disaster relief, ground mine clearance, mountain transportation, so it has become a research hotspot all over the world. Leg structure is an important embodiment of the superior performance of quadruped robot, and it is also the key and difficult point of design. This article proposes a novel quadruped robot with waist structure, which can complete a variety of gait forms. Based on the theory of linkage mechanism, a novel leg structure is designed with anti-parallelogram mechanism, which improves the strength and stiffness of the robot. Using D-H description method, the kinematics analysis of this quadruped robot single leg is carried out. On this basis, in order to ensure the foot contact with the ground and achieve zero impact, polynomial programming is used to plan the foot trajectory of swing phase and support phase. Based on the static stability margin, the optimal static gait of the quadruped robot is planned. A co-simulation study has been carried out to investigate further the validity and effectiveness of the quadruped robot on gait. The simulation results clearly show the robot can walk steadily and its input and output meet the expected requirements. The solid prototype platform is built, and the trajectory planning experiment of single leg is carried out, and the foot trajectory of single leg is obtained by using laser tracker. The gait planning algorithm is applied to the whole robot, and the results show that the robot can walk according to the scheduled gait, which proves the effectiveness of the proposed algorithm.

Walking Stability Analysis of Multi-Legged Crablike Robot over Slope

2013 ◽  
Vol 572 ◽  
pp. 636-639
Author(s):  
Xi Chen ◽  
Gang Wang
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Stability Criterion ◽  
Stability Margin ◽  
Static Stability ◽  
Matlab Simulation ◽  
And Performance ◽  
The Stability ◽  
The Mathematical Model ◽  
The Relationship

This paper deals with the walking stability analysis of a multi-legged crablike robot over slope using normalized energy stability margin (NESM) method in order to develop a common stabilization description method and achieve robust locomotion for the robot over rough terrains. The robot is simplified with its static stability being described by NESM. The mathematical model of static stability margin is built so as to carry out the simulation of walking stability over slope for the crablike robot that walks in double tetrapod gait. As a consequence, the relationship between stability margin and the height of the robots centroid, as well as its inclination relative to the ground is calculated by the stability criterion. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

Multifractal characteristics of combustor dynamics close to lean blowout

2015 ◽  
Vol 784 ◽  
pp. 30-50 ◽  
Author(s):  
Vishnu R. Unni ◽  
R. I. Sujith
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Combustion Noise ◽  
Stable Operation ◽  
Nonlinear Behaviour ◽  
Classical Literature ◽  
Unified Framework ◽  
Simple Description ◽  
Thermoacoustic Instability ◽  
Lean Blowout

In classical literature, blowout is described as loss of static stability of the combustion system whereas thermoacoustic instability is seen as loss of dynamic stability of the system. At blowout, the system transitions from a stable reacting state to a non-reacting state, indicating loss of static stability of the reaction. However, this simple description of stability margin is inadequate since recent studies have shown that combustors exhibit complex nonlinear behaviour prior to blowout. Recently, it was shown that combustion noise that characterizes the regime of stable operation is itself dynamically complex and exhibits multifractal characteristics. Researchers have already described the transition from combustion noise to combustion instability as a loss of multifractality. In this work, we provide a multifractal description for lean blowout in combustors with turbulent flow and thus introduce a unified framework within which both thermoacoustic instability and blowout can be described. Further, we introduce a method for predicting blowout based on the multifractal description of blowout.

Omnidirectional Static Walking of a Quadruped Robot on a Slope

2006 ◽  
Vol 18 (1) ◽  
pp. 51-58
Author(s):  
Lei Zhang ◽  
◽  
Shugen Ma ◽  
Yoshinori Honda ◽  
Kousuke Inoue ◽  
...  
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Quadruped Robot ◽  
Body Posture ◽  
Gait Transition ◽  
Minimum Number ◽  
Motion Speed ◽  
Arbitrary Body ◽  
Time Required ◽  
Foot Position

We propose successive gait transition with arbitrary body posture to enable a quadruped robot to walk statically and omnidirectionally on a slope. Body posture is determined by rotation around 3 axes, roll, pitch, and yaw. Successive gait transition with a minimum number of steps on a slope is realizable using common foot position before and after gait transition. The time required to transit between gaits is reduced by carefully designing foot position in crawling and rotating while limiting foot reachable region on a slope. The robot thus walks into any direction with arbitrary body postures. In this study, we also verify a tradeoff relation between motion speed and body posture. Computer simulation and experiments verified the feasibility of our proposed method and the stability of gait transition based on static stability margin.

scholarly journals Investigation of the Causes of Malfunctions of Special Electrical Equipment of Pumping Stations

2021 ◽  
Vol 12 (5) ◽  
pp. 1905-1910
Author(s):  
AyubjonVokhidov, Et. al.
Keyword(s):  
Voltage Drop ◽  
Stability Margin ◽  
Electrical Equipment ◽  
Static Stability ◽  
Technical Parameters ◽  
Operating Modes ◽  
Pumping Stations ◽  
Special Power ◽  
The Stability ◽  
Pumping Units

The task of this work was to consider the main technical parameters of pumping stations that affect the operating modes and the overall reliability of a special power supply system. Also, the technological processes of the irrigation pumping station were investigated and the analysis of mechanical and parametric characteristics, the causes of the asynchronous operation of mechanisms and the failure of the pumping units themselves was carried out. As a result of the work, a method for calculating the voltage drop was proposed, a new independent algorithm for calculating the static stability and the stability margin for the active power of special electrical equipment was developed.

Research on Longitudinal Static Stability for VFSW Tailless Configuration UAV

2014 ◽  
Vol 543-547 ◽  
pp. 348-353
Author(s):  
Xin Bing Su ◽  
Zhou Zhou ◽  
Jing Cheng Shi ◽  
Xu Wang
Keyword(s):  
Flight Control ◽  
Stability Margin ◽  
Static Stability ◽  
Flight Control System ◽  
Swept Wing ◽  
Mechanical Environment ◽  
Morphing Aircraft ◽  
Variation Curve ◽  
Dynamic Shape ◽  
Longitudinal Static Stability

The Variable Forward-Swept Wing (VFSW) Tailless configuration UAV can well satisfy multipurpose demands. However, this kind of unconventional morphing aircraft lacks tail, which brings great challenge to stability analysis. The connatural aero-elasticity divergence and the strong aerodynamic coupling as well as many uncertain factors in mechanical environment, give the VFSW Tailless configuration UAV complicated dynamic characteristics. During the process of transformation, the variation of dynamic shape will inevitably lead to the variation about aerodynamic center and barycentre positions of airplane, then make the angle of attack static stability margin variable, and directly influence stability of aircraft. On the basis of introduction of the VFSW Tailless configuration UAV, according to its geometric shape, positions of aerodynamic center and barycentre, in different states with different forward-swept angle, were calculated, so as to obtain variation curve of longitudinal static stability margin, which provided preferences for dynamics analysis, position of barycentre adjustment and design of flight control system (FCS).

Criteria to Estimate the Effect of Static Stability Margin on Aircraft HQ

2008 ◽  
Author(s):  
Larisa Zaichik ◽  
Vadim Perebatov ◽  
Yury Yashin ◽  
Pavel Desyatnik ◽  
Brian Lee
Keyword(s):  
Stability Margin ◽  
Static Stability
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