The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is p...The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.展开更多
This paper describes the recent research and development of an endo surgical/biomedical instrument in surgical suture applications for minimally invasive therapy procedure. The newly developed instruments can not only...This paper describes the recent research and development of an endo surgical/biomedical instrument in surgical suture applications for minimally invasive therapy procedure. The newly developed instruments can not only protect the wound during the surgical procedure but also actively help the healing process. The new mechanism design of the surgical instrument aids in better ergonomic design, reliable functionality, and continuous cost reduction in product manufacturing. 3-D modeling technique, functionality analysis, kinematical simulation and computer aided solution have been applied to the instrument design, development and future improvement to meet the specific requirements of minimally invasive surgery procedure. The improved new endo surgical/biomedical instrument can prevent patient’s vessels and tissues from being damaging because the distal move of clips are well controlled without clip drop-off incident. Plus the operational force to form the clip is lower than regular surgical/biomedical instruments due to this special new mechanism design. In addition to the above, the manufacturing and product cost can be decreased because the dimensional tolerance of components, such as clip channel and jaw guide track, can be loose due to this new instrument design. The prototypes of this new endo surgical/biomedical instrument design are analyzed through computer aided modeling and simulation, in order to prove its feasible functionality, reliable performance, and mechanical advantage. All these improved features have also been tested and verified through the prototypes.展开更多
基金supported by the National Natural Science Foundation of China(No. 51405229)the Natural Science Foundation of Jiangsu Province of China(Nos. BK20151470,BK20171416)
文摘The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.
文摘This paper describes the recent research and development of an endo surgical/biomedical instrument in surgical suture applications for minimally invasive therapy procedure. The newly developed instruments can not only protect the wound during the surgical procedure but also actively help the healing process. The new mechanism design of the surgical instrument aids in better ergonomic design, reliable functionality, and continuous cost reduction in product manufacturing. 3-D modeling technique, functionality analysis, kinematical simulation and computer aided solution have been applied to the instrument design, development and future improvement to meet the specific requirements of minimally invasive surgery procedure. The improved new endo surgical/biomedical instrument can prevent patient’s vessels and tissues from being damaging because the distal move of clips are well controlled without clip drop-off incident. Plus the operational force to form the clip is lower than regular surgical/biomedical instruments due to this special new mechanism design. In addition to the above, the manufacturing and product cost can be decreased because the dimensional tolerance of components, such as clip channel and jaw guide track, can be loose due to this new instrument design. The prototypes of this new endo surgical/biomedical instrument design are analyzed through computer aided modeling and simulation, in order to prove its feasible functionality, reliable performance, and mechanical advantage. All these improved features have also been tested and verified through the prototypes.
