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It's considered as a task that a robot welds under the state of emergency and patrols daily in the nuclear reaction pool. A design scheme of underwater welding robot with cables is proposed, which move in all direction, has a function of pitching and absorb on the wall surface by thrust of propellers. In this paper in order to achieve for the precise control of the underwater robot, a dynamic equation...
The absolute nodal coordinate formulation is suitable for the structural analysis with large rotation and deformation. The nodal coordinates include global displacement coordinates and slopes which are established in the global coordinate system without using any local coordinate, and the mass matrix is constant. In this paper, the static problem based on the absolute nodal coordinate formulation...
As a key structure in an aircraft, rudder is employed to steer the flight vehicle under the instructions of center control unit. There are three main components in rudder: actuator, transmission, and control surface. Power is usually transmitted from the actuator to the control surface via the transmission. To some degree, the performance such as the efficiency and rigidity of rudder is directly determined...
In this paper, the key influences of lunar lander landing model are illuminated systematic. Then the touchdown dynamic model of lunar module is built. And the simulation model for lunar landing described on ADAMS is discussed. As an example, one kind of lunar module model with four cantilever truss style landing gear is built by ADAMS and the simulations are focused on the influences on landing by...
Virtual simulation is of great importance for both the research and development phase and the tele-operation phase of a lunar rover. The role and state-of-the-art of rover's simulation is introduced in the beginning. Comprehensive high-fidelity/high-speed virtual simulation system for lunar rover is designed in accordance with the developing trend. Key technologies such as terramechanics and recursive...
To improve the driving smoothness and stability of lunar rover and reduce the vertical dynamic deflection, this paper sets up vibration model for seven degree-of-freedom lunar rover, presents the calculation method for vibration differential equation and frequency response function, and derives the equation for the vertical dynamic deflection of the rover suspension system based on the ascertaining...
In order to research endo-atmospheric mass moment control interceptor with three moving mass actuators, dynamics equations of this system are derived in detail. The dynamics model with nine degrees-of-freedom is presented. Then the integrated simulation is performed using SIMULINK without neglecting any control parameters. The important factors of influencing the angle-of-attack and angle-of-sideslip...
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