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1.
软体机器人是由柔性材料制成的新型机器人,具有刚度小、柔顺性高等特点,其运动性能、应用环境范围主要取决于驱动方式。目前的驱动方式主要有流体驱动、线驱动、形状记忆合金驱动、电活性聚合物驱动、混合驱动等,其中流体驱动由于其形式的多样性、响应的快速性、高承载性而受到青睐。根据流体驱动介质的不同,将软体机器人流体驱动方式分为气压驱动、液压驱动、微流体驱动等,同时进一步根据气压驱动的结构类型将其分为纤维编织型、螺旋型、网格型、折纸型和特殊型等;介绍了目前流体驱动的软体机器人制造技术,分析了软体机器人流体驱动方式面临的一些问题,并提出了其未来发展方向。 相似文献
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混合驱动机构研究进展与发展趋势 总被引:2,自引:0,他引:2
混合驱动机构是可控机构的一种,其适度柔性以及降低驱动与控制成本的特性与优势使其成为现代机构学的重要研究分支之一。随着对混合驱动机构研究的深入,混合驱动机构理论和应用也不断地发展和创新。对现有的研究成果加以分析和总结将有利于促进混合驱动机构理论和应用的进一步发展。分析混合驱动机构的内涵,分别论述双自由度和多自由度混合驱动机构的研究进展,主要包括:混合驱动机构的构型设计与可动性、混合驱动机构的轨迹特征、混合驱动机构的运动学、混合驱动机构的动力学及混合驱动机构的应用等方面的研究进展。提出混合驱动机构研究的关键问题,总结了混合驱动机构的未来发展趋势。研究成果对拓展混合驱动机构的设计空间、开辟混合驱动机构新的应用领域具有重要意义。 相似文献
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传统的液压驱动源朝节能化、高动态化方向发展,交流伺服电机驱动朝多型式方向发展。电动驱动技术的发展使液压驱动的性能和功能得到更优越的发挥,液压驱动技术的发展促进了电动驱动技术的创新开拓,两者相辅相成组成液电复合互补动力驱动源,注塑机的驱动系统呈现绿色技术新型模式。液电复合驱动系统提高了注塑机的技术水平,拓展了成型领域,降低了成型能耗。50000g托盘注塑机的独立塑化驱动的液电复合互补驱动的三阶挤注复合系统说明,液电驱动系统革新了传统的注塑机驱动系统,达到节能降耗、革新成型工艺的目的,扩大了塑化原料处理的能力,是一项具有发展前途的绿色技术。 相似文献
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驱动系统是打捆机的核心 ,打捆机以钢丝为捆扎原料 ,适用于捆扎黑色及有色金属的线材、棒材、管材及其他型材 ,现场要求打捆机驱动盘送线速度快 ,工作频繁 ,驱动盘正反转 ,正转送进时 ,要求钢丝迅速到位 ,反转抽线时 ,钢丝要抽紧 ,从而保证打捆速度和捆扎牢固。驱动系统设计非常重要 ,主要包括驱动马达的选择、驱动盘的设计和加载弹簧的选择和设计、驱动系统受力分析以及摩擦系数的测定。通过对驱动系统受力分析和摩擦系数的测定试验 ,才能确定驱动马达的驱动力矩 ,选定驱动马达的型号 相似文献
7.
