检索范围:
排序: 展示方式:
王宝宝,余世明,王振宇
《中国工程科学》 2014年 第16卷 第2期 页码 101-105
关键词: Nagle算法 死锁 延迟确认策略 ARM7 嵌入式Internet
《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
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.
关键词: anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables
《机械工程前沿(英文)》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
A novel task-oriented framework for dual-arm robotic assembly task
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 528-545 doi: 10.1007/s11465-021-0638-2
关键词: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
《机械工程前沿(英文)》 2022年 第17卷 第1期 页码 8-8 doi: 10.1007/s11465-021-0664-0
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton
《机械工程前沿(英文)》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2
关键词: pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity
Resistance of large deformation of the Wushaoling Tunnel F7 soft fault
ZHAO Xufeng, CHEN Haiming, WANG Chunmiao
《结构与土木工程前沿(英文)》 2007年 第1卷 第1期 页码 123-127 doi: 10.1007/s11709-007-0013-3
Acid Orange 7 degradation using methane as the sole carbon source and electron donor
《环境科学与工程前沿(英文)》 2022年 第16卷 第3期 doi: 10.1007/s11783-021-1468-5
• AO7 degradation was coupled with anaerobic methane oxidation.
关键词: Azo dyes AO7 degradation Anaerobic methane oxidation Microbial community ANME-2d
《环境科学与工程前沿(英文)》 2023年 第17卷 第1期 doi: 10.1007/s11783-023-1604-5
● Metabolomic temporal profiling of cells exposed to xenobiotics.
关键词: Metabolomics BPA MCF-7 Temporal profiling Metabolic adaption Dysregulation correlation
Nicotinic acetylcholine receptor α7 subunit: a novel therapeutic target for cardiovascular diseases
null
《医学前沿(英文)》 2012年 第6卷 第1期 页码 35-40 doi: 10.1007/s11684-012-0171-0
Inflammation is important in the pathogenesis and development of cardiovascular diseases. Recent studies show that vagus nerve stimulation inhibits pro-inflammatory cytokine production through “the cholinergic anti-inflammatory pathway,” more specifically via the α7 nicotinic acetylcholine receptor (α7nAChR). In the current study, the role of the cholinergic anti-inflammatory pathway during septic shock, hypertension, and myocardial infarction is reviewed, and its possible clinical implications in cardiovascular diseases are discussed.
关键词: α7 nicotinic acetylcholine receptor cardiovascular diseases baroreflex sensitivity
Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1
《机械工程前沿(英文)》 2022年 第17卷 第1期 doi: 10.1007/s11465-021-0658-y
关键词: free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach
A virtual reality system for arm and hand rehabilitation
Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 23-32 doi: 10.1007/s11465-011-0202-6
This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.
关键词: motion tracking rehabilitation optical linear encoder (OLE) virtual reality
标题 作者 时间 类型 操作
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
期刊论文
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
期刊论文
Resistance of large deformation of the Wushaoling Tunnel F7 soft fault
ZHAO Xufeng, CHEN Haiming, WANG Chunmiao
期刊论文
Time-dependent metabolomics uncover dynamic metabolic adaptions in MCF-7 cells exposed to bisphenol A
期刊论文
Nicotinic acetylcholine receptor α7 subunit: a novel therapeutic target for cardiovascular diseases
null
期刊论文
Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional
Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1
期刊论文