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Stiffness of a 3-degree of freedom translational parallel kinematic machine
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《机械工程前沿(英文)》 2014年 第9卷 第3期 页码 233-241 doi: 10.1007/s11465-014-0312-z
In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.
关键词: 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness
Manufacturing error analysis of compliant 3-DOF microrobot
CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 299-304 doi: 10.1007/s11465-006-0030-2
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
《机械工程前沿(英文)》 2014年 第9卷 第2期 页码 120-129 doi: 10.1007/s11465-014-0300-3
In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.
关键词: translational Parallel Kinematic Machine error modeling global error transformation index
LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 308-316 doi: 10.1007/s11465-014-0318-6
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
关键词: humanoid robots torso design parallel manipulators (PKM) conceptual design
Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)
ZHAI Wenjie, LIU Changxiong, LIANG Yingchun
《机械工程前沿(英文)》 2008年 第3卷 第4期 页码 441-448 doi: 10.1007/s11465-008-0074-6
关键词: numerical analysis practical CTMP circular-translational-moving polishing CTMP different
作为免疫疗法靶点的FOXP3及其辅因子 Review
Yasuhiro Nagai,Lian Lam,Mark I. Greene,Hongtao Zhang
《工程(英文)》 2019年 第5卷 第1期 页码 115-121 doi: 10.1016/j.eng.2019.01.001
叉头框蛋白P3(FOXP3)是调节性T细胞(Tregs)的一个主要调节因子,调节性T细胞是能抑制抗原特异性免疫反应的T 细胞亚群,在增强宿主耐受性和维持免疫平衡方面发挥着重要作用。众所周知,FOXP3 与多种蛋白质形成复合物,并能通过乙酰化、磷酸化、泛素化和甲基化等各种翻译后修饰(PTM)进行调节。因此,翻译后修饰可改变FOXP3 的稳定性及其调节基因表达的能力,并最终影响调节性T细胞活性。虽然FOXP3 自身并非理想的药物靶点,但脱乙酰酶、乙酰转移酶、激酶和其他可调节FOXP3 的翻译后修饰的酶均为调控FOXP3 和调节性T细胞活性的潜在靶点。但FOXP3 并非这些酶的唯一底物;因此,当使用相关抑制剂时,必须考虑是否存在有害的“FOXP3脱靶”副作用。
关键词: 调节性T细胞 叉头框蛋白P3(FOXP3) 翻译后修饰 自体免疫 癌症
《医学前沿(英文)》 2022年 第16卷 第4期 页码 551-573 doi: 10.1007/s11684-022-0928-z
关键词: HCC bone osteotropism clinical basic researches advances
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 435-450 doi: 10.1007/s11465-021-0630-x
关键词: 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset
Precision control system of two-DOF stage with linear ultrasonic motor
ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng
《机械工程前沿(英文)》 2008年 第3卷 第4期 页码 421-425 doi: 10.1007/s11465-008-0063-9
关键词: settling position accuracy PI control control algorithm orthogonal
Reverse driving character of 2-DOF closed chain haptic device
GUO Wei-dong, GUO Xin, ZHANG Yu-ru
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 356-359 doi: 10.1007/s11465-006-0029-8
Conceptual design of compliant translational joints for high-precision applications
Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 331-343 doi: 10.1007/s11465-014-0321-y
Compliant translational joints (CTJs) have been extensively used in precision engineering and microelectromechanical systems (MEMS). There is an increasing need for designing higher-performance CTJs. This paper deals with the conceptual design of CTJs via three approaches: parallelogram based method, straight-line motion mechanism based method and combination based method. Typical emerging CTJ designs are reviewed by explaining their design principles and qualitatively analyzing their characteristics. New CTJs are proposed using three approaches, including an asymmetric double parallelogram mechanism with slaving mechanism, several compact and symmetric double parallelogram mechanisms with slaving mechanisms and a general CTJ using the center drift compensation and a CTJ using Roberts linkage and several combination designs. This paper provides an overview of the current advances/progresses of CTJ designs and lays the foundation for further optimization, quantitative analysis and characteristic comparisons.
关键词: compliant mechanisms translational joints conceptual design parallelogram straight-line motion combination method
Dendritic cell vaccines in cancer immunotherapy: from biology to translational medicine
Hongmei Xu, Xuetao Cao
《医学前沿(英文)》 2011年 第5卷 第4期 页码 323-332 doi: 10.1007/s11684-011-0172-4
Baochen WEI, Feng GAO
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 109-119 doi: 10.1007/s11465-012-0323-6
Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.
关键词: working capacity multi-DOF manipulator capacity polytope excavating mechanism
Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA
《机械工程前沿(英文)》 2015年 第10卷 第3期 页码 221-232 doi: 10.1007/s11465-015-0347-9
In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0695-1
关键词: translational parallel mechanism single loop multiple driving system workspace analysis singularity
标题 作者 时间 类型 操作
Manufacturing error analysis of compliant 3-DOF microrobot
CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua
期刊论文
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
期刊论文
Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)
ZHAI Wenjie, LIU Changxiong, LIANG Yingchun
期刊论文
Bone metastasis of hepatocellular carcinoma: facts and hopes from clinical and translational perspectives
期刊论文
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Precision control system of two-DOF stage with linear ultrasonic motor
ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng
期刊论文
Reverse driving character of 2-DOF closed chain haptic device
GUO Wei-dong, GUO Xin, ZHANG Yu-ru
期刊论文
Conceptual design of compliant translational joints for high-precision applications
Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG
期刊论文
Dendritic cell vaccines in cancer immunotherapy: from biology to translational medicine
Hongmei Xu, Xuetao Cao
期刊论文
A method to calculate working capacity space of multi-DOF manipulator and the application in excavating
Baochen WEI, Feng GAO
期刊论文
One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the
Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA
期刊论文