This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redun...This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redundant serial 7-DOF robot. The forward displacement calculation was developed based on the product-of-exponential formula （POE）. Because of the kinematics complexity of the hybrid and redundant robot, the combination technique of Ulrich two-step iteration method and paul variables detachment method （UTI-PVD） was introduced to fulfill the inverse kinematics of redundant robot, the novelty of which lay in the flexibility of various robots structures and in high calculation efficiency for realtime control. The process of solving the inverse displacement was analyzed. The UTI-PVD method can be applicable to kinematics of many robots, especially for redundant robots with more than 6DOF. The kinematics simulation was provided, and robot dexterity analysis was presented. The results indicated that the hybrid robot could implement the minimally invasive CT-guided surgery.展开更多
The present paper describes computational and experimental work on the vortex flow characteristics of a sharp-edged delta wing with a leading edge extension (LEX). Experiment was carried out using a low-speed wind tun...The present paper describes computational and experimental work on the vortex flow characteristics of a sharp-edged delta wing with a leading edge extension (LEX). Experiment was carried out using a low-speed wind tunnel that has a test section of 3.5 m(W)×2.45 m(H)×8.7 m(L). The angle of attack of the delta wing ranges from 10° to 30°. The free stream velocity is fixed at 20 m/s, which corresponds to Reynolds number of 0.88×106. Computations using the mass-averaged implicit 3D Navier-Stokes equations were applied to predict the complicated vortical flow over the delta wing. The governing equations were discretized in space using a fully implicit finite volume differencing formation. The standard k-e turbulent model was employed to close the governing equations. The present computations predicted the experimented flow field with a good accuracy.展开更多
基金Sponsored by the International Cooperation Project from the Ministry of Science and Technology of China ( No. 2006DFA12290)Project of Natural Science Fund of China (No. 60705033)Studying abroad and Homecoming Fund from the Ministry of Education
文摘This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redundant serial 7-DOF robot. The forward displacement calculation was developed based on the product-of-exponential formula （POE）. Because of the kinematics complexity of the hybrid and redundant robot, the combination technique of Ulrich two-step iteration method and paul variables detachment method （UTI-PVD） was introduced to fulfill the inverse kinematics of redundant robot, the novelty of which lay in the flexibility of various robots structures and in high calculation efficiency for realtime control. The process of solving the inverse displacement was analyzed. The UTI-PVD method can be applicable to kinematics of many robots, especially for redundant robots with more than 6DOF. The kinematics simulation was provided, and robot dexterity analysis was presented. The results indicated that the hybrid robot could implement the minimally invasive CT-guided surgery.
文摘The present paper describes computational and experimental work on the vortex flow characteristics of a sharp-edged delta wing with a leading edge extension (LEX). Experiment was carried out using a low-speed wind tunnel that has a test section of 3.5 m(W)×2.45 m(H)×8.7 m(L). The angle of attack of the delta wing ranges from 10° to 30°. The free stream velocity is fixed at 20 m/s, which corresponds to Reynolds number of 0.88×106. Computations using the mass-averaged implicit 3D Navier-Stokes equations were applied to predict the complicated vortical flow over the delta wing. The governing equations were discretized in space using a fully implicit finite volume differencing formation. The standard k-e turbulent model was employed to close the governing equations. The present computations predicted the experimented flow field with a good accuracy.
