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基于SolidWorks Simulation的取件机械手爪体结构仿真和优化设计 被引量:7
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作者 刘开举 赵林栋 +2 位作者 生萍 包艳青 苑会清 《中国铸造装备与技术》 CAS 2021年第4期7-12,共6页
利用SolidWorks软件建立取件机械手爪体的三维实体模型,根据有限元理论对爪体建立有限元模型。根据实际的受力情况,通过SolidWorks Simulation软件对爪体进行应力等静态特性分析,依据有限元仿真分析结果提出结构的优化设计建议,并对优... 利用SolidWorks软件建立取件机械手爪体的三维实体模型,根据有限元理论对爪体建立有限元模型。根据实际的受力情况,通过SolidWorks Simulation软件对爪体进行应力等静态特性分析,依据有限元仿真分析结果提出结构的优化设计建议,并对优化后的结构进行力学性能仿真和分析,验证新结构的可靠性。给本产品设计探索了一种新的方法,缩短了产品的开发周期,节约了成本,一定程度上给设计人员提供了一种新的选择。 展开更多
关键词 机械手 爪体 有限元分析 SolidWorks Simulation 铸件落砂设备
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轻韧型主动包络软体夹爪设计
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作者 牛思旗 陈永当 +3 位作者 王欣豪 胡师源 封莹莹 张娅婕 《轻工机械》 CAS 2024年第1期36-42,共7页
为解决传统刚性夹爪刚度大、安全性差以及适用范围受限的问题,课题组提出了一种轻韧型主动包络软体夹爪。夹爪由固定平台和3根软体手爪组成。参考人的手指尺寸和抓取物品时手掌的作用,设计了手爪的尺寸;软体手爪由传统的硅胶沉积浇筑、3... 为解决传统刚性夹爪刚度大、安全性差以及适用范围受限的问题,课题组提出了一种轻韧型主动包络软体夹爪。夹爪由固定平台和3根软体手爪组成。参考人的手指尺寸和抓取物品时手掌的作用,设计了手爪的尺寸;软体手爪由传统的硅胶沉积浇筑、3D打印等技术加工和制作而成,采用气动驱动方式;基于Yeoh模型对设计的软体手爪的形变进行有限元仿真分析;最后对设计制作的轻韧型主动包络软体手爪进行弯曲和抓取性能测试。实验结果显示:单根软体手爪能够在气压驱动下达到空间内预定的弯曲角度,在60 kPa时手爪达到形变极限位置,指尖接触力为1.12 N。抓取实验结果表明轻韧型主动包络软体夹爪具有良好的包络和承载能力,不仅对规则的刚性物体有好的抓取效果,对不规则物体和质地较为柔软的物品同样有良好的抓持效果。 展开更多
关键词 轻韧型 沉积浇筑 包络 Yeoh模型
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软体机械手爪在果蔬采摘中的应用研究进展 被引量:56
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作者 彭艳 刘勇敢 +3 位作者 杨扬 杨毅 刘娜 孙翊 《农业工程学报》 EI CAS CSCD 北大核心 2018年第9期11-20,共10页
基于现有的果蔬采摘机械手大多是由刚性元件设计加工而成,存在质量大、柔顺性较差以及作业时容易对果蔬造成伤害等问题,而软体机械手爪(以下简称软体手)是一种由柔性材料制成,可以根据负载变化来改变自身形状和尺寸并且具有无限自由度... 基于现有的果蔬采摘机械手大多是由刚性元件设计加工而成,存在质量大、柔顺性较差以及作业时容易对果蔬造成伤害等问题,而软体机械手爪(以下简称软体手)是一种由柔性材料制成,可以根据负载变化来改变自身形状和尺寸并且具有无限自由度的新型末端执行器。该文综述了果蔬采摘机械手应具备的特点以及传统采摘机械手的局限性、软体机械手爪的概念、发展现状、在果蔬采摘中的应用等相关问题,归纳了软体机械手爪在果蔬采摘作业中的先进性和优势,并分析了几种常见驱动方式的软体机械手爪在果蔬抓取作动过程中的优缺点,探讨了果蔬采摘装置的建模、控制等相关问题以及未来的发展趋势,可为果蔬无损采摘机械手的研制提供新的思路和方法。 展开更多
关键词 农业机械 机器人 采摘 机械手 建模与控制
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常用硅胶材料软体气动夹爪夹持性能的仿真研究 被引量:2
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作者 谢业平 李红军 《浙江理工大学学报(自然科学版)》 2021年第3期328-334,共7页
硅胶作为气动夹爪的软体材料,其对夹爪的夹持性能有直接影响。采用有限元数值仿真方法对4种常用硅胶材料的气动夹爪进行夹持性能分析,探究Ecoflex 00-30、Ecoflex 00-50、Dragon skin 10和Dragon skin 30材料的影响。通过单轴拉伸试验... 硅胶作为气动夹爪的软体材料,其对夹爪的夹持性能有直接影响。采用有限元数值仿真方法对4种常用硅胶材料的气动夹爪进行夹持性能分析,探究Ecoflex 00-30、Ecoflex 00-50、Dragon skin 10和Dragon skin 30材料的影响。通过单轴拉伸试验测定硅胶材料的变形特性;采用不同的本构模型对材料参数进行拟合,判断每种材料最适合的本构模型,并采用拉伸仿真实验验证数值模型的准确性,得到4种硅胶材料的最适本构模型;通过仿真分析,得到充气压力与夹爪弯曲角度和指尖力之间的关系。仿真结果表明:夹爪随着充气压力增加,弯曲角度和指尖力也逐渐变大的关系;在相同气压作用下,Ecoflex 00-30产生的弯曲最大,具有最大的指尖力,而Dragon skin 30弯曲的角度最小,具有最小的指尖力。由此得到了不同力学性能的硅胶材料对软体气动夹爪夹持性能的影响,为后续材料选择提供依据。 展开更多
关键词 气动夹 夹持性能 单轴拉伸 本构模型 仿真
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弹性离聚体的研究进展 被引量:2
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作者 谢洪泉 《合成橡胶工业》 CAS CSCD 2009年第1期77-81,共5页
总结及评述了近年来弹性离聚体的研究进展,包括羧基离聚体、磺化离聚体及遥爪离聚体等,介绍了最近用新方法合成的新型离聚体。
关键词 弹性离聚 羧基离聚 磺化离聚 离聚 综述
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三爪结构萘乙酰胺衍生物与过渡金属离子的螯合荧光增强 被引量:1
