A novel parallel micromanipulator with large range of motion based on flexible hinges is designed and analyzed in this paper, which has three degrees of freedom motions along x, y and z axes. The Pseudo-Rigid-Body (PR...
详细信息
ISBN:
(纸本)9781467391085
A novel parallel micromanipulator with large range of motion based on flexible hinges is designed and analyzed in this paper, which has three degrees of freedom motions along x, y and z axes. The Pseudo-Rigid-Body (PRB) model method is applied to obtain the kinetic performance and inputting stiffness. To calculate the natural frequency of the mechanism, the Lagrange method is used to achieve the dynamic and frequency equations. In addition, the working range of the architecture is also calculated, analyzed and compared with other similar structures by using ANSYS software, our designed micromanipulator has larger workspace than other existed stages.
The hydrodynamic behaviours of the perfusion process (cleaning) of the liver vessels before the operation was studied. A straight and a curved First-Class vessel entity model with foreign matter and the control equati...
详细信息
ISBN:
(纸本)9781479970995
The hydrodynamic behaviours of the perfusion process (cleaning) of the liver vessels before the operation was studied. A straight and a curved First-Class vessel entity model with foreign matter and the control equations of turbulent liquid in the vessels were established. With the physical parameters of a medical perfusion liquid measured, an estimation method of perfusion parameters was proposed. The simulation was performed by changing technical parameters of the perfusion. It is based on the control equations of turbulent liquid in the vessels and the preliminary calculated results using the vessel models. The simulation was performed by changing technical parameters of the perfusion. It is based on the control equations of turbulent liquid in the vessels and the preliminary calculated results using the vessel models. With the increasing perfusion velocities, the pressure and the velocity field increased in the two types of the vessel models. The negative trans-mural pressure and recirculation zones appeared and located on the foreign matter. Because of the influence of the vessel shape, the fluid dynamics behaviours in the curved vessel model are more complicated than those in the straight vessel model.
In this paper, a new six degrees of freedom (6-DOF) parallel manipulator with adjustable actuators is proposed. The kinematic model is firstly established and the kinematic analysis is performed afterward. Then the eq...
详细信息
As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complic...
详细信息
ISBN:
(纸本)9781479970995
As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complicated patterns of movement and narrow joint range of motion, so rigid accessory equipment may cause secondary injury. For the purpose of avoiding this potential risk, the idea of applying soft structure to hand rehabilitation robot is presented in this paper. The soft robot is a new research direction in the field of robot industry, especially in rehabilitation. The soft actuator we presented is made of liquid silicone and thread, and can be tied to the back of human's hands. When it is inflated or deflated, a bending and stretching motion of hands follow with the deformation of soft actuators. It works by deforming repeatedly. The soft actuator has some advantages such as portable, lightweight, low-cost, safe, low-impedance and so on. It works well by the cooperation of vacuum pump which can provide incessant air and solenoid valve which is used for reversing. In the whole system, force sensing resistor and bending sensor are used in the experiments. In order to prove that the soft actuator can work smoothly, we had a test to explore the relationship between air inflow and bending angle. The result that their relationship is close to a straight line means controlling easily and working well. Beacons of these advantages the soft robots have, a wide application prospect in rehabilitation or other fields is available.
Image matching is widely used in machine vision, computer technology, industry and agriculture and other fields. Matching the characteristics of traditional methods such as SIFT has advantages of compressed informatio...
详细信息
ISBN:
(纸本)9781479970063
Image matching is widely used in machine vision, computer technology, industry and agriculture and other fields. Matching the characteristics of traditional methods such as SIFT has advantages of compressed information quantity, high precision, but there are also some deficiencies such as the large of calculation, long time, the object to be measured of position should be required accurately and etc. This paper presents image matching method based on improved SURF feature, and the analysis and comparison are made for the three kinds of image matching methods. The experiment proved: Sometimes it can also be A single SIFT or SURF, The improved SURF more can meet the requirements of parameter estimation accuracy and real-time. It can carry out accurate judgment, recognition for the digital image. It has certain theoretical value and practical value.
Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one...
详细信息
ISBN:
(纸本)9781479973989
Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.
In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the se...
详细信息
ISBN:
(纸本)9781479973989
In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the secondary amplification mechanism was adopted in this design, and also the matrix method is utilized to calculate its stiffness and compliance for this compliant mechanism. In practical application, the accuracy of mechanism is an essential index that we wish to achieve, meanwhile the parasitic motion analysis, dynamic and static analysis are also presented in this paper. The method is validated by finite element analysis to demonstrate its effectiveness.
A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two rev...
详细信息
ISBN:
(纸本)9781479952007
A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.
暂无评论