Stability control of hydraulic foot robot in complex environment; Mainly through threedimensional modeling, hydraulic fluid theoretical analysis and calculation, fluid simulation software, as well as the actual experiment to verify the rationality of the design and the stability of the robot. Kinematics and dynamics analysis of the robot is the basis of the whole system design. At present, the research of kinematics mainly has two aspects: one is to discuss the structure, size and movement speed of each part of robot from the perspective of biology and bionics, which provides reference for the design and research of quadruped walking robot[6]; The other is to solve the kinematics of quadruped walking robots with different structures from the perspective of mechanical engineering, especially robotics, so as to discuss the optimization of robot structure[7].
Fig.3 Simplified model of contact impedance between one leg and external environment Based on the established virtual prototype model, this project establishes the mathematical model of kinematics and dynamics analysis of quadruped robot, which provides theoretical basis for simulation of quadruped robot motion characteristics, control system design and function realization. Specific implementation scheme: D-H method was used to establish the robot space motion coordinate system, and the coordinate transformation matrix of each joint was deduced relative to the reference coordinate system. The forward and inverse space kinematics analysis of quadruped bionic robot is studied. The working space of bionic leg mechanism was calculated by the given range of joint angles. [8]
Fig.4 Change the position correction response curve of target parameters The hydraulic system of the quadruped robot in this project is relatively complex, and the motion control of the quadruped robot is accomplished by sixteen parallel servo units. Therefore, the power-weight ratio of the integrated block-pipe network system and the energy dissipation in the transmission process are put forward stricter requirements. For the quadruped robot integrated block-pipe network system, the maximum power-weight ratio and the minimum transmission energy consumption are taken as the objective functions, and the numerical simulation method is combined with the transient flow field visualization measurement method. The accuracy of the numerical method is verified by experimental results, and the quadruped robot integrated blockpipe network system is obtained.[9]
For more information about doctoral scholarship and PhD programme at Xi’an Jiaotong-Liverpool University (XJTLU): Please visit
http://www.xjtlu.edu.cn/en/study-with-us/admissions/entry-requirements
http://www.xjtlu.edu.cn/en/admissions/phd/feesscholarships.html
Requirements:
The candidate should have a first class or upper second class honours degree, or a master’s degree (or equivalent qualification) in mechanics, engineering, materials, physics, maths etc. Evidence of good spoken and written English is essential. The candidate should have an IELTS score of 6.5 or above, if the first language is not English. This position is open to all qualified candidates irrespective of nationality.
Please note that the joint PhD project is industry-based and the candidate is expected to undertake part of the research at the partner organization in China.
Degree:
The student will be awarded a PhD degree from the University of Liverpool (UK) upon successful completion of the program.
Supervisor Profile:
Principal Supervisor:
https://www.xjtlu.edu.cn/zh/study/departments/academic-departments/foundationalmathematics/department-staff/academic-staff/staff/chen-xuan
JITRI co-supervisor:
Dr. MinzhouLuo, PhD and researcher of University of Science and Technology of China, is currently the President of Jiangsu JITRI Intelligent Manufacturing Technology Research Institute Co., LTD., focusing on the operation of intelligent manufacturing industry.
Dozens of the institute’s self-developed products, including Human-Machine Lightweight Collaborative Robot and Intelligent Unmanned Floor-cleaning and Disinfection robot, have achieved fleet sales. The institute has made breakthrough development in many core and common technologies of robots.
Dr. Luo has participated in more than 20 projects of Ministry of Science and Technology, National 863, Ministry of General Equipment, NSFC, Chinese Academy of Sciences, 12 projects of Jiangsu provincial and Nanjing municipal, and more than 50 enterprise projects. He has published more than 130 papers, 41 of which were included in SCI and EI. He has obtained more than 20 invention patents, and 8 items of software registration. He has supervised more than 30 PhD and master students.
Dr. Luo is a member of Jiangsu provincial "333 High-level Talent Project", Nanjing "Top Expert Gathering Program", "Innovative Entrepreneur Training Program", "young and middle-aged talents" and "Entrepreneurship Jiangbei" high-level entrepreneurial talents.
How to Apply:
Interested applicants are advised to email [Email Address Removed] (XJTLU principal supervisor’s email address) or [Email Address Removed] the following documents for initial review and assessment (please put the project title in the subject line).
- CV
- Previous projects related to this advert
- Two reference letters with company/university letterhead
- Personal statement outlining your interest in the position
- Proof of English language proficiency (an IELTS score of 6.5 or above)
- Verified school transcripts in both Chinese and English (for international students, only the English version is required)
- Verified certificates of education qualifications in both Chinese and English (for international students, only the English version is required)
- PDF copy of Master Degree dissertation (or an equivalent writing sample) and examiners reports available