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Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism

Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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A preliminary study on irradiation growth behavior modelling of N36 zirconium alloy tube

A preliminary study on irradiation growth behavior modelling...

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Top Fuel 2016: LWR Fuels with Enhanced Safety and Performance

作者： Yifei, Miao Yongjun, Jiao Kun, Zhang Shuo, Xing Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China Nuclear Power Institute of China China

ISBN: (纸本)9780894487309

As a new kind of Zr-Sn-Nb series alloy, N36 has not been explored in irradiation growth behavior before. In this paper, four empirical correlations including power, logarithmic, exponential and hyperbolic tangent law were used to build irradiation growth model of N36 zirconium alloy preliminarily. Before that, lengths of the fuel rods with N36 claddings from poolside measurement were analyzed to get irradiation growth strains, which were then used to fit the four empirical correlations mentioned above. Distribution of fast fluence along axial direction of tubes was considered in all irradiation growth models. The fitting results showed that the hyperbolic tangent law fit irradiation growth strains the best, while power law did the worst. In order to improve the precision of the hyperbolic tangent model, several improvements were done. Verification and validation of the improved hyperbolic tangent irradiation growth model suggested that the size of second phase may have an influence on irradiation growth behavior of N36 tubes.

关键词： Zirconium alloys

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Study on irradiation damage of rpv steels based on coupling cluster dynamics and crystal plasticity finite element method

Study on irradiation damage of rpv steels based on coupling ...

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2020 International Conference on Nuclear Engineering, ICONE 2020, collocated with the ASME 2020 Power Conference

作者： Wang, Xiaotong Luo, Ying Dong, Yuanyuan Yao, Weihua Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9780791883785

Irradiation hardening is one of the most important aging effects of reactor pressure vessel (RPV) steel in long-term service. A number of studies have indicated that irradiation hardening is mainly caused by irradiation induced defects, such as dislocation loops and precipitates. In this paper, we have simulated the irradiation damage of low-copper reactor pressure vessel (RPV) steel. The generation of Mn-Ni-Si precipitates is simulated by the cluster dynamics model based on rate theory. On this basis, the crystal plasticity finite element method based on modified crystal plasticity model is used to simulate the effect of Mn-Ni-Si precipitates on the mechanical properties of RPV steels. The simulated results has been compared with the experimental results from the literature. By coupling the cluster dynamics and the crystal plastic finite element method, we suggest a multi-scale simulation method to simulate and predict irradiation damage of RPV steel. © 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Finite element method

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Characteristic Analysis of a Cylindrical Linear Motor for Drive Mechanism 26

Characteristic Analysis of a Cylindrical Linear Motor for Dr...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Niu, Xu Yu, Tianda Zhang, Lu Zhang, He Harbin Institute of Technology School of Electrical Engineering Harbin China Nuclear Power Institute of China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

ISBN: (纸本)9798350317589

The control rod drive mechanism (CRDM) is a critical device in nuclear plants. This paper proposes a kind of CRDM applying the cylindrical linear induction motor (CLIM). First, the structure and the working principle are introduced. Second, the finite-element method (FEM) is applied to analyze the electromagnetic characteristics of CRDM. The lifting force variation curves with different electromagnetic and structural parameters are obtained. Third, the thermal analysis is carried out by FEM. The steady-state thermal distribution and temperature of each component of CRDM are obtained. All the above results show that the proposed CRDM can meet the design criteria and such functions as rising, falling, and holding still. © 2023 IEEE.

关键词： Finite element method

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Formally Verified a Front-End of the Trusted Code Generator for Safety I&C Software of NPPs 5th

Formally Verified a Front-End of the Trusted Code Generator ...

