Force/Moment Isotropy of 8/4-4 Parallel Six-Axis Force Sensor Based on Performance Atlases

A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.

A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.

Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are discussed.Firstly,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are proposed.Secondly,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is obtained.Then,the experimental prototype and calibration system is developed.Finally,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration experiments.The results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.

Effects of Second-Order Sum-and Difference-Frequency Wave Forces on the Motion Response of a Tension-Leg Platform Considering the Set-down Motion

This paper presents a study on the motion response of a tension-leg platform(TLP) under first-and second-order wave forces, including the mean-drift force, difference and sum-frequency forces. The second-order wave force is calculated using the full-field quadratic transfer function(QTF). The coupled effect of the horizontal motions, such as surge, sway and yaw motions, and the set-down motion are taken into consideration by the nonlinear restoring matrix. The time-domain analysis with 50-yr random sea state is performed. A comparison of the results of different case studies is made to assess the influence of second-order wave force on the motions of the platform. The analysis shows that the second-order wave force has a major impact on motions of the TLP. The second-order difference-frequency wave force has an obvious influence on the low-frequency motions of surge and sway, and also will induce a large set-down motion which is an important part of heave motion. Besides, the second-order sum-frequency force will induce a set of high-frequency motions of roll and pitch. However, little influence of second-order wave force is found on the yaw motion.

An Engineering Computational Method of Calculating Wave Forces on the Mat and Platform's Sit-on-Bottom Stability

- In this paper, an engineering method is employed to calculate the horizontal and vertical wave forces on the mat of the submersible platform under Froude-Krylov hypothesis. According to some model tests, appropriate diffraction coefficients are selected. And the results of the formulae given in the paper agree satisfactorily with those experimental data now available. The proposed computational method is effective and convenient to use in evaluating the horizontal and vertical wave forces on the mat. An exmaple is also given in this paper. Finally, the effects of the vertical wave force on the platorm's sit-on-bottom stability are analyzed.

Accuracy improvement of the traditional rolling force and torque model powered by an industrial data platform

The calculation results of the rolling force and torque model based on Orowan's differential equation numerical solution method do not fit with the industrial measurements very well.In particular,a quite large deviation on the torque model was found.On the basis of analyzing the shortcomings of the existing method,an improved rolling force and torque model algorithm aided by the Process Integrated Data Application System platform is proposed.Accordingly,the calculation accuracy of the rolling torque model is improved.The improved models are verified by 1711136 records of a data platform.The improved models are also based on Orowan's differential equation.Two coefficients,namely,friction factor and forward slip,are recognized as the crucial factors to be determined from industrial measurements to improve the accuracy.Therefore,the proposed method is a hybrid method that can be used to deeply understand the rolling process and improve the model's accuracy by combining traditional plastic mechanics and data-driving global optimization algorithms.This paper proposes a new approach to studying theoretical rolling deformation models powered by the industrial data platform.

面向机群路由器的ForCES协议实现技术研究

在对机群路由器和ForCES协议进行分析研究的基础上,提出了协议实现的总体框架,并对协议实现的关键技术进行了深入地分析。同时,设计和实现了一套开放智能控制平台原型系统,并在该平台上实现了ForCES协议。

能量平台(ForceTriad^(TM))在低位直肠癌手术中的应用价值

目的探讨能量平台(Force TriadTM)在低位直肠癌手术中的应用价值。方法选取经过病理检查确诊的低位直肠癌患者.将经使用能量平台后行手术治疗低位直肠癌患者作为治疗组,选取行传统的直肠癌根治术的患者作为对照组,各40例。比较两组手术时间、术中出血、进食时间、术后住院天数、切口长度、术后并发症、保肛率、用止痛药例数、淋巴结个数、切缘、费用、生存率、无瘤生存率等方面。结果在手术时间、术中出血、进食时间、术后住院天数、切口长度、术后并发症、用止痛药例、费用、和无瘤生存率等方面比较,观察组均优于对照组,差异有统计学意义(P<0.05)。两组在淋巴结个数、切缘阳性率和总生存率等方面无明显差异,无统计学意义(P>0.05)。结论能量平台在低位直肠癌根治术中的使用改善了手术难度、手术止血困难,提高了手术效率,而且创伤小、患者恢复快、术后并发症少,提高了患者的生活质量。

