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In the field of planetary exploration, the legged-type lander is a common landing buffer device. There are two important performance metrics for legged-type landers: the energy absorption capacity and landing stability. In this paper, a novel method is proposed to optimize the honeycomb buffer of a legged-type lander. Optimization design variables are the dimension parameters of honeycomb and the objective functions are the evaluation parameters of the above two performance metrics.

A multi-body dynamic model of a lander and a finite-element model of the metal honeycomb are established. Based on the simulation results of the finite-element model and the quartic polynomial, the surrogate models are established to evaluate the energy absorption capacity of honeycomb. Considering both the multi-body dynamic model and the surrogate models, the study designed the optimization flow of dimension parameters of honeycomb. Besides, the non-dominated sorting genetic algorithm II is used for iterative calculation.

Images of surrogate models show the monotonous functional relationship between the honeycomb’s energy absorption characteristics and its dimension parameters. Optimization results show an apparent contradiction among the objective functions. Besides, according to the simulation results, this method can significantly improve the comprehensive performance of the lander.

The novel method can effectively reduce the cost of honeycomb compression tests and improve the lander’s design. Therefore, it can be used for optimizing buffers of other types of legged-type landers.

The purpose of this paper is to carry out a series of transient, non‐linear dynamics finite element analyses in order to investigate the interactions between a stereotypical pneumatic tire and sand during off‐road vehicle travel.

The interactions were considered under different combined conditions of the longitudinal and lateral slip as encountered during “brake‐and‐turn” and “drive‐and‐turn” vehicle maneuvers. Different components of the pneumatic tire were modeled using elastic, hyper‐ and visco‐elastic material models (with rebar reinforcements), while sand was modeled using the CU‐ARL sand models developed by Grujicic et al. The analyses were used to obtain functional relations between the wheel vertical load, wheel sinkage, tire deflection, (gross) traction, motion resistance and the (net) drawbar pull. These relations were next combined with Pacejka magic formula for a pneumatic tire/non‐deformable road interaction to construct a tire/sand interaction model suitable for use in multi‐body dynamics analysis of the off‐road vehicle performance.

To rationalize the observed traction and motion resistance relations, a close examination of the distribution of the normal and shear contact stresses within the tire/sand contact patch is carried out and the results were found to be consistent with the experimental counter parts.

The paper offers insights into the interactions between a stereotypical pneumatic tire and sand during off‐road vehicle travel.

This paper aims to present the model and method involving multi-body system dynamic analysis, finite element quasi-statics contact analysis and numerical calculation of elastohydrodynamic lubrication (EHL), according to the cam wear prediction using Archard’s model. Cam–follower kinematic pairs always work under wear because of concentrated contacts. Given that a cam and follower contact often operates in the mixed or boundary lubrication regime, simulation of cam wear is a multidisciplinary problem including kinematic considerations, dynamic load and stress calculations and elastohydrodynamic film thickness evaluations.

Multi-body system dynamic analysis, finite element quasi-statics contact analysis and numerical calculation of EHL are applied to obtain the dynamic loads, the time histories of contact pressure and the oil film thicknesses in cam–follower conjunctions to predict cam wear quantitatively.

The wear depth of the cam in the valve train of a heavy-load diesel engine is calculated, which is in good agreement with the measured value in the practical test. The results show that the cam–tappet pair operates under a mixed lubrication or boundary lubrication, and the wear depths on both sides of the cam nose are extremely great. The wear of these points can be decreased significantly by modifying the local cam profile to enlarge the radii of curvature.

The main value of this work lies in the model and method involving multi-body system dynamic analysis, finite element quasi-statics contact analysis and numerical calculation of EHL, which can give good prediction for the wear of cam.

The purpose of this paper is to model the aircraft-cargo’s coupling dynamics during ultra-low altitude heavy cargo airdrop and to design the aircraft’s robust flight control law counteracting its aerodynamic coefficients perturbation induced by ground effect and the disturbance from the sliding cargo inside.

Aircraft-cargo system coupling dynamics model in vertical plane is derived using the Kane method. Trimmed point is calculated when the cargo fixed in the cabin and then the approximate linearized motion equation of the aircraft upon it is derived. The robust stability and robust H_∞ optimal disturbance restraint flight control law are designed countering the aircraft’s aerodynamic coefficients perturbation and the disturbance moment, respectively.

Numerical simulation shows the effectiveness of the proposed control law with elevator deflection as a unique control input.

The model derived and control law designed in the paper can be applied to heavy cargo airdrop integrated design and relevant parameters choice.

The dynamics model derived is closed, namely, the model can be called in numerical simulation free of assuming the values of parachute’s extraction force or cargo’s relative sliding acceleration or velocity as seen in many literatures. The modeling is simplified using Kane method rather than Newton’s laws. The robust control law proposed is effective in guaranteeing the aircraft’s flight stability and disturbance restraint performance in the presence of aerodynamic coefficients perturbation.

The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning.

This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID.

By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability.

The proposed method can be applied to the robot control field.

A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

To make wind energy (one of the alternative-energy production technologies) economical, wind-turbines (convertors of wind energy into electrical energy) are required to operate, with only regular maintenance, for at least 20 years. However, some key wind-turbine components (especially the gear-box) often require significant repair or replacement after only three to five years in service. This causes an increase in both the wind-energy cost and the cost of ownership of the wind turbine. The paper aims to discuss these issues.