传统的液压驱动源朝节能化、高动态化方向发展,交流伺服电机驱动朝多型式方向发展。电动驱动技术的发展使液压驱动的性能和功能得到更优越的发挥,液压驱动技术的发展促进了电动驱动技术的创新开拓,两者相辅相成组成液电复合互补动力驱动源,注塑机的驱动系统呈现绿色技术新型模式。液电复合驱动系统提高了注塑机的技术水平,拓展了成型领域,降低了成型能耗。50000g托盘注塑机的独立塑化驱动的液电复合互补驱动的三阶挤注复合系统说明,液电驱动系统革新了传统的注塑机驱动系统,达到节能降耗、革新成型工艺的目的,扩大了塑化原料处理的能力,是一项具有发展前途的绿色技术。 相似文献
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为了降低数字微流控芯片的驱动电压,将传统的方形驱动电极结构设计为半月形,并研究了不同参数的半月形驱动电极降低驱动电压的效果。首先,根据介电湿润的基本原理分析了不同驱动电极形状对降低驱动电压的影响。然后,通过流体体积法(VOF)对液滴的运动过程进行建模和数值仿真;根据数值仿真结果对比分析了不同结构参数的半月形驱动电极随驱动时间的运动过程。最后,设计了4种不同结构参数的半月形驱动电极芯片,并对其驱动液滴的效果进行了试验验证。结果表明:研制的4种半月形驱动电极微流控芯片中,电极圆弧直径等于电极长度结构的芯片其驱动电压比其他3种电极结构的芯片的驱动电压至少降低了15.6%,而且可以在16V的驱动电压下使1μL去离子水液滴的运动速度达到1.6cm/s,是设计为半月形驱动电极中的最优设计。实验数据证明了电极圆弧直径等于电极长度的半月形驱动电极结构可有效降低微流控芯片的驱动电压。 相似文献
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提出一种永磁悬浮非接触回转驱动系统,该系统由悬浮部分和非接触回转驱动两部分构成。悬浮部分采用运动控制方式,利用音圈电动机驱动永磁铁实现悬浮物竖直方向的稳定悬浮;回转驱动部分由直流伺服电动机驱动径向磁化永磁铁回转,形成变化磁场,非接触驱动悬浮物回转。本系统未在悬浮物中加入任何磁性材料,仅利用悬浮物表面剩余磁化点实现悬浮物的非接触回转驱动。介绍系统的悬浮与驱动原理,建立非接触驱动数学模型,并利用仿真与试验分析系统的回转驱动特性。分析结果表明:悬浮物的非接触回转驱动可以由伺服电动机驱动盘状永磁铁旋转来实现。铁球是否旋转与磁铁的数量无关;驱动磁铁的数量与系统的响应速度成正比,驱动磁铁的数量增多,输入速度和输出速度之间的线性度相对提高,旋转稳定。明晰本系统的非接触驱动特性,为隔离环境下铁磁性物品或零件的非接触操纵和姿态控制奠定了理论基础。 相似文献
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《机械工人(冷加工)》1976,(9)
第三讲机械手的驱动机械手的驱动方法,按驱动源分为液压驱动、气压驱动、电力驱动及机械驱动四种。一液压驱动液压驱动是利用油泵供给的12~150公斤/厘米~2压力油驱动执行机构,使机械手作各种运动。常用的执行机构有直线油缸、摇摆油缸及油马达等。 相似文献
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Salvadori ML Lessa TB Russo FB Fernandes RA Kfoury JR Braga PC Miglino MA 《Microscopy research and technique》2012,75(10):1437-1444
In this work, we studied the embryology of mice of 12, 14, and 18 days of gestation by gross observation, light microscopy, and scanning electron microscopy. Grossly, the embryos of 12 days were observed in C‐shaped region of the brain, eye pigmentation of the retina, first, second, and third pharyngeal arches gill pit nasal region on the fourth ventricle brain, cervical curvature, heart, liver, limb bud thoracic, spinal cord, tail, umbilical cord, and place of the mesonephric ridge. Microscopically, the liver, cardiovascular system and spinal cord were observed. In the embryo of 14 days, we observed structures that make up the liver and heart. At 18 days of gestation fetuses, it was noted the presence of eyes, mouth, and nose in the cephalic region, chest and pelvic region with the presence of well‐developed limbs, umbilical cord, and placenta. Scanning electron microscopy in 18 days of gestation fetuses evidenced head, eyes closed eyelids, nose, vibrissae, forelimb, heart, lung, kidney, liver, small bowel, diaphragm, and part of the spine. The results obtained in this work describe the internal and external morphology of mice, provided by an integration of techniques and review of the morphological knowledge of the embryonic development of this species, as this animal is of great importance to scientific studies. Microsc. Res. Tech. 2012. © 2012 Wiley Periodicals, Inc. 相似文献
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Cadmium, zinc, selenium, and copper were administered, singly or in combination, orally or subcutaneously. Experiment I included 32 calves of both sexes; six received Cd (two groups), Zn, Cd, and Zn, and Cd and Se (two groups) and one group was a control. In Experiment II (21 bulls), three were given Cd, Cd, and Cu, and Cd and Zn, respectively, and one group was a control. For light microscopy, in Experiment I the highest amounts of silver granules were present in the samples of liver, small intestine, and vesicular gland of all the exposed groups; in Experiment II the most affected organs were liver, kidney, and small intestine. For electron microscopy, in Experiment I, after administration of Cd and Zn, the highest amounts of granules were seen in the cytoplasm of hepatocytes and