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

An Estimation of Internal Soliton Forces on a Pile in the Ocean

Internal soliton forces on oil-platform piles in the ocean are estimated with the Morison Formula. Different from sur- face wave forces, which change only in magnitude along a pile, internal soliton forces can be distributed over the entire pile in the water and they change not only in magnitude but also in direction with depth. Our calculations show that the maximum total force caused by a soliton with its associated current of 2.1 m s-1 is nearly equal to the maximum total force exerted by a surface wave with a wavelength of 300 m and a wave-height of 18 m. The total internal soliton force is large enough to affect the operations of marine oil platforms and other facilities. Therefore, the influence of internal solitons should not be neglected in the design of oil platforms.

Sorting Gold and Sand(Silica) Using Atomic Force Microscope-Based Dielectrophoresis

Additive manufacturing-also known as 3D printing-has attracted much attention in recent years as a powerful method for the simple and versatile fabrication of complicated three-dimensional structures.However,the current technology still exhibits a limitation in realizing the selective deposition and sorting of various materials contained in the same reservoir,which can contribute significantly to additive printing or manufacturing by enabling simultaneous sorting and deposition of different substances through a single nozzle.Here,we propose a dielectrophoresis(DEP)-based material-selective deposition and sorting technique using a pipette-based quartz tuning fork(QTF)-atomic force microscope(AFM) platform DEPQA and demonstrate multi-material sorting through a single nozzle in ambient conditions.We used Au and silica nanoparticles for sorting and obtained 95% accuracy for spatial separation,which confirmed the surfaceenhanced Raman spectroscopy(SERS).To validate the scheme,we also performed a simulation for the system and found qualitative agreement with the experimental results.The method that combines DEP,pipette-based AFM,and SERS may widely expand the unique capabilities of 3D printing and nano-micro patterning for multi-material patterning,materials sorting,and diverse advanced applications.

Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.

Numerical Analysis of Wave Forces on Arbitrarily Shaped Multi-Pillars Over Varying Topography

The modified hybrid element method (MHEM) is utilized to predict and analyze wave forces on arbitrarily shaped multiple bodies. This method can be applied to waves of all water depths, i. e. shallow, intermediate, and deep waters, on slowly varying seabed. The MHEM employs the ICCG method to save CPU and storage, thus the computation of wave forces for large multi-body systems can be carried out on microcomputers. Numerical results of the present method are compared with experimental data and other solutions. It is shown that the MHEM provides more accurate solutions of the wave forces than other numerical methods do. Therefore, the methodology presented herein can be used in the design of coastal and ocean structures.

Force Triad能量平台辅助腮腺区域性切除术的临床研究

目的:评价ForceTriad能量平台在腮腺区域性切除术中的临床价值。方法:选取需行腮腺区域性切除术患者30例,随机分为2组,每组各15例,其中实验组术中使用Force Triad能量平台系统,对照组选择高频电刀传统方法。将两组的手术时间、术中出血量、术后引流量、引流天数、住院时间、住院费用以及手术并发症进行比较。结果:实验组的手术时间、术后引流量、引流天数、住院时间均小于对照组(P<0. 05);住院费用高于对照组(P<0. 05);术中出血量无显著差异(P> 0. 05);手术并发症方面,面神经麻痹:实验组有2例(13. 33%)、对照组有3例(20%),涎漏:实验组有1例(6. 67%),对照组有2例(13. 33%),两组的手术并发症发生率差异无统计学意义(P> 0. 05)。结论:腮腺区域性切除术使用Force Triad能量平台系统,缩短了手术时间、减少了术后引流量、缩短了住院时间。

