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Fundamentals Of Engineering Thermodynamics

A multi-modal UAV capable of sustained aerial flight, locomotion in water and deployment from
a tube filled with compressed air is under development. This paper covers the design and integration process of a CO2 thruster previously designed in a vehicle designed to fulfil mission requirements in terms of altitude and velocity after water/air transition. The thruster uses a common CO2 cartridge available off-the-shelf to accelerate water stored inside a water chamber for efficient and sustained thrust. Water is chosen as vectorial fluid since it is available from the surroundings. Analytical model, described in the paper, evaluates water to air transition phase in terms of trajectory, reached altitude and velocity. After thruster performances evaluation thanks to
the analytical model, an experimental prototype was fabricated and tested for model validation.
High speed camera is used to track vehicle transition and Kinovea software exports resulting data
from a recorded video to spreadsheet formats for scientific study and post-processing. A comparison and discussion of the results as future work is also proposed with areas for improvement and development.

Bimodal unmanned vehicle: propulsion system integration and water/air interface testing

In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot’s obstacle-crossing experiments were performed and the results validated the robot’s good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot’s complex jumping and obstacle-crossing performance.

Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot.

The invention provides a frog rear leg posture imitating regulation and control device, a jumping robot and an aerial posture regulation and control method. The frog rear leg posture imitating regulation and control device comprises a jumping spraying tank, two rear leg structures, an inertia sensor and a controller, wherein an installing structure is arranged on the jumping spraying tank; the controller, the inertia sensor and the two rear leg structures are all arranged on the installing structure; the inertia sensor is in signal connection with the controller, and the controller is used forcontrolling the two rear leg structures to swing synchronously or asynchronously; two installing seats are arranged on the installing structure, are positioned at the same side of the jumping spraying tank, and are symmetrical to each other about a located plane of the self axis of the jumping spraying tank; each rear leg structure comprises a steering engine, a steering wheel, an output shaft and a swing leg; the steering engine is arranged on the installing seat; the output shaft is connected onto the steering engine through the steering wheel, and is driven by the steering engine; and theswing leg is arranged on the output shaft, and swings along with the output shaft. The self posture regulation of the whole of the device in the air can be smoothly realized.

Frog rear leg posture imitating regulation and control device, jumping robot and posture regulation and control method

The invention provides a space reconfigurable truss type capturing mechanism and a capturing method thereof.The space reconfigurable truss type capturing mechanism comprises a base and two reconfigurable truss type capturing fingers, and each reconfigurable truss type capturing finger comprises a butt joint plug truss unit, a butt joint connector truss unit, a plurality of modular extensible trussunits and a plurality of linear driving devices; the butt joint plug truss unit, the modular extensible truss units and the butt joint connector truss unit of each reconfigurable truss type capturingfinger are connected in sequence, and a linear driving device is connected between every two adjacent truss units of each reconfigurable truss type capturing finger. Butt joint or separation betweenthe capture fingers and the base and butt joint or separation between the two fingers can be achieved, and capture can be completed by selecting a two-finger cooperation mode or a mode that the two fingers are in butt joint to form a lengthened finger according to different requirements of capture tasks; butt joint expansion is achieved, the structure is simple, the weight is light, the capturingspace is large, and adaptability to captured objects is good.

Space reconfigurable truss type capturing mechanism and capturing method thereof

A novel water jet thruster which is capable of conducting two sequential jumps is proposed for the amphibious jumping robot. The proposed water jet thruster adopted a unique structural design with ...

Study of a new water jet thruster for robotic returnable jumping

The invention provides a space deployable capture manipulator device which comprises a base and a plurality of mechanical paws Each mechanical paw comprises a plurality of folding and unfolding unitswhich are connected in sequence Each folding and unfolding unit comprises two supports, a side-turning shear fork mechanism and a driving mechanism Each support comprises a base plate and a movableplate, and relative sliding can be generated between the movable plate and the base plate Each side-turning shear fork mechanism comprises two same shear fork arms, and the two shear fork arms are rotationally connected through a biased hinge point The end parts, close to the hinge point, of the two shear fork arms are respectively hinged to the base plates of the two supports, and the other end parts, far away from the hinge point, of the two shear fork arms are respectively hinged to the movable plates of the two supports Each driving mechanism provides a power source for the movable plate in one support, so that the movable plate moves relative to the base plate, and lateral reciprocating turnover is generated in the other support The space deployable capture manipulator device hasthe advantages of being good in folding and unfolding performance and convenient to fold and is suitable for grabbing large-mass non-cooperative targets in space

Space deployable capture manipulator device

On the kinematics of forelimb landing of frog Rana rugulosus.

The invention provides a hopping robot with an air attitude adjusting function. The hopping robot with the air attitude adjusting function comprises a control device, vertical long hopping device, aninertial sensor, a pitching angle adjusting device and a yaw angle adjusting device, wherein the inertial sensor, the pitching angle adjusting device and the yaw angle adjusting device are arranged onthe hopping device; the pitching angle adjusting device comprises a first steering engine, a first transmission belt and a first mass block, wherein the first transmission belt is driven by the firststeering engine, and the first mass block is arranged on the first transmission belt; the first mass block moves with the first transmission belt to change the position of the hopping device in the longitudinal direction; the yaw angle adjusting device comprises a second steering engine, a second transmission belt and a first mass rolling wheel, wherein the second transmission belt is arranged around the circumferential direction of the hopping device, and the first mass rolling wheel is arranged between the second transmission belt and the hopping device; and the first mass rolling wheel moves with the second transmission belt to change the position of the hopping device in the circumferential direction. According to the hopping robot with the air attitude adjusting function, the pitching angle and the yaw angle of the hopping device are adjusted according to the gravity center changing principle so that the hopping device is kept in a more reasonable attitude.

Li Yao

Papers

Study of a new water jet thruster for robotic returnable jumping

Space deployable capture manipulator device

On the kinematics of forelimb landing of frog Rana rugulosus.

Hopping robot with air attitude adjusting function