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5th International Symposium on Software Reliability, Industrial Safety, Cyber Security and Physical Protection of Nuclear Power Plant, ISNPP 2020

作者： Lan, Lin Ma, Quan Hou, Rong-Bin Jiang, Wei Liu, Ming-Xing Yang, Fei Li, Yong Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of the China Chengdu Sichuan China Harbin Engineering University Harbin China

ISBN: (纸本)9789811634550

In nuclear power plant embedded software control area, graphical control algorithms are described by Lustre program and designed with graphical editors of engineering station. After they are translated into C programs through a code generator, then the C programs are downloaded to the embedded platform software of NASPIC. The correctness of the code generator will directly determine the credibility and safety of NASPIC. Therefore, it’s important to ensure the correctness of the code generator translation process. Formally verified the correctness of a code generator, which has been studied for many years and becomes a most effective approach to develop a trusted code generator. This article is based on the requirements of nuclear safety-level I&C (Instrumentation & Control) system and mainly presents the development of a formally verified code generator front-end. The front-end translates Lustre source program into S_Lustre (a sequential intermediate language). And it is programmed and proved in Coq (Auxiliary Theorem Prover). During the development of the front-end, two key technical challenges have been resolved. The first is to ensure every id which appeared in the Lustre program has been defined. The second is to implement the casualty analysis and determine the evaluation order of user-defined types and equations based on the dependencies. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Formal verification

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Burnup performance analysis for candidate materials of the LWR accident tolerant control rod 14

Burnup performance analysis for candidate materials of the L...

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14th International Nuclear Fuel Cycle Conference, GLOBAL 2019 and Light Water reactor Fuel Performance Conference, TOP FUEL 2019

作者： Liu, Yong Li, Mancang Yu, Yingrui Xiao, Peng Wang, Xingbo Zhang, Bin Wang, Dongyong Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China 328# Section 1 Changshun Avenue Chengdu China

The accident tolerant fuel (ATF) is considered to be one of the most advanced concepts to improve the safety of light water reactors (LWRs). The accident tolerant control rod (ATCR) is a significant aspect in the ATF concept. The melting temperature of traditional LWR control rod (CR) materials, such as silver-indium-cadmium (AIC) alloy, is too low to endure the high temperature under several accident conditions. Consequently, varieties of candidate materials for control rod have been proposed in the previous researches because of the outstanding characters of high-temperature behavior, as well as reactivity worth, stability in coolant water and so on. In this paper, the burnup performance of the sesquioxides of the rare-earth elements (RE2O3) and the hafnia (Hf) are analyzed and compared to the traditional AIC control rod. Two parameters are chosen to reveal the burnup performance of the candidate control rod materials, the initial control rod reactivity worth and the stability of the control rod reactivity worth along with the assembly burnup. The candidate-material control rods and the AIC control rod are placed in the ATF assembly with the same conditions, and the assembly is depleted to sufficient burnup. Numerical results indicate that Eu2O3, Dy2O3, Sm2O3 and Hf are excellent ATCR materials compared to AIC. The initial control rod reactivity worth of these materials is not less than that of AIC, and the burnup stability is outstanding, especially Eu2O3 and Dy2O3 Copyright © GLOBAL 2019 - International Nuclear Fuel Cycle Conference and TOP FUEL 2019 - Light Water reactor Fuel Performance *** rights reserved.

关键词： Hafnium oxides

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Research on Cylindrical Linear Induction Motor for Drive Mechanism 14

Research on Cylindrical Linear Induction Motor for Drive Mec...

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14th International Symposium on Linear Drivers for Industry Applications, LDIA 2023

作者： Niu, Xu Yu, Tianda Zhang, Lu Li, Qingzhao Huang, Siyu Liu, Yanting Wu, Hao Tang, Yuan School of Electrical Engineering Harbin Institute of Technology Harbin China Nuclear Power Institute of China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

ISBN: (纸本)9798350329612

The control rod drive mechanism (CRDM) is a kind of servo mechanism for the reactor control system of the nuclear power plant. This paper presents a cylindrical linear induction motor suitable for the CRDM. First, the structure of the CRDM is introduced. Second, the relationship between the main dimensions and the electromagnetic load is derived. Third, the influence of materials of the mover shielding shell, speed, and electromagnetic parameters on the lifting force is analyzed by the finite-element method (FEM). Meanwhile, the steady-state temperature of each component of the CRDM is obtained. Finally, a scaled-down prototype is manufactured to verify the rationality of the design. The test results show that the FEM results are consistent with the experimental results, and the essential functions such as lifting, lower insertion, and maintenance can be realized. © 2023 IEEE.

关键词： Finite element method

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DC-Side Decoupling Method of DC-link Capacitor Reduction for Single Phase PWM Rectifier

DC-Side Decoupling Method of DC-link Capacitor Reduction for...

