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IEEE International Conference on mechatronics and Automation

作者： Cheng-Fei Du Meng-Si Sun Xin-Yi Cai Chen-Xi Yuchi National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

Objective: To compare biomechanical behaviors of lumbar lateral interbody fusion with and without posterior fixation. Methods: Three kinds of three-dimensional nonlinear finite element models of lumbar vertebrae (L3-S1) were developed: traditional lateral interbody fusion with bilateral pedicle 4 screws and 2 rods internal fixation; only lateral interbody fusion; intact model. The models were supported to a 500N follower load with a 7.5-N.m moment of flexion, extension,lateral bending,and rotation. The change of the range of motion (ROM) and intervertebral disc pressure (IDP) of the surgical segment and adjacent segments are compared. Results: Compared with the intact model, both surgical methods reduce the range of motion at the surgical segment in all motion modes, but have almost no effect on adjacent segments. The addition of fixation induce the further reduction of ROM in the surgical segment, and the ROM is almost 0° in all motion modes except for rotation. While for the model of only lateral interbody fusion, the ROM range from 0.4° to 2.2°. Moreover, the variation of the intervertebral disc pressure in surgery groups are extremely subtle in all the segments and all the postures. Conclusion: Compared to the only lateral interbody fusion,the traditional internal fixation with bilateral pedicle 4 screws and 2 rods for lateral interbody fusion showed more bimechanical stability of the surgical segment. The extra fixation for lumbar lateral interbody fusion is indispensable for surgeon.

关键词： Surgery Finite element analysis Read only memory Spine Motion segmentation Biological system modeling Fasteners

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The Biomechanical Response of Cervical Spine under Different Follower Loads

The Biomechanical Response of Cervical Spine under Different...

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IEEE International Conference on mechatronics and Automation

作者： Cheng-Fei Du Xin-Yi Cai Meng-Si Sun National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

The follower load is a synergy of the mimicking the human muscle tissue. It can improve load-carrying capacity of the human cervical spine and play an important part in maintaining the stability of cervical spine. Currently, the studies of the influence of a follower load on biomechanics of cervical spine is still not perfect. Therefore, this paper used the finite element (FE) modeling method to investigate the biomechanical response of cervical spine under different follower loads. The range of motion (ROM) of and intradiscal pressure (IDP) in the cervical spine were important parameters reflecting the condition of the cervical spine. So a three-dimensional (3D) nonlinear finite element model of the cervical spine (C3-C7) was built and validated. Under different follower loads (0 N, 50 N, 100 N, 150 N), a moment of 1 Nm was applied in the three anatomical planes to study the the influence of the follower load on the range of motion and intradiscal pressure in cervical spine. The results indicated that follower load reduced the ROM of cervical spine in extension, and in other postures increased the ROM. The most significant effect of the follower load on cervical spine was in torsion (55%), lateral bending (50%) and flexion (17%). In all postures, the IDP of cervical spine increased with the follower load increased, at the same the IDP changed nonlinearly with the follower load increased.

关键词： Read only memory Finite element analysis Load modeling In vitro Solid modeling Bending Spine

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Selection of fundamental period components of vibration modeling for non-faulty planetary gearboxes

Selection of fundamental period components of vibration mode...

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Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Xinguang Ma Li Zhan Jie Liu Lin Zhang Jun Liu Mian Zhang Nuclear Power Institute of China Chengdu China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin University of Technology China

Planetary gearboxes are `hearts' of transmission train among heavy industrials. The health condition of planetary gearboxes is the key to maintain reliable operation of industrial and promote harmonious social development. Frequency spectrum analysis of vibration measurements is a popular way for condition assessing. As prior guidance for spectrum analyzing, phenomenological modeling emerges as a simple and effective mathematical description of the vibration measurements referring to the sensor. A reasonable model of a non-faulty planetary gearbox is the essential work, either in understanding the motion behavior, or in condition monitoring and even for fault diagnosis. In this paper, traditional models are reexamined and investigated: we found the contradicting results from two classical references on the selection of fundamental period components when constructing models. The rationality of the traditional models is mathematically and experimentally studied, the more reasonable one is indicated.

关键词： Vibrations Fault diagnosis Analytical models Vibration measurement Frequency measurement Mathematical model Spectral analysis

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Pickup Manipulator design and Its Kinematics Simulation 2

Pickup Manipulator Design and Its Kinematics Simulation

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2018 2nd International Symposium on Resource Exploration and Environmental Science, REES 2018

作者： Zhang, Zhongdang Zhang, Zhaoqiang Ma, Shitai Zhou, Haibo Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

In order to improve the flexibility of the pickup manipulator and solve the problem of picking up small sports balls in training ground such as golfing, tennis, and table tennis, a 5-DOF pickup manipulator structure is designed. According to the pickup task requirements of the manipulator, through theoretical calculations, the 86HS series stepping motor is selected as the driving motors of the front end joints. Based on this, the stepping motor control system is designed to realize the closed-loop control of the manipulator. Then the manipulator model is built using D-H method, the inverse kinematics solution is calculated, and the analysis of kinematic theory is conducted. Finally, the targeted pickup point is selected to carry out case simulation analysis of the manipulator, the motion law of the manipulator is verified to be reasonable and the task of picking up small sports balls is completed. © Published under licence by IOP Publishing Ltd.

