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基于3D打印的柔性机械手研制及试验研究 被引量:3
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作者 高国华 董增雅 +1 位作者 孙晓娜 王皓 《智慧农业》 2019年第1期85-95,共11页
果实采摘是农业种植生产过程中最耗时费力的环节。为了实现果实的良好抓取,本研究设计了一款结构精简、具有自适应性的柔性机械手,该机械手由柔性手指、气动元件、手腕和底座组成,基于3D打印制作,装配简单。其中,气动元件和柔性手指由... 果实采摘是农业种植生产过程中最耗时费力的环节。为了实现果实的良好抓取,本研究设计了一款结构精简、具有自适应性的柔性机械手,该机械手由柔性手指、气动元件、手腕和底座组成,基于3D打印制作,装配简单。其中,气动元件和柔性手指由柔性材料打印而成,手腕为具有柔性的一体件打印而成;利用气动元件的伸缩功能实现对手腕的驱动,带动柔性手指自适应变形抓取果实。结合常曲率变形和D-H坐标法建立了单手腕的运动学模型。在此基础上,进行了柔性机械手功能性验证试验和安全测试试验。试验结果表明,柔性机械手具有适应果实的形状进行自适应抓取的功能,对表皮较为脆弱的果实没有损伤;气动元件满足使用要求,可以完成对手腕的动作驱动。研究结果将为机械手柔性抓取结构的设计提供参考价值。 展开更多
关键词 柔性机械手 3D打印 运动学 自适应 接触力
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A finite element model of the eye matched with in vitro experiments for the prediction of traumatic retinal detachment
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作者 Duo Chen xiaona sun +10 位作者 Yuan Wu Min Tang Jinghui Wang Xiaofeng Qiao Yuanjie Zhu Zhiyang Zhang Xin Du Jieyi Guo Yepu Chen Linyuan Fan Xiaoyu Liu 《Theoretical & Applied Mechanics Letters》 CAS 2024年第4期291-297,共7页
This study aimed to conduct finite element(FE)analysis matched with an in vitro experiment to analyze traumatic retinal detachments(TrRD)resulting from blunt trauma and provide stress and strain thresholds to predict ... This study aimed to conduct finite element(FE)analysis matched with an in vitro experiment to analyze traumatic retinal detachments(TrRD)resulting from blunt trauma and provide stress and strain thresholds to predict the occurrence of TrRD.The in vitro experiment was performed on forty-eight porcine eyes using a pendulum device.We examined dynamic mechanical responses at four energy levels.A FE model,based on experimental results and published data,was used to simulate TrRD.Fifty-one additional eyes underwent immediate pathological examination following blunt impact.A dynamic variation of velocities was observed post-impact,displaying an approximate cosine oscillation-attenuation profile.Energy absorption increased as the initial energy and differed significantly at four energy levels(p<0.001).FE simulation showed a peak strain of 0.462 in the anterior vitreous body and a peak stress of 1.408 MPa at the cornea at the high-energy level.During the energy transfer,the stress was initially observed in retinal region along the impact direction at the separation.TrRD were observed in injured eyes,where a few detachments were detected in control eyes.Correlations were performed between the proportion of pathological outcomes and FE results.In conclusion,this study suggests that stress contributes to the development of retinal detachment,providing an indicator to distinguish the occurrence of TrRD. 展开更多
关键词 Eye Finite element analysis Ocular blunt trauma Traumatic retinal detachment
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