步态矫形器动力学建模和仿真验证

为了进行下肢康复机器人患者主动控制技术的研究,建立了步态矫形器的动力学建模。首先采用分割建模的思想,利用拉格朗日方程法建立步态矫形器在跑步机上的单腿动力学模型。然后从系统整体出发分析双腿耦合的解决方法。最后在ADAMS-MATLAB虚拟样机仿真平台上进行步态矫形器步行仿真实验,验证了所建立的动力学模型的准确性。     

Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb rehabilitation

Robot-assisted technology has been increasingly employed in the therapy of post stroke patients to deliver high-quality treatment and alleviate therapists’ burden. This paper introduces a novel parallel end traction apparatus (PETA) to supplement equipment selection. Considering the appearance and performance of the PETA, two types of special five-bar linkage mechanisms are selected as the potential configurations of the actuation execution unit because of their compact arrangement and parallel structure. Kinematic analysis of each mechanism, i.e., position solutions and Jacobian matrix, is carried out. Subsequently, a comparative study between the two mechanisms is conducted. In the established source of nondimensional parameter synthesis, the singularity, maximum continuous workspace, and performance variation trends are analyzed. Based on the evaluation results, the final scheme with determined configuration and corresponding near-optimized nondimensional parameters is obtained. Then, a prototype is constructed. By adding a lockable translational degree of freedom in the vertical direction, the PETA can provide 2D planar exercise and 3D spatial exercise. Finally, a control system is developed for passive exercise mode based on the derived inverse position solution, and preliminary experiments are performed to verify the applicability of the PETA.     

Emergency design framework: a satellite preliminary scheme design

The emergency design of mechanical products or equipment (such as a satellite) is significant for disaster relief when the natural disasters occur. Most of us are unaware about the little information that is available in literature about emergency designs. Against the background of the preliminary scheme design of satellite payloads, emergency design was studied in the case of natural disasters. We presented some definitions about emergency design. Then, we proposed the basic ideas of how to realize the emergency design. These ideas were inspired by two aspects: 1) the evolutionary algorithms, the agent, the human-computer cooperation, and the collaborative design theory; 2) the emergency behaviors in ant colonies. Following the ideas, first we constructed the human-computer cooperation agents (hereinafter called the HC-Agents) that combine the human intelligence with evolutionary algorithms. These HC-Agents had specific features like the division of labor in the ant colony. Second, we developed the multiagents cooperative design system on the basis of a hybrid P2P (peer-to-peer) model. Therefore, the emergency design system has shown some capabilities, such as anti-interference, adaptation, and rapid response. Translated from Journal of Dalian University of Technology, 2006, 46(2): 220–227 [译自: 大连理工大学学报]     

快速交互式叶轮机械叶型设计系统研究

以Visual C 为设计平台，结合在叶片设计中的问题，开发交互式叶片设计系统。该系统在保证叶型几何外形合理的前提下，可以快速的对叶片进行改型或重新设计。对某小型压气机静子系统进行改进，结果表明，该系统有较强的工程应用前景。     

交互式产品样本设计方法与应用

提出了交互式产品样本的概念,分析了利用ActiveX控件对产品三维模型进行动态浏览的实现方法,通过对SolidEdge的Web发布模板进行修改并结合Microsoft Web浏览器控件等技术,解决了在Microsoft Visual Studio.NET环境下开发和发布交互式产品样本涉及到的有关技术难点,并给出了应用实例。     

套索驱动细长机器人的初步设计与试验

为了解决在地震后废墟内部搜救幸存者的问题,设计了一种细长柔软机器人.机器人采用了套索传动的方式,使机器人操作部分的尺寸和重量相对于其他搜救机器人大大减小.机器人由头部可操作部分和细长柔软身体组成,可运动的操作部分采用模块化的设计,可根据实际需要改变关节的数量.实验结果表明,机器人能初步完成搜救任务.     

Design and analysis of a gait rehabilitation cable robot with pairwise cable arrangement

Journal of Mechanical Science and Technology - A new design of gait rehabilitation robot using pairwise cables is proposed for post-stroke patients. Compared to conventional rehabilitation...     

网上考试系统研究与设计

本文介绍了基于Browse/Server模式的网上考试系统的研究及其初步应用.对系统的功能作了说明,并给出部分关键技术的具体实现方法.它实现了学生对学习内容的自测,教师通过对学生考试信息的分析,达到指导教学的目的.     

两栖仿生机器鱼机构设计及初步运动仿真

对国内外机器鱼的研究现状及研究成果进行分析,设计出四关节结构且可两栖行走的仿生机器鱼,对工作原理、关节结构设计及两栖行走装置设计详细介绍,简述其可完成的动作,依据机械控制的基础理论建立简单串联模型,并给出机器鱼两个运动方案,进行运动学的初步仿真,最终总结两栖仿生机器鱼的运动仿真结果。     

High-temperature materials testing with full-field strain measurement: experimental design and practice

Experimental characterization of the thermomechanical response of ceramic composites at very high temperatures is plagued by challenges associated with imaging and strain measurement. The problems involve illumination, heat haze, and surface contrast. Techniques that address these challenges have been developed and implemented in a laser heating facility, enabling non-contact strain measurement via digital image correlation. The thermomechanical characterization of both a Ni-based superalloy and a C/SiC composite are used to demonstrate the efficacy of experimental practices in realizing such measurements at temperatures up to 1500 °C.     

安全检测机产品形态与心理感知设计

从科学观与劳动观的角度认识形态的产生.说明形态的起因,从产品形态的涵义到产品形态的感知与心理,分析人在使用产品时的心理感受规律,及感知、心理、思维和形态的相互关系变化,并结合情感设计的内容阐述心理对产品形态的影响.使的产品形态能够引导并最大限度地适应人们的行为方式,为产品形态设计提供了更广阔的发展空间.     

