It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation...It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is analyzed.The kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are established.The statics formulae are derived for solving the active forces of PM and the finger mechanisms.An analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation mechanism.It is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.展开更多
《食品免疫学》是食品质量与安全专业的专业课,是将食品学科、免疫学科和生物技术等学科连接到一起的重要纽带,为解决食品安全提供理论支持和技术指导。本课程知识点具有内容多、抽象繁琐、系统性强等特点;然而教学过程按照传统图片、...《食品免疫学》是食品质量与安全专业的专业课,是将食品学科、免疫学科和生物技术等学科连接到一起的重要纽带,为解决食品安全提供理论支持和技术指导。本课程知识点具有内容多、抽象繁琐、系统性强等特点;然而教学过程按照传统图片、文字和语言授课方式很难将知识点表达清楚,导致学生课堂表现为不理解、听不懂,从而导致厌学本课程。根据以上课程教学问题,本课程教学过程以成果导向教育(Outcome based education,OBE)教学理念并结合课程思政为出发点,将“立德树人”作为教学改革的基石,从教学内容重新组成、理论和实际相融合、改善教学模式、加强教师队伍建设以及多种考核方式相结合等方面对课程进行了教学改革探索与实践,旨在激发学生学习兴趣,提高本课程的教学质量和学生学习效果。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51175447)Key Planned Project of Hebei Province,China(Grant No.11962127D)
文摘It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is analyzed.The kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are established.The statics formulae are derived for solving the active forces of PM and the finger mechanisms.An analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation mechanism.It is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.
文摘《食品免疫学》是食品质量与安全专业的专业课,是将食品学科、免疫学科和生物技术等学科连接到一起的重要纽带,为解决食品安全提供理论支持和技术指导。本课程知识点具有内容多、抽象繁琐、系统性强等特点;然而教学过程按照传统图片、文字和语言授课方式很难将知识点表达清楚,导致学生课堂表现为不理解、听不懂,从而导致厌学本课程。根据以上课程教学问题,本课程教学过程以成果导向教育(Outcome based education,OBE)教学理念并结合课程思政为出发点,将“立德树人”作为教学改革的基石,从教学内容重新组成、理论和实际相融合、改善教学模式、加强教师队伍建设以及多种考核方式相结合等方面对课程进行了教学改革探索与实践,旨在激发学生学习兴趣,提高本课程的教学质量和学生学习效果。
