Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
This paper presents an experimental research aiming to realize an artificial hind wing that can mimic the wing unfolding motion of Allomyrina dichotoma, an insect in coleopteran order. Based on the understanding of wo...This paper presents an experimental research aiming to realize an artificial hind wing that can mimic the wing unfolding motion of Allomyrina dichotoma, an insect in coleopteran order. Based on the understanding of working principles of beetle wing folding/unfolding mechanisms, the hind wing unfolding motion is mimicked by a combination of creative ideas and state-of-art artificial muscle actuator. In this work, we devise two types of artificial wings and the successfully demonstrate that they can be unfolded by actuation of shape memory alloy wires to provide actuation force at the wing base and along the leading edge vein. The folding/unfolding mechanisms may provide an insight for portable nano/micro air vehicles with morphing wings.展开更多
目的探讨基于关节角度的高原隧道钢筋工弯腰作业下背部负荷(弯腰次数)与疲劳进程的相关性。方法选择10名某高原男性隧道钢筋作业工人,采用惯性动作捕捉系统实时采集10名钢筋工作业时下背部关节角度(包括弯腰起始角度、结束角度和弯腰动...目的探讨基于关节角度的高原隧道钢筋工弯腰作业下背部负荷(弯腰次数)与疲劳进程的相关性。方法选择10名某高原男性隧道钢筋作业工人,采用惯性动作捕捉系统实时采集10名钢筋工作业时下背部关节角度(包括弯腰起始角度、结束角度和弯腰动作角度、角速度和角加速度),采用《Borg主观体力感等级量表》跟踪记录钢筋工下背部的主观疲劳感受(rating of perceived exertion,RPE),分析工人弯腰动作关节角度指标随弯腰负荷或疲劳进程的变化趋势及其相关性。结果10名隧道钢筋工腰部RPE值随弯腰次数的增加呈缓慢增加的趋势,与弯腰次数呈明显正相关(r=0.980,P<0.01)。弯腰结束角度和弯腰动作角度随弯腰次数的增加呈减小趋势;弯腰起始姿势角度和角速度随弯腰次数的增加呈增大趋势,弯腰动作角度和角速度与弯腰次数具有较强的相关性(r=-0.841和0.810)。弯腰结束角度和弯腰动作角度随疲劳进程呈减小趋势(r=-2.331、-2.606,P<0.01);弯腰起始角度和角速度随疲劳进程呈增大趋势,弯腰结束角度、弯腰动作角度和角速度与疲劳进程具有较强的相关性(r=0.762、-0.762和0.769)。结论隧道钢筋工在作业过程中,随着弯腰动作的重复累积,关节角度指标的变化与作业频次负荷以及疲劳进程有关,关节角度指标可作为评定高原现场钢筋作业人员腰背部肌肉疲劳的一种客观测量方法。展开更多
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
基金Supported by the Korea Science and Engineering Foundation Grant (R0A-2007-000-200012-0)Korea Research Foundation (KRF-2006-005-J03301)
文摘This paper presents an experimental research aiming to realize an artificial hind wing that can mimic the wing unfolding motion of Allomyrina dichotoma, an insect in coleopteran order. Based on the understanding of working principles of beetle wing folding/unfolding mechanisms, the hind wing unfolding motion is mimicked by a combination of creative ideas and state-of-art artificial muscle actuator. In this work, we devise two types of artificial wings and the successfully demonstrate that they can be unfolded by actuation of shape memory alloy wires to provide actuation force at the wing base and along the leading edge vein. The folding/unfolding mechanisms may provide an insight for portable nano/micro air vehicles with morphing wings.
文摘目的探讨基于关节角度的高原隧道钢筋工弯腰作业下背部负荷(弯腰次数)与疲劳进程的相关性。方法选择10名某高原男性隧道钢筋作业工人,采用惯性动作捕捉系统实时采集10名钢筋工作业时下背部关节角度(包括弯腰起始角度、结束角度和弯腰动作角度、角速度和角加速度),采用《Borg主观体力感等级量表》跟踪记录钢筋工下背部的主观疲劳感受(rating of perceived exertion,RPE),分析工人弯腰动作关节角度指标随弯腰负荷或疲劳进程的变化趋势及其相关性。结果10名隧道钢筋工腰部RPE值随弯腰次数的增加呈缓慢增加的趋势,与弯腰次数呈明显正相关(r=0.980,P<0.01)。弯腰结束角度和弯腰动作角度随弯腰次数的增加呈减小趋势;弯腰起始姿势角度和角速度随弯腰次数的增加呈增大趋势,弯腰动作角度和角速度与弯腰次数具有较强的相关性(r=-0.841和0.810)。弯腰结束角度和弯腰动作角度随疲劳进程呈减小趋势(r=-2.331、-2.606,P<0.01);弯腰起始角度和角速度随疲劳进程呈增大趋势,弯腰结束角度、弯腰动作角度和角速度与疲劳进程具有较强的相关性(r=0.762、-0.762和0.769)。结论隧道钢筋工在作业过程中,随着弯腰动作的重复累积,关节角度指标的变化与作业频次负荷以及疲劳进程有关,关节角度指标可作为评定高原现场钢筋作业人员腰背部肌肉疲劳的一种客观测量方法。