摩擦材料性能试验机测控系统设计

阐述了基于工控机控制的摩擦材料性能试验机测控系统的设计方法,试验机测控系统硬件由安装了多功能数据采集卡的工控机为核心的测控电路组成,并配置了用VB编写了操作方便、功能强大的测控系统软件。还介绍了测控系统硬件和软件抗干扰措施。     

Analysis, design and development of a carbon fibre reinforced plastic knee-ankle-foot orthosis prototype for myopathic patients

A traditional knee-ankle-foot orthosis (KAFO) for myopathic patients has been studied for the assessment of loads and fatigue resistance. Starting from this basis a thermoplastic matrix carbon fibre reinforced plastic composite (CFRP) KAFO has been developed in order to reduce the weight. A finite-element simulation programme for deformation analysis was used to compare the behaviour of conventional and CFRP orthosis. There were no breakages either of the prototype or of its parts. The CFRP orthosis allows a weight reduction of more than 40 per cent.     

新型路面发电装置的设计与初步研究

为解决机动车辆路过路面减速装置时大量压力能被消耗的问题,将液压传动技术应用到路面减速装置中.开展路面发电装置机械结构和液压系统设计的分析,建立机动车辆经过减速装置产生的机械量与液压系统产生的液压能之间的关系,设计了路面减速发电装置.通过对该装置的理论计算,结果表明:此发电装置设计合理,经济效益显著.     

An eight-degree-of-freedom upper extremity exoskeleton rehabilitation robot: design,optimization, and validation

Upper extremity exoskeleton rehabilitation robots can be used for the training of patients with upper extremity motor dysfunction. In most cases, the design of such robots focuses on the configuration and the human-machine compatibility. For patients, the use of an exoskeleton rehabilitation robot mainly aims to improve their movement ability, which depends on the range of movement of the upper extremity joints. This paper proposes an eight-degree-of-freedom (DOF) upper extremity exoskeleton rehabilitation robot to improve the movement range of the patient’s upper extremity joints. The structural parameters of the shoulder joint are optimized and analyzed by the kinematic equations of the mechanism and the cyclic iteration algorithm such that the movement range of the patient joint can be maximized. The movement space of the robot is then simulated. Finally, the movement range of the rehabilitation robot joints and the movement space of the rehabilitation robot were measured. Experimental results show that the upper extremity exoskeleton rehabilitation robot can meet the patient’s shoulder, elbow, and wrist movement range, and the overlap with the human upper extremity movement space is 97.1 % and 95.7 % in the coronal and sagittal planes, respectively.

     

A supply chain distribution network design model: An interactive fuzzy goal programming-based solution approach

A supply chain (SC) distribution network design model is developed in this paper. The goal of the model is to select the optimum numbers, locations and capacity levels of plants and warehouses to deliver products to retailers at the least cost while satisfying desired service level to retailers. A maximal covering approach is used in statement of the service level. The model distinguishes itself from other models in this field in the modeling approach used. Because of somewhat imprecise nature of retailers’ demands and decision makers’ (DM) aspiration levels for the goals, a fuzzy modeling approach is used. Additionally, a novel and generic interactive fuzzy goal programming (IFGP)-based solution approach is proposed to determine the preferred compromise solution. To explore the viability of the proposed model and the solution approach, computational experiments are performed on realistic scale case problems.     

气动机械手及其PLC控制系统的设计与实现

介绍利用PLC控制3个气缸带动工业气动机械手完成物料搬运工作的气动机械手及其PLC控制系统的设计与实现方法，该方法提高了气动机械手及其控制的开发效率，增强了该机械手的扩展性、移植性，并为复杂气动机械手系统的设计开发提供借鉴。     

Combinatorial testing for software: An adaptation of design of experiments

Software has become increasingly ubiquitous in tools and methods used for science, engineering, medicine, commerce, and human interactions. Extensive testing is required to assure that software works correctly. Combinatorial testing is a versatile methodology which is useful in a broad range of situations to detect faults in software. It is based on the insight that while the behavior of a software system may be affected by a large number of factors, only a few factors are involved in a failure-inducing fault. We discuss the development of combinatorial testing for software as adaptation of design of experiment methods. Combinatorial testing began as pairwise testing in which first orthogonal arrays and then covering arrays were used to make sure that all pairs of the test settings were tested. Subsequent investigations of actual software failures showed that pairwise (2-way) testing may not always be sufficient and combinatorial t-way testing for t greater than 2 may be needed. Until recently efficient tools for generating test suites for combinatorial t-way testing were not widely available. Combinatorial testing has become practical because efficient and free downloadable tools with support of constraints have become available.     

南极小望远镜阵的抗振设计分析与测试

南极DomeA被认为是地球上最好的天文观测台址,研制一台用于测光和台址测量的南极小望远镜的课题由此产生.CSTAR(Chinese Small Telescope ARray)于2006年8月提出,用时一年研制成功,并于2007年11月启程运往南极.文章运用振动理论并辅以ANSYS有限元分析软件,设计了该望远镜的抗振运输箱并通过实验加以验证.     

油缸试验台试制设计

荆州第四石油机械厂各种修井机和钻机上的起升油缸的耐压试验缺乏一个系统的试验台,影响了生产效率和产品质量,针对这个被动局面,专门设计一台系统的油缸试验台显得尤为重要。从技术参数,结构组成,工作原理和应力分析和计算方面作了介绍,并指出其对该厂的经济效益的提高有重要意义。