To overcome this problem, root causes of the gear-box premature failure are currently being investigated using mainly laboratory and field-test experimental approaches. As demonstrated in many industrial sectors (e.g. automotive, aerospace, etc.) advanced computational engineering methods and tools cannot only complement these experimental approaches but also provide additional insight into the problem at hand (and do so with a substantially shorter turn-around time). The present work demonstrates the use of a multi-length-scale computational approach which couples large-scale wind/rotor interactions with a gear-box dynamic response, enabling accurate determination of kinematics and kinetics within the gear-box bearings (the components most often responsible for the gear-box premature failure) and ultimately the structural response (including damage and failure) of the roller-bearing components (e.g. inner raceways).

It has been demonstrated that through the application of this approach, one can predict the expected life of the most failure-prone horizontal axis wind turbine gear-box bearing elements.

To the authors’ knowledge, the present work is the first multi-length-scale study of bearing failure in wind-turbines.

The purpose of this paper is to study the main landing gear (MLG) mechanism configuration.

Mechanism kinematics and dynamics, stress analysis and sizing of the MLG structural members, and fatigue issues related with the mechanism operation. Spreadsheet solutions were incorporated to this survey to analyze the most conceivable loading situations, and important factors of the mechanism design for an initial evaluation of safety implications.

MLG design approach along with conservative fatigue design factors lies in the area of accepted limits in commercial aircraft industry.

MLG loading associated with landing as well as those associated with ground maneuvers (steering, braking and taxiing) contribute significantly to fatigue damage, along with the stresses induced by manufacturing processes and assembly. The application of FEA methods for the design of the landing gear does not always guarantee a successful approach to the problem solution, if precise analytical solutions are not available in advance.

From the investigation of this incident of fractured struts of the MLG it is confirmed that the reduction in Pintle Housing diameter on the upper part has contributed to the avoidance of damaging the fuel tank above the MLG that would lead to a catastrophic event. On the other hand, the airframe of the SKY-Jet was proved efficient for a belly landing with minor damages to the passengers and heavier damages for the aircraft.

On-line vibration monitoring sensors hooked up to the landing gear strut and Pintle House would greatly enhance safety, without relying in optical surveys in hard to access and inspect areas of the landing gears mechanisms housings.

Analytic methods were adopted and spreadsheet solutions were developed for the MLG main loading situations, along with design issues concerning mechanism kinematics and dynamics, stress analysis and sizing of the MLG structural members, as well as fatigue issues related with the mechanism operation. Spreadsheet solutions were incorporated to this survey to analyze the most conceivable loading situations, and important factors of the mechanism design for an initial evaluation of safety implications.

The purpose of this paper is to propose an improved method which can shorten the calculation time and improve the calculation efficiency under the premise of ensuring the calculation accuracy for calculating the response of dynamic systems with periodic time-varying characteristics.

An improved method is proposed based on Runge–Kutta method according to the composition characteristics of the state space matrix and the external load vector formed by the reduction of the dynamic equation of the periodic time-varying system. The recursive scheme of the holistic matrix of the system using the Runge–Kutta method is improved to be the sub-block matrix that is divided into the upper and lower parts to reduce the calculation steps and the occupied computer memory.

The calculation time consumption is reduced to a certain extent about 10–35% by changing the synthesis method of the time-varying matrix of the dynamics system, and the method proposed of paper consumes 43–75% less calculation time in total than the original Runge–Kutta method without affecting the calculation accuracy. When the ode45 command that implements the Runge–Kutta method in the MATLAB software used to solve the system dynamics equation include the time variable which cannot provide its specific analytic function form, so the time variable value corresponding to the solution time needs to be determined by the interpolation method, which causes the calculation efficiency of the ode45 command to be substantially reduced.

The proposed method can be applied to solve dynamic systems with periodic time-varying characteristics, and can consume less calculation time than the original Runge–Kutta method without affecting the calculation accuracy, especially the superiority of the improved method of this paper can be better demonstrated when the degree of freedom of the periodic time-varying dynamics system is greater.

The purpose of this paper is to present a coordinated control strategy for stable walking of biped robot with heterogeneous legs (BRHL), which consists of artificial leg (AL) and intelligent bionic leg (IBL).

The original concentrated control in common biped robot system is replaced by a master‐slave dual‐leg coordinated control. P‐type open/closed‐loop iterative learning control is used to realize the time‐varying gait tracking for IBL to AL.

The new control architecture can simplify gait planning scheme of BRHL system with complicated closed‐chain mechanism and mixed driving mode.

Designing and constructing a suitable magneto‐rheological damper can greatly improve the control performance of IBL.

Master‐slave coordination strategy is suitable for BRHL stable walking control.

The concepts and methods of dual‐leg coordination have not been explicitly proposed in single biped robot control research before. Master‐slave coordinated control strategy is suitable for complicated BRHL.

This paper aims to obtain the evolution law of dynamic performance of CR400BF electric multiple unit (EMU).

Using the dynamic simulation based on field test, stiffness of rotary arm nodes and damping coefficient of anti-hunting dampers were tested. Stiffness, damping coefficient, friction coefficient, track gauge were taken as random variables, the stochastic dynamics simulation method was constructed and applied to research the evolution law with running mileage of dynamic index of CR400BF EMU.

The results showed that stiffness and damping coefficient subjected to normal distribution, the mean and variance were computed and the evolution law of stiffness and damping coefficient with running mileage was obtained.

Firstly, based on the field test we found that stiffness of rotary arm nodes and damping coefficient of anti-hunting dampers subjected to normal distribution, and the evolution law of stiffness and damping coefficient with running mileage was proposed. Secondly stiffness, damping coefficient, friction coefficient, track gauge were taken as random variables, the stochastic dynamics simulation method was constructed and applied to the research to the evolution law with running mileage of dynamic index of CR400BF EMU.