In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
Modern medicine has been fighting the battle with cancer for near 200 years, achieved substantial progresses but yet to claim the final victory. Author believes that the battle strategy has the profound impact to the ...Modern medicine has been fighting the battle with cancer for near 200 years, achieved substantial progresses but yet to claim the final victory. Author believes that the battle strategy has the profound impact to the result. Since Virchow discovered the cellular origin of cancer in 1863, cancers are being seeing as a localized disease resulting from foreign invasions whereas eradication therapies have been the dominant practices. However, people neglected the overall relationship between cancer and human body therefore overlooked the solutions from transformation, modulation and regulation point of view.展开更多
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
文摘Modern medicine has been fighting the battle with cancer for near 200 years, achieved substantial progresses but yet to claim the final victory. Author believes that the battle strategy has the profound impact to the result. Since Virchow discovered the cellular origin of cancer in 1863, cancers are being seeing as a localized disease resulting from foreign invasions whereas eradication therapies have been the dominant practices. However, people neglected the overall relationship between cancer and human body therefore overlooked the solutions from transformation, modulation and regulation point of view.