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2020 IEEE Sustainable Power and Energy Conference, iSPEC 2020

作者： Wang, Jinxin Renyong, Peng Dai, Kailei Zhang, Zhiqiang Zhang, Ting Zhao, Junjie Chen, Qian Zhang, Jianjian Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9781728191645

The integrated charging system of Electric vehicle consists of a single-phase PWM rectifier and a Buck converter. When the single-phase PWM rectifier works with unit power factor, the dc-link voltage contains a large voltage harmonic of twice the grid frequency. Although the output voltage ripple can be controlled within the required range using the proper control of the Buck converter, the second-order harmonic on the dc-link capacitor is inevitable. This paper proposes a de-side decoupling method for the second-order harmonic problem of the dc-link voltage of the integrated charging system. A de-side decoupling half bridge is connected in parallel to absorb the ripple power of twice the grid frequency. This paper analyzes the operating principle of the de-side decoupling half bridge. Based on a theoretical analysis of the topology and the design procedure for controlling system, the proposed converter is designed and simulated. Finally, simulation results are given to verify the method. © 2020 IEEE.

关键词： Pulse width modulation

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Study on the thermal-mechanical performance of SiC composites cladding under multiple conditions

Study on the thermal-mechanical performance of SiC composite...

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2020 International Conference on Nuclear Engineering, ICONE 2020, collocated with the ASME 2020 Power Conference

作者： Yin, Chunyu Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China No.328 section 1 changshun avenue Chengdu China

ISBN: (纸本)9780791883761

SiC has become a candidate cladding material of Accident Tolerant Fuels (ATF) due to its excellent irradiation stability and corrosion resistance. However, because SiC is a ceramic material with low toughness, brittle failure is a significant concern. In order to improve the toughness, SiC fiber is required to manufacture multi-layer SiC composites. But the current performance model or analysis tool is not available for SiC composites cladding due to its obviously difference with Zr alloy cladding. On one side, Finite element method was used in this paper to analyze the performance of SiC composites cladding under operation conditions which include normal, transient conditions and LOCA conditions;on the other side, this paper gives the performance of the SiC composites with two layers under multiple operating conditions. The result showed that the temperature was stable and the maximum hoop stress was reached at about 70d under normal condition. The power ramp can increase the cladding temperature and has visible influence on the stress distribution. The hoop stress of the cladding reversed under LOCA condition. The tensile hoop stress on the outer surface significantly increased, which caused the obvious increase of failure probability of monolithic SiC, and the failure probability of SiC layer is significantly increased. The conclusion of the analysis has guiding significance for the theoretical design of SiC composites. Copyright © 2020 ASME.

关键词： Silicon carbide

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A review and correlations for two phase flow heat transfer in helically coiled tubes 27

A review and correlations for two phase flow heat transfer i...

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27th International Conference on Nuclear Engineering: Nuclear Power Saves the World!, ICONE 2019

作者： Ma, Haifu Xu, Tao Li, Peiying Gou, Junli Yuan, Hongsheng Chen, Wei Wu, Yirui Zhong, Mingjun Gao, Yingxian Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China School of Nuclear Science and Technology Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9784888983051

Helically coiled heat exchangers have been widely applied in many power conversion systems for their advantages, such as compactness and high efficiency in heat transfer. Reliable heat transfer models are required to analyze the thermal hydraulic characteristics of the once-through helically coiled tube steam generator. The purpose of this study is to evaluate the applicability of the existing heat transfer models. This paper review the experiments for heat transfer in helically coiled tubes in the case of two-phase flow, and summarize and screening corresponding experimental data and correlation. Then, this article compared these correlations to the existing available experimental data to evaluate the applicability of these correlations. Most of the correlations for two phase heat transfer were also valid within the parameter range of pressure, mass flux and heat flux. Results indicate that the currently existing correlation could not accurately match the experiment date. And the Steiner-Taborek correlation was recommended even though the 70% experiment date within the 20% deviation of predicted. Therefore the steam-water two phase flow need to further study to conclude a more suitable correlation in the further. Copyright © 2018-2019 by JSME

关键词： Two phase flow

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