基于三维运动捕捉技术构建蒙医震脑术三维虚拟仿真平台的视觉呈现

背景:基于三维运动捕捉技术可以构建精准的、客观量化的医学虚拟仿真模型,有利于临床学习者精准、深入理解和掌握各种传统疗术。目前中医虚拟仿真模型已有报道,但蒙医传统疗术的虚拟仿真模型尚未见报道。目的:构建一种基于三维运动捕捉技术的交互式三维可视化的蒙医震脑术虚拟仿真模型。方法:使用Motion Analysis三维光学运动捕捉系统和足底测力台采集蒙医专家的运动捕捉数据,在Motion Builder软件中构建震脑术三维动作模型,使用Maya软件构建角色模型并与动作模型相匹配,运动Unity3D软件构建蒙医震脑术虚拟仿真系统,系统整合蒙医震脑术操作3D动画、运动学和动力学参数信息。结果与结论:通过三维运动捕捉技术和计算机仿真重现蒙医震脑术操作,能够显示施术者和受试者的运动姿态,记录关节运动的关键空间位置参数与变化情况,得出运动过程中的运动学、动力学参数。运用交互式三维虚拟仿真技术,实现蒙医震脑术的三维虚拟仿真的视觉呈现,为蒙医震脑术手法的标准化、数字化、可视化研究奠定基础。

Ice-Induced Fatigue Analysis by Spectral Approach for Offshore Jacket Platforms with Ice-Breaking Cones

The spectral methods and ice-induced fatigue analysis are discussed based on Miner＇s linear cumulative fatigue hypothesis and S-N curve data. According to the long-term data of full-scale tests on the platforms in the Bohai Sea, the ice force spectrum of conical structures and the fatigue environmental model are established. Moreover, the finite element model of JZ20-2MSW platform, an example of ice-induced fatigue analysis, is built with ANSYS software. The mode analysis and dynamic analysis in frequency domain under all kinds of ice fatigue work conditions are carded on, and the fatigue life of the structure is estimated in detail. The methods in this paper can be helpful in ice-induced fatigue analysis of ice-resistant platforms.

Hybrid Analysis Approach for Stochastic Response of Offshore Jacket Platforms

The dynamic response of offshore platforms is more serious in hostile sea environment than in shallow sea. In this paper, a hybrid solution combined with analytical and numerical method is proposed to compute the stochastic response of fixed offshore platforms to random waves, considering wave-structure interaction and non-linear drag force. The simulation program includes two steps: the first step is the eigenanalysis aspects associated the structure and the second step is response estimation based on spectral equations. The eigenanalysis could be done through conventional finite element method conveniently and its natural frequency and mode shapes obtained. In the second part of the process, the solution of the offshore structural response is obtained by iteration of a series of coupled spectral equations. Considering the third-order term in the drag force, the evaluation of the three-fold convolution should be demanded for nonlinear stochastic response analysis. To demonstrate this method, a numerical analysis is carried out for both linear and non-linear platform motions. The final response spectra have the typical two peaks in agreement with reality, indicating that the hybrid method is effective and can be applied to offshore engineering.

Numerical Simulation of Float-Over Installation for Offshore Platform

In this paper,a numerical investigation of a float-over installation for an offshore platform is presented to verify the feasibility of the actual installation.The hydrodynamic performance of a T-barge is investigated in the frequency domain,and the coupled motions are analyzed in the time domain.We then compare with those of the model test and determine that the response amplitude operator and the time series agree quite well.The barge exhibits favorable hydrodynamic behavior in the considered sea state,and the equipment loads are allowable.Themooring systemand sway fender forces are within the permissible range.Based on these results,we can verify that the actual installation of the offshore platform is feasible.We accurately simulated many important factors and effectively reduced the risk associated with the offshore installation,which is of great importance.As such,we demonstrate that the numerical simulation of the float-over installation for offshore platforms has practical engineering significance.

A new bracing system for improvement of seismic performance of steel jacket type offshore platforms with float-over-deck

In this paper, the seismic response of a newly designed steel jacket offshore platform with a float over deck （FOD） system in the Persian Gulf was investigated through incremental dynamic analysis. Comparison of incremental dynamic analysis results for both directions of the platform shows that the lateral strength of the platform in the float over direction is less than its lateral strength in other direction. Dynamic characteristics measurement of a scale model of platform was also performed using forced vibration tests. From experimental measurement of the scaled model, it was observed that dynamic characteristic of the platform is different in the float over direction compared to the other direction. Therefore, a new offshore installed bracing system for the float over direction was proposed for improvement of seismic performance of this type of platform. Finally, the structure with the modified system was assessed using the probabilistic seismic assessment method as well as experimental measurement of its dynamic characteristics. It was observed that the proposed offshore installed bracing system improves the performance of platforms subjected to strong ground motion.