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肘关节康复机器人机构设计及其运动学分析 被引量:5
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作者 李博超 项忠霞 +2 位作者 刘传耙 赵泽茂 刘鹏举 《机械科学与技术》 CSCD 北大核心 2020年第9期1313-1322,共10页
现有研究中针对肘关节康复运动的机构设计几乎均采用串联机构作为机构本体,普遍存在精度低、运动惯性大、容易造成肘部肌肉的损伤等问题。鉴于此,本文设计了一种可实现肘关节二自由度康复运动的(2-PRR-S)R-PRCR并联机器人机构;并使用旋... 现有研究中针对肘关节康复运动的机构设计几乎均采用串联机构作为机构本体,普遍存在精度低、运动惯性大、容易造成肘部肌肉的损伤等问题。鉴于此,本文设计了一种可实现肘关节二自由度康复运动的(2-PRR-S)R-PRCR并联机器人机构;并使用旋量理论验证了机构的自由度特性。利用空间几何分析法推导出机构位置逆解与位置正解表达式;进而给出了机构的雅克比矩阵,然后结合雅克比矩阵分析了机构的奇异位形。依据机构的约束条件,确定了机构的初始姿态工作空间;以最大化姿态工作空间为优化目标,并采用遗产算法对机构进行了尺度优化。基于人体肌肉运动机理,分析了肘关节康复运动时的训练效果,验证了所设计的并联机构的适用性,为后续肘关节康复训练策略的研究奠定了基础。 展开更多
关键词 并联机器人机构 肘关节康复运动 位置逆解 雅克比矩阵 姿态工作空间 遗传算法 机构适用性
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Auditing in the 21 st Century: Has Self-regulation Failed?*
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作者 Mahbubul Islam 《Journal of Modern Accounting and Auditing》 2013年第8期1059-1069,共11页
From the very beginning, auditing is pretty much a self-regulated follow in practice. But the plethora of recent corporate failures profession and has some ethical rules of thumb to and scandals where auditors' instr... From the very beginning, auditing is pretty much a self-regulated follow in practice. But the plethora of recent corporate failures profession and has some ethical rules of thumb to and scandals where auditors' instrumental role is evident in many instances raise question about the validity and suitability of "self-regulation" in auditing, especially in the 21st century where auditors need to perform auditing in ever complex risk management process. Moreover, to restore the market confidences within the auditing profession and to raise the overall audit quality, many countries are establishing some super regulatory bodies to oversee the functions of auditing and auditors. Based on the "documentary research methodology", the author examines whether "self-regulation" in auditing has completely failed in the 21 st century. The author reveals that "self-regulation" in auditing has not completely failed; rather, a joint approach is needed to raise the overall quality of auditing where there will be equilibrium between "self-regulation" and statutory directive. 展开更多
关键词 SELF-REGULATION audit failure audit expectation gap INDEPENDENCE the 21 st century audit
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Third-Generation Human Rights" A Tragic Illusion
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作者 Ovadia Ezra 《Journal of Philosophy Study》 2012年第9期664-676,共13页
This paper deals with the applicability of human rights in general and of third-generation human right in particular. It offers an explanation of the pathetic status of human rights and suggests an alternative approac... This paper deals with the applicability of human rights in general and of third-generation human right in particular. It offers an explanation of the pathetic status of human rights and suggests an alternative approach towards "third-generation" human rights, i.e., the rights of communities. It argues that since an immanent dichotomy exists between the political aspect of human rights--the fact that their addressee is the state government--and their universal aspect, i.e., the fact that they belong to everyone and their fulfillment is demanded by international bodies, very often their possessors cannot capitalize them. Third-generation human rights encounter additional problems. Very often their respondent--the state government----cannot comply with their demands, and according to the Kantian principle "Ought Implies Can," they should be addressed towards someone who can in fact fulfill them. This article thus suggests addressing third-generation human rights towards the international community. This may exclude them from the current category of human rights, and create the need to establish a new category such as Community Rights. Such classification may bear the advantage of making these rights more applicable and accessible than they are at present. 展开更多
关键词 human rights rights to self-determination environmental rights claim rights
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