关键词： Manipulators

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Kinematics Analysis of Walking Robot Based on Double Stewart Parallel Mechanism

Kinematics Analysis of Walking Robot Based on Double Stewart...

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Chinese Automation Congress (CAC)

作者： Shuo Jia Wei Chen Wenchang Zhang Hang Wu Weixiao Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China Academy of Military Sciences of Chinese PLA Institute of Medical Support Technology Tianjin China Information Management and Information System Nanjing University of Posts and Telecommunications Nanjing China

Parallel mobile robots have recently attracted wide attention due to their strong load capacity, high running stability and rapid response speed. This paper conducts the kinematics research based on a pair of novel mobile legs that consist of a dual Stewart parallel mechanism. Firstly, we describe its motion mechanism and analyze the DOF of the mechanism in detail. Secondly, the forward and inverse kinematic solutions of the mechanism are computed and analyzed, and then the workspace is obtained by Matlab simulation. Thirdly, according to the principle of kinematics, we carry out dynamic performance optimization research to analyze and compare various motion control rules. Finally, the human-computer interface is designed for ease of analysis and displaying the kinematic rules of robot motion.

关键词： Legged locomotion Robot kinematics Mobile robots Motion control Stability

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Two methods of determining target orientation by robot visual principle

Two methods of determining target orientation by robot visua...

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作者： Liu, Gang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of Advanced Mechanical and Electrical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781538636749

By analyzing the imaging principle of the fish-eye lens in the robot vision, two methods of determination of the target orientation based on the fish-eye lens are summarized. One method uses the distortion correction to determine the target orientation, and the other uses the relationship between the target in the actual orientation and its correspondence in the imaging coordinates to determine the target orientation, both methods all use image processing technology, fast and efficiently determine the orientation of the target in the fish eye image. In this paper, the theoretical basis and experimental process of the two methods are introduced respectively. By comparing the data after the experiment, the more accurate method is analyzed and applied to the target azimuth determination of the fish-eye lens. © 2017 IEEE.

关键词： Fish-eye lens Image processing Robot vision Target orientation

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic system

A Method for Obtaining Contact Force between Catheter Tip an...

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IEEE International Conference on mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Core-shell [email protected] 2 O-graphene-polydopamine interdigitated microelectrode array sensor for in situ determination of salicylic acid in cucumber leaves

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Sensors and Actuators B: Chemical 2021年 341卷

作者： Dandan Liu Mingji Li Hongji Li Cuiping Li Guilian Wang Penghai Li Baohe Yang Tianjin Key Laboratory of Film Electronic and Communication Devices Engineering Research Center of Optoelectronic Devices & Communication Technology (Ministry of Education) School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin 300384 PR China Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion Tianjin Key Laboratory of Drug Targeting and Bioimaging School of Chemistry and Chemical Engineering Tianjin University of Technology Tianjin 300384 PR China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 PR China

The in situ detection of active small molecules in plants is one of the key technologies for the development of precision agriculture. An interdigitated microelectrode (IDME) array electrochemical sensor is constructed herein, with three groups of IDME arrays as a three-electrode system. The core-shell [email protected] 2 O-graphene (Gr)-polydopamine (PDA) nanoparticles are densely packed on Al microelectrodes using a three-potential step pulse electrodeposition method. Each of the over 2000 individual microelectrodes is approximately 1 μm wide and 1100 μm in length. The sensor has a high response to salicylic acid (SA) due to the synergistic electrocatalysis of [email protected] 2 O, Gr, and PDA, and the high-density arrangement of the three-electrode unit with microelectrodes. The sensor has a linear concentration range of 0.01–100 μM for SA and the detection limit is as low as 1.16 nM. The SA concentration in cucumber leaves is monitored from the early growth stage to the fruiting stage using the IDME array sensor, and the juice and living stems of the cucumber are detected. The flat structure of the [email protected] 2 O-Gr-PDA IDME array sensor is suitable for attachment onto plant tissues, especially for the in situ detection of SA in leaves.

关键词： Core-shell [email protected] 2 O-graphene-polydopamine Interdigitated microelectrode array Sensor Salicylic acid Plant

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Kinematic Analysis of a Redundant Actuated Five Degrees of Freedom Parallel Mechanism

Kinematic Analysis of a Redundant Actuated Five Degrees of F...

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2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

作者： Xiaolong, Yin Bin, Li Xinhua, Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology China Fac. of Natl. Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728103761

A 5 degree of freedom parallel mechanism with 6 branched redundant actuators is proposed. The mechanism is composed of 4 -SPS and 2-RPS kinematic branches. The mechanism can achieve three rotational and two translational motion. The performance of the forward and inverse kinematics, singularity and workspace, is analyzed, firstly, using the vector algebra method and Newton iteration method, the forward and inverse kinematics model were obtained from numerical solution and analytic solution;on this basis, get the Jacobian matrix of mechanism, and on the basis of the three kinds of performance parameters of matrix the singularity of the mechanism was analyzed;finally with the help of Monte Carlo method, obtaining the workspace of the mechanism. The related kinematic analysis will lay a theoretical foundation for the future study of the dynamics. © 2018 IEEE.

关键词： Mechanisms

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot system

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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