The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the ...The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.展开更多
With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing t...With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.展开更多
The NiTi shape memory alloy (SMA) bow staple consists of an arched body,one front arm and one rear arm.It has the function of shape memory and manyadvantages,i.e.,high strength,low specific gravity,strong retrieving f...The NiTi shape memory alloy (SMA) bow staple consists of an arched body,one front arm and one rear arm.It has the function of shape memory and manyadvantages,i.e.,high strength,low specific gravity,strong retrieving force,highresistance to fatigue and erosion,nontoxicity,nonmagnetism and goodhistocompatibility.It can be widely used and make the fixation convenient and ef-fective.The staple has been used clinically in 152 cases of cranioplasty.Resultshave showed that duration of the operation is shortened and harm during the op-eration is reduced,because dura mater needn’t be seperated and the skull needn’tbe penetrated through.Some complications can be avoided and the operationbecomes simpler,safer and more reliable.The bow staple is suitable for fixationwith any kind of repairing material in cranioplasty and does not interfere withthe CT and MRI reexaminations.展开更多
文摘The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.
文摘With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.
文摘The NiTi shape memory alloy (SMA) bow staple consists of an arched body,one front arm and one rear arm.It has the function of shape memory and manyadvantages,i.e.,high strength,low specific gravity,strong retrieving force,highresistance to fatigue and erosion,nontoxicity,nonmagnetism and goodhistocompatibility.It can be widely used and make the fixation convenient and ef-fective.The staple has been used clinically in 152 cases of cranioplasty.Resultshave showed that duration of the operation is shortened and harm during the op-eration is reduced,because dura mater needn’t be seperated and the skull needn’tbe penetrated through.Some complications can be avoided and the operationbecomes simpler,safer and more reliable.The bow staple is suitable for fixationwith any kind of repairing material in cranioplasty and does not interfere withthe CT and MRI reexaminations.