cells of the proximal and distal renal tubules and the lowest amounts were found in glandular cells of the pancreas. Administration of Cd and Se resulted in the presence of large numbers of granules in the nuclei and nucleoli of spermatogonies. In Experiment II, ingestion of Cd and Zn in feed led to the appearance of highest amounts of granules in the nucleoli, nuclei, and cytoplasm of cells in testes, kidneys, and pancreas. Following Cd intake, the highest accumulation of granules was observed in the nucleoli of hepatocytes and cells of the proximal and distal renal tubules. Combined Cd and Cu produced the highest number of granules in cells of the proximal and distal renal tubules and in the nucleoli and nuclei of germinal epithelium. 相似文献
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电源系统是航天器上必不可少的重要分系统,用于产生、储存、分配电能。随着航天器数量的爆发式增长,电源系统的建模仿真成为航天器健康管理和智能运维领域的研究热点。鉴于此,本文首先总结了航天器电源的分类、组成及发展趋势。接着,从航天器健康管理和智能运行维护视角,综述了航天器电源建模及仿真技术体系,航天器电源典型部件机理建模、数据驱动建模、数字孪生融合建模方法,航天器电源的仿真技术与仿真软件、建模仿真的典型应用。最后对航天器电源建模仿真的技术挑战及发展趋势进行总结和分析。本文预期能够为航天器电源健康管理、航天器电源建模与仿真、数字孪生领域的研究人员提供一定的参考和借鉴。 相似文献
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A SEM study of the antenna and mouthparts of Omosita colon (Linnaeus) (Coleoptera: Nitidulidae) 下载免费PDF全文
There are direct relationships between the behavioral mechanisms and sensilla. To obtain a better understanding of the behavioral mechanisms in Omosita colon (Linnaeus) (Coleoptera: Nitidulidae), we investigated the types, quantities, and distribution of sensilla on the antenna and mouthparts of O. colon by scanning electron microscopy. The clavate antenna comprised the scape, pedicel, and nine segment flagellomeres and had six types of sensilla, including two subtypes of sensilla chaetica (SC), three subtypes of sensilla basiconica (SB) and sensilla trichodea (ST), and one type of sensilla cavity, sensilla styloconica, and Böhm bristles (BB). The chewing mouthparts of O. colon consist of the labrum, mandible, maxillae, labium, and hypopharynx and had seven types sensilla, including two subtypes of SC and sensilla placodea, seven subtypes of SB, and one type of BB, ST, sensilla coeloconica, and sensilla campaniformia. In this research, we also deduced the relationships between the sensilla on the antenna and mouthparts and their functions. 相似文献
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在大型复杂的结构设计过程中,子结构综合与修正方法由于其快速、动态、综合等特点越来越广泛地应用于现代结构设计之中,以完善子结构综合与修正方法知识参考、引起国内学者关注该技术研究为目的,阐述了振动子结构与系统之间的综合与修正方法。在子结构综合方法中,主要对比分析了模态缩减与综合、频域JETMUNDSEN、REN、机械阻抗导纳法综合法、频响函数奇异值分解降噪法、子系统转角自由度刚柔等效及转换方法的原理及应用,评述了上述方法的优点与不足,就尚未解决的问题作了进一步探讨;在子结构修正方法中,对比分析了多重参考基准修正法、目标函数动态修正法、参数型修正、神经网络型修正、灵敏度修正、频响函数修正等方法的应用,总结了模型修正方法中存在的一些问题。最后,提出了振动子结构综合及修正方法的研究趋势。 相似文献
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Dohyung Lim Han-Sung Kim Jung-Sung Kim Rami Seliktar Sung-Jae Lee 《Journal of Mechanical Science and Technology》2009,23(2):409-419
The aim of this study was to predict and map the regional distribution of the trabecular architecture and the material properties
of the glenoid and to estimate the predominant loading condition on the glenoid through the mapping. The morphological and
material characteristics of the glenoid were investigated by analyzing digitized trabecular bone images obtained from twelve
cadaver scapula specimens. The morphological and material characteristics computed from the cadaver specimens show that the
predominant loading on the glenoid generally occurs during shoulder movement, which produces forces directed toward the posterior
aspect of the bare region. This study is innovative in its detailed mapping of the morphological and material characteristics
of the glenoid and its pioneering approach used to estimate the loading pattern acting on the glenoid through the mapping.
This paper was recommended for publication in revised form by Associate Editor Young Eun Kim
Dohyung Lim received B.S. and M.S. degrees in Biomedical Engineering from Inje University, Kimhae, Korea, in 1998 and 2000, respectively.
He then went on to receive his Ph.D. degree from School of Biomedical Engineering, Science, & Health Systems, Drexel University,
Philadelphia, PA, USA, in 2004. Dr. Lim completed a postdoctoral fellowship in Department of Physical Therapy and Human Movement
Science, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA and a Research Professor of Biomedical Engineering,
Yonsei University, Wonju, Gangwon, Korea. Dr. Lim is currently a Senior Researcher at the Korea Institute of Industrial Technology
in Cheonan, Chungnam, Korea.
Han-Sung Kim received B.S. and M.S. degrees in Machine Design and Production Engineering from Hanyang University, Seoul, Korea, in 1989
and 1991, respectively. Dr. Kim received Ph.D. degree in Mechanical Engineering from University of Manchester Institute of
Science and Technology, Manchester, UK, in 1999. Dr. Kim is currently an Associated Professor at the Biomedical Engineering
at Yonsei University in Wonju, Korea.
Jung-Sung Kim received B.S. and M.S. degrees in Biomedical Engineering from Inje University, Kimhae, Korea, in 1996 and 1998, respectively.
He is currently in the doctor’s course in Department of Medical Engineering and BK 21 Project for Medical Science, Yonsei
University College of Medicine, Seoul, Korea.
Rami Seliktar has a BS and MS degree in Mechanical Engineering, from The Technion, IIT, and Ph.D. (BME) from Strathclyde University, Scotland.
He has held academic appointments in several institutions worldwide: Strathclyde University (2yrs.); associate professor at
the Technion (9yrs.); Texas A&M (on sabbatical leave from the Technion), and twenty seven years as professor of BME and ME
at Drexel University in Philadelphia. Concurrently he founded and directed a Biomechanics laboratory at the Loewenstein Rehab.
in Israel and consulted to governments, public agencies and industries. Prof. Seliktar has done research on limb prosthetics,
human performance, orthopedic and occupational biomechanics, assistive technology for automomobil dynamics. His research has
been funded by: The NSF, NIH, the RWJ Foundation, the Easter Seal Foundation, NIDRR, AIduPont, the United Cerebral Palsy and
some hospitals. He has published numerous articles in scientific journals, book chapters and conference proceedings. At the
present, Rami Seliktar is Professor and Vice Director of the School of Biomedical Engineering, Science and Health Systems
of Drexel University.
Sung-Jae Lee received B.S. and M.Eng. degrees in Mechanical Engineering from Cornell University, Ithaca, NY, USA, in 1984 and 1985, respectively.
