BACKGROUND The majority of published data report the results of biomechanical tests of various design pedicle screw performance.The clinical relevance and relative contribution of screw design to instrumentation stabi...BACKGROUND The majority of published data report the results of biomechanical tests of various design pedicle screw performance.The clinical relevance and relative contribution of screw design to instrumentation stability have been insufficiently studied.AIM To estimate the contribution of screw design to rate of pedicle screw loosening in patients with degenerative diseases of the lumbar spine.METHODS This study is a prospective evaluation of 175 patients with degenerative diseases and instability of the lumbar spine segments.Participants underwent spinal instrumentation employing pedicle screws with posterior only or transforaminal interbody fusion.Follow-up was for 18 mo.Patients with signs of pedicle screw loosening on computed tomography were registered;logistic regression analysis was used to identify the factors that influenced the rate of loosening.RESULTS Parameters included in the analysis were screw geometry,type of thread,external and internal screw diameter and helical pitch,bone density in Hounsfield units,number of levels fused,instrumentation without anterior support,laminectomy,and unilateral and bilateral total facet joint resection.The rate of screw loosening decreased with the increment in outer diameter,decrease in core diameter and helical pitch.The rate of screw loosening correlated positively with the number of fused levels and decreasing bone density.Bilateral facet joint removal significantly favored pedicle screw loosening.The influence of other factors was insignificant.CONCLUSION Screw parameters had a significant impact on the loosening rate along with bone quality characteristics,the number of levels fused and the extensiveness of decompression.The significance of the influence of screw parameters was comparable to those of patient-and surgery-related factors.Pedicle screw loosening was influenced by helical pitch,inner and outer diameter,but screw geometry and thread type were insignificant factors.展开更多
It took that the weight minimum and drive efficiency maximal were as double optimizing target,the optimization model had built the drilling string,and the optimization solution was used of the ant colony algorithm to ...It took that the weight minimum and drive efficiency maximal were as double optimizing target,the optimization model had built the drilling string,and the optimization solution was used of the ant colony algorithm to find in progress.Adopted a two-layer search of the continuous space ant colony algorithm with overlapping or variation global ant search operation strategy and conjugated gradient partial ant search operation strat- egy.The experiment indicates that the spiral drill weight reduces 16.77% and transports the efficiency enhance 7.05% through the optimization design,the ant colony algorithm application on the spiral drill optimized design has provided the basis for the system re- search screw coal mine machine.展开更多
Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for bot...Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors’ previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non?redundant screws in quasi?vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two?translational and three?rotational(2T3R)5?axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthe?sized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.展开更多
The accuracy distribution of measuring instrument for 3-Ineter leadscrew by laser is studied according toerror theory. In this paper, the tables of overall accuracy distribution used as foundation of design and manufa...The accuracy distribution of measuring instrument for 3-Ineter leadscrew by laser is studied according toerror theory. In this paper, the tables of overall accuracy distribution used as foundation of design and manufactureare drafted.展开更多
A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robo...A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.展开更多
文摘BACKGROUND The majority of published data report the results of biomechanical tests of various design pedicle screw performance.The clinical relevance and relative contribution of screw design to instrumentation stability have been insufficiently studied.AIM To estimate the contribution of screw design to rate of pedicle screw loosening in patients with degenerative diseases of the lumbar spine.METHODS This study is a prospective evaluation of 175 patients with degenerative diseases and instability of the lumbar spine segments.Participants underwent spinal instrumentation employing pedicle screws with posterior only or transforaminal interbody fusion.Follow-up was for 18 mo.Patients with signs of pedicle screw loosening on computed tomography were registered;logistic regression analysis was used to identify the factors that influenced the rate of loosening.RESULTS Parameters included in the analysis were screw geometry,type of thread,external and internal screw diameter and helical pitch,bone density in Hounsfield units,number of levels fused,instrumentation without anterior support,laminectomy,and unilateral and bilateral total facet joint resection.The rate of screw loosening decreased with the increment in outer diameter,decrease in core diameter and helical pitch.The rate of screw loosening correlated positively with the number of fused levels and decreasing bone density.Bilateral facet joint removal significantly favored pedicle screw loosening.The influence of other factors was insignificant.CONCLUSION Screw parameters had a significant impact on the loosening rate along with bone quality characteristics,the number of levels fused and the extensiveness of decompression.The significance of the influence of screw parameters was comparable to those of patient-and surgery-related factors.Pedicle screw loosening was influenced by helical pitch,inner and outer diameter,but screw geometry and thread type were insignificant factors.
基金the Liaoning Technical University Outstanding Youth Science Foundation(jx09-10)
文摘It took that the weight minimum and drive efficiency maximal were as double optimizing target,the optimization model had built the drilling string,and the optimization solution was used of the ant colony algorithm to find in progress.Adopted a two-layer search of the continuous space ant colony algorithm with overlapping or variation global ant search operation strategy and conjugated gradient partial ant search operation strat- egy.The experiment indicates that the spiral drill weight reduces 16.77% and transports the efficiency enhance 7.05% through the optimization design,the ant colony algorithm application on the spiral drill optimized design has provided the basis for the system re- search screw coal mine machine.
基金Supported by National Natural Science Foundation of China(Grant No.51675366)Tianjin Research Program of Application Foundation and Advanced Technology(Grant Nos.16JCYBJC19300,15JCZDJC38900)
文摘Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors’ previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non?redundant screws in quasi?vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two?translational and three?rotational(2T3R)5?axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthe?sized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.
文摘The accuracy distribution of measuring instrument for 3-Ineter leadscrew by laser is studied according toerror theory. In this paper, the tables of overall accuracy distribution used as foundation of design and manufactureare drafted.
基金Project 20050290011 supported by the Doctoral Program Foundation of the Ministry of Education of China
文摘A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.
