Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoele...Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.展开更多
目的:探讨针刺联合三步七法推拿对颈肩腰腿痛(neck,shoulder,waist and leg pain,NSWLP)肾虚血瘀证患者颈肩腰腿活动功能的影响。方法:将NSWLP肾虚血瘀证患者112例按照随机数字表法分为对照组和观察组各56例。对照组予西医常规干预方案...目的:探讨针刺联合三步七法推拿对颈肩腰腿痛(neck,shoulder,waist and leg pain,NSWLP)肾虚血瘀证患者颈肩腰腿活动功能的影响。方法:将NSWLP肾虚血瘀证患者112例按照随机数字表法分为对照组和观察组各56例。对照组予西医常规干预方案,观察组在对照组基础上采取针刺联合三步七法推拿治疗,连续治疗4周后比较两组患者疼痛程度,颈椎、肩关节、腰椎、膝关节功能以及临床疗效。结果:治疗4周后,两组患者视觉模拟量表(visual analogue scale,VAS)评分均降低(P<0.01),观察组降低更明显(P<0.01);两组患者颈椎病临床评价量表(cervical spondylosis clinical evaluation scale,CASCS)、Constant-Murley欧美肩关节评分法(constant-murley score,C-M)、日本骨科协会(Japanese Orthopaedic Association,JOA)评分、Lysholm评分均升高,观察组升高更明显(P<0.01);观察组总有效率为94.64%(53/56),高于对照组的80.36%(45/56)(P<0.05)。结论:西医常规治疗基础上予针刺联合三步七法推拿治疗NSWLP肾虚血痧证疗效更佳,可进一步减轻患者疼痛,改善颈肩腰腿活动功能。展开更多
基金supported by the National Natural Science Foundation of China (grant no.51505133)by Key Research Project in Colleges and Universities of Henan Province (23A460010)by Opening Project of Henan Engineering Laboratory of Photoelectric Sensor and Intelligent Measurement and Control,Henan Polytechnic University (grant no.HELPSIMC-2020-006).
文摘Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.