He re-ceived Ph.D. degree in Biomedical Engineering from University of Iowa, Iowa City, IA, USA, in 1993 Dr. Lee is currently
a Professor at Department of Biomedical Engineering, Inje University, Gimhae, Gyongnam, Korea. He is currently serving as
a board member for the Division for Health Care Technology Assessment of International Federation of Medical and Biological
Engineering (IFMBE), a executive member of Korean Orthopedic Research Society, director of international relations for the
Korean Society for Biomaterials and also for the Korean Society of Biomechanics. 相似文献
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B. Paul 《Mechanism and Machine Theory》1975,10(6):481-507
General-purpose computer programs such as IMP, DRAM, MEDUSA and DYMAC, for the solution of inertia-variant (linkage-type) mechanisms are beginning to emerge. These programs, which automatically generate, and numerically integrate, the equations of motions, are based upon different but related analytical and numerical principles. There has also been much recent discussion of “influence coefficient” methods, energy methods and related matters. This paper reviews the various principles and techniques available for formulating the equations of motion, for integrating them numerically, and for solving the associated kinetostatic problem for the determination of bearing reactions. The relative advantages of vector methods, d'Alembert's Principle, Lagrange's Equations with and without multipliers, Hamilton's Equations, Virtual work, and energy methods are discussed. Particular emphasis is placed on how well-suited the various methods are to the automatic generation of the equations of motion, and to the form and order of the systems of differential equations they lead to. It is shown how velocity ratios, influence coefficients, centripetal coefficients, generalized inertia coefficients, and Christoffel symbols interrelate the various methods, and tie them to classical results of Analytical Dynamics such as the “explicit” equations of motion and the power-balance principle. Methods for solving both the general dynamics problem, and the kinetostatic problem, are reviewed, and the particular methods of implementation used in the recently developed general-purpose computer programs, and in other recent literature, are described. 相似文献
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建立了高效液相色谱-串联质谱(HPLC-MS/MS)法测定小鼠肝、肺、肾中Ⅰ、Ⅲ型胶原蛋白含量。首先识别小鼠Ⅰ、Ⅲ型胶原蛋白特征多肽,分别为GSEGPQGVR、GPSGFR。采用子离子及保留时间定性,以GLAGMK为内标对小鼠肝、肺、肾中Ⅰ、Ⅲ型胶原蛋白含量进行分析。结果表明,2个特征多肽在1~500 mg/L浓度范围内的线性关系良好,相关系数均大于0.99,精密度相对标准偏差小于3.7%,加标回收率在86%~118%之间。小鼠生长过程中,肝、肺、肾中Ⅰ型胶原蛋白的比例呈增加趋势,Ⅰ、Ⅲ型胶原蛋白总量呈先增加后降低的趋势。该方法前处理简便高效、精密度高、重现性好,可用于小鼠肝、肺、肾中Ⅰ、Ⅲ型胶原蛋白的精确定量。 相似文献
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A comparative analysis was undertaken to conduct an anatomical and micromorphological study of five species of Rhodiola-R. kirilowii, R. yunnanensis, R. crenulata, R. fastigata, and R. quadrifida-collected from the western Sichuan province plateau of China. Rhodiola plants are a popularly used ethnodrug from the Qinghai-Tibetan plateau of China. Modern studies have shown that the plants of Rhodiola possess different pharmacological activities, chemical constituents, and efficiencies in clinical application. To distinguish five main species of Rhodiola and ensure their safety and efficacy, microscopic characteristics of roots, rhizomes, and stems, including transverse sections, stem and foliar epidermis, as well as the crude drug powder, were observed. The fixed, sectioned, and stained plant materials, as well as the crude powder, were studied using a light microscope according to the usual microscopic techniques. The results of the microscopic features were systematically and comparatively described and illustrated. The five species have distinct microscopic characteristic differences, thus allowing us to distinguish between the species. Also, semi-quantitative and quantitative micrographic parameter tables were simultaneously presented. Further, a key to the five species and a comparative chart of the key authentication parameters based on these anatomic characteristics analyzed was drawn up and is presented for the Rhodiola species studied. The study indicated that light microscopy and related techniques provide a method that is convenient, feasible, and can be unambiguously applied to the authentication of species of Rhodiola. 相似文献