软体机器人流体驱动方式综述

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。     

混合驱动机构研究进展与发展趋势

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。     

下肢外骨骼机器人关节驱动及优化研究

外骨骼通过关节驱动器输出提供驱动力矩,分担人腿肌肉负荷。针对目前外骨骼的关节驱动方式,讨论了几种主要驱动技术的基本原理、实现方式和结构特点,分析了关节驱动的优化改进方法。首先,液压驱动可以优化驱动力矩为目标,设计储能机构,减少驱动功率,其次,针对电机驱动,优化中间传递机构,减少了关节重量和传递非线性,然后,对气动驱动特别是气动肌肉构型优化和骨骼服气动方式进行了综述,最后,指出无动力驱动是一种绿色驱动方式,也是未来的发展方向之一。总之,该文针对关节驱动及优化技术进行了分析综述,为外骨骼驱动系统设计提供了建议。     

打捆机驱动系统的设计和受力分析

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     

微驱动器的研究与发展

微电子机械系统(Micro Electro Mechanical Systems,简称MEMS)是在微电子技术的基础上兴起的一门应用技术,微驱动器是MEMS的重要组成部分.首先阐述了几种新型驱动原理:机械化学驱动、渗透驱动、生物能源驱动、仿生驱动、光致伸缩驱动,接下来介绍了常用驱动技术压电驱动、静电驱动、磁致伸缩驱动和气动驱动的当前研究成果.总结了常用微驱动器的驱动方式及特征.提出了目前研究中存在的主要问题,在此基础上简要分析了微驱动器的发展前景.     

注塑机液电复合互补驱动系统与应用综述（续）

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。     

注塑机液电复合互补驱动系统与应用综述

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。     

静压驱动系统松油门制动的研究和改进

静压驱动系统应用广泛,但在有些情况下静压驱动系统的会对车辆行走机构造成冲击,而引起驱动机构的破坏。通过对自行式行李装载机静压驱动系统的试验,分析了静压驱动系统造成驱动机构冲击的原因,提出了改进方案。     

T型带输送机驱动单元间距的确定

为改善输送带的张力分布,降低输送带的强度,在T型带输送机中采用主驱动电机与分散驱动单元相结合的驱动方式,建立了输送机模型,分析了各驱动单元间的张力关系、分散驱动单元的总驱动力以及分散驱动单元的数目,得到了驱动单元间距的数学表达式,为T型带输送机的进一步设计计算提供了理论依据.     

工业机械手基本知识讲座

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。     

Mice embryology: A microscopic overview

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.     

航天器电源建模仿真综述与展望

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。     

A SEM study of the antenna and mouthparts of Omosita colon (Linnaeus) (Coleoptera: Nitidulidae)

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.     

振动子结构综合与修正方法研究综述

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。     

Mapping of the morphological and the material characteristics on the glenoid and estimation of predominant loading condition on the glenoid through the mapping

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.     

Analytical dynamics of mechanisms—a computer oriented overview

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.     

高效液相色谱-串联质谱法测定小鼠肝、肺、肾中Ⅰ、Ⅲ型胶原蛋白含量

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。     

虹膜识别技术的发展与应用

在对虹膜识别技术的研究现状、识别框架、系统构成等进行全面分析的基础上,介绍了虹膜图像获取、图像预处理、特征提取、特征匹配及性能评价指标等主要内容.剖析了该技术面临着高质量图像采集困难,稳定性、可行性有待验证等主要问题,提出了该技术的研究发展方向及应用前景,包括虹膜特征信息与其他生物特征信息及非生物特征信息相融合;建立虹膜特征识别的网络身份认证系统;高效快速的识别算法及通用性和兼容性强的虹膜识别芯片.     

Application of microscopy in authentication of traditional Tibetan medicinal plants of five Rhodiola (Crassulaceae) alpine species by comparative anatomy and micromorphology

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.     

基于AMESim的电液伺服系统仿真与优化研究

AMESim是法国IMAGINE公司开发的高级工程系统仿真建模环境，为机械、液压、控制等工程系统提供一个较完善的综合仿真环境。目前该软件已广泛地被GM、Ford、LG、ZF、Bosch等公司采用，成为在汽车、液压和航空航天等研发部门的理想选择。文章首先介绍了AMESim软件的功能与特点，以典型的电液伺服控制系统为例，探讨了基于AMESim的液压系统建模与仿真的方法，研究了基于AMESim／DesignExploration模块和AMESim／matlab接口对AMESim仿真系统进行优化设计的方法，并给出了仿真与优化的结果。利用此方法，借助于AMESim所提供的多领域软件接口．可方便实现大型机电液一体化系统的联合仿真与优化研究．