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五自由度上肢康复机械手臂的雅戈比逆矩阵 被引量:2
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作者 吕广明 车仁炜 孙立宁 《机械设计》 CSCD 北大核心 2005年第5期10-12,共3页
康复机器人是目前研究的热点方向之一,针对五自由度上肢康复机械手臂,通过ADAMS建立了康复手臂的几何仿真模型。在运动学分析的基础上,求解5个自由度θ1~θ5微分的解析解,得到了五自由度康复机械手臂的雅戈比逆矩阵,并对相关自由度进... 康复机器人是目前研究的热点方向之一,针对五自由度上肢康复机械手臂,通过ADAMS建立了康复手臂的几何仿真模型。在运动学分析的基础上,求解5个自由度θ1~θ5微分的解析解,得到了五自由度康复机械手臂的雅戈比逆矩阵,并对相关自由度进行了加速度仿真分析,为完善康复手臂的控制效果提供了依据。 展开更多
关键词 康复机械人 几何仿真建模 雅戈比逆矩阵 加速度仿真
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Modeling of fluid-induced vibrations and identification of hydrodynamic forces on flow control valves 被引量:3
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作者 Samad Mehrzad Ilgar Javanshir +1 位作者 Ahmad Rahbar Ranji Seyyed Hadi Taheri 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第7期2596-2603,共8页
Dynamics and vibration of control valves under flow-induced vibration are analyzed. Hydrodynamic load characteristics and structural response under flow-induced vibration are mainly influenced by inertia, damping, ela... Dynamics and vibration of control valves under flow-induced vibration are analyzed. Hydrodynamic load characteristics and structural response under flow-induced vibration are mainly influenced by inertia, damping, elastic, geometric characteristics and hydraulic parameters. The purpose of this work is to investigate the dynamic behavior of control valves in the response to self-excited fluid flow. An analytical and numerical method is developed to simulate the dynamic and vibrational behavior of sliding dam valves, in response to flow excitation. In order to demonstrate the effectiveness of proposed model, the simulation results are validated with experimental ones. Finally, to achieve the optimal valve geometry, numerical results for various shapes of valves are compared. Rounded valve with the least amount of flow turbulence obtains lower fluctuations and vibration amplitude compared with the flat and steep valves. Simulation results demonstrate that with the optimal design requirements of valves, vibration amplitude can be reduced by an average to 30%. 展开更多
关键词 flow-induced force hydrodynamic force finite element method(FEM) valve design fluid-structure interaction vibration
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