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作者 梅明华 吴世康 《化学学报》 SCIE CAS CSCD 北大核心 2001年第12期2186-2190,共5页
合成了具有三爪结构的化合物三-(1-萘乙酰胺乙基)胺(1),它对具有荧光猝灭能力的过渡金属离子具有荧光增强的效应.比较不同的过渡金属离子存在时上述化合物溶液的荧光光谱和吸收光谱变化,可以发现:在利用荧光光谱进行检测时必须注意过程... 合成了具有三爪结构的化合物三-(1-萘乙酰胺乙基)胺(1),它对具有荧光猝灭能力的过渡金属离子具有荧光增强的效应.比较不同的过渡金属离子存在时上述化合物溶液的荧光光谱和吸收光谱变化,可以发现:在利用荧光光谱进行检测时必须注意过程中引起荧光增强和猝灭的机制,这将对考察配体与金属离子间配位能力大小作出正确估计有着重要的帮助. 展开更多
关键词 过渡金属离子 荧光化学敏感器 结构配位 荧光光谱 检测 萘乙酰胺衍生物 螯合荧光增强效应
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新型浮动式管拧机液压夹紧装置的设计 被引量:1
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作者 马庆杰 宋锦春 《机床与液压》 北大核心 2005年第1期202-203,共2页
就传统的管拧机夹紧装置所存在的缺点和不足进行了分析, 增添了径向和横向的浮动机构、液压阻尼器及液压系统电液比例控制三部分, 提出了一种新型的抱钳夹紧装置。
关键词 管拧机 夹紧装置 爪体 浮动 液压阻尼器
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Characteristics of Pollen Germination and Storage of Zygocactus truncates
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作者 李玉萍 罗凤霞 盛芸洁 《Agricultural Science & Technology》 CAS 2015年第3期420-422,466,共4页
The research, based on pol ens of Zygocactus truncates during ful-bloom period, selected suitable culture medium and temperature for pol en germination and explored the effects of storage temperatures and pol en col e... The research, based on pol ens of Zygocactus truncates during ful-bloom period, selected suitable culture medium and temperature for pol en germination and explored the effects of storage temperatures and pol en col ection methods on pol en vitality of Zygocactus truncates and the results showed that the culture medium containing 200 g/L saccharose, 20 mg/L boric acid, and 20 mg/L calcium chloride is suitable for pol en germination of Zygocactus truncates; when the temperature kept below 20 ℃, pol en germination period last short, and germination rate kept higher;pol en germination performed better with filaments, and pol en tube grew wel . 展开更多
关键词 Zygocactus truncates Pol en germination Fluid medium STORABILITY
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Nuclear assembly of purified Crythecodinium cohnii chromosomes in cell-free extracts of Xenopus laevis eggs
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作者 LIU XIAO LING YAN SHEN +1 位作者 ER JIE CHEN ZHONG HEZHAI(E-mail: zhaizh@plum.lsc.pku.edu.cn Tel: 86-10-62754293 Fax: 86-10-62751526)(College of Life Sciences, Peking University, Beijing 100871,China) 《Cell Research》 SCIE CAS CSCD 2000年第2期127-137,共11页
Incubation of dinoflagellate Crythecodinium cohnii chromosomes in cytoplasmic extracts of unfertilized Xenopus laevis eggs resulted in chromosomes decondensation and recondensation, nuclear envelope assembly, and nucl... Incubation of dinoflagellate Crythecodinium cohnii chromosomes in cytoplasmic extracts of unfertilized Xenopus laevis eggs resulted in chromosomes decondensation and recondensation, nuclear envelope assembly, and nuclear reconstitution.Dinoflagellate Crythecodinium cohnii is a kind of primitive eukaryote which possesses numerous permanently condensