Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

Prediction of the dynamic effective properties of particle-reinforced composite materials

The prediction behaviors of some coherent plane wave equations for the effective velocities and attenuations of the coherent plane waves propagating through a composite material and for the effective elastic moduli of the composites are studied. The numerical results obtained by Waterman & Truell's, Twersky's and Gubernatis's equations for Glass-Epoxy composites with various volume fractions are compared. It is found that the predictions by both Twersky's and Gubernatis's equations underestimate the effective velocities and the effective elastic moduli when compare with the predictions by Waterman & Truell's equation. Furthermore, the deviations are more evident for the shear wave than that for the longitudinal wave. But these deviations decrease gradually with the increase of the frequency and increase gradually with the increase of the volume fraction.

CONTINUITY AND BREAK OF CHATTER VIBRATION STATUS

By turning a specifically designed conical part, complete process of metal cutting, in which the chatter occurs and expands, is recorded and analyzed. This process exposes that chatter vibration has two characters called continuity and break. The continuity character means that vibration extent enlarges continuously while chatter frequency is almost changeless as the cutting depth extends downwards continuously. The break one is that chatter frequency moves rapidly downwards to a lower level while chatter remains after the cutting depth reach another given value. It is confirmed through an exciting test that the two chatter frequencies obtained in chatter test belong to the natural frequencies of workpiece system and cutting tool system respectively. From the viewpoints of chatter energy supplying and chatter mass effect, the. chatter should occur on one of the two final executive components in its natural frequency. On this basis, a new chatter model with two chatter active bodies is proposed. This new model can better explain the above phenomenon, and adapt to chatter monitoring and improvement of component structure well.

Clinical Observation on the Efficacy Enhancing and Toxicity Attenuating Effect of Nuzhen Yangyin Granule to the Anti-Parkinsonism Therapy Mainly with Medopa

Objective: To observe and assess the efficacy enhancing and toxicity attenuating effect of Nuzhen Yangyin Granule (NYG) to the anti-parkinsonism (paralysis agitans) therapy with medopa and ar-tane. Methods: Adopting the randomized double-blinded method, the effect of adding NYG to 30 patients with Parkinsonism in the treated group,

Single event transient pulse attenuation effect in three-transistor inverter chain

In this paper, compared with two-transistor (2T) inverter chain, the production and propagation of P-hit single event transient (SET) in three-transistor (3T) inverter chain is studied in depth based on three-dimensional numerical simulations in a 90 nm bulk complementary metal oxide semiconductor (CMOS) technology. The pulse attenuation effect is found in 3T inverter chain, and the pulse can not completely propagate through the inverter chain as LET increases. The discovery will provide a new insight into SET hardened design, the 3T inverter layout structure (or similar layout structures) will be a better method in integrated circuits (ICs) design in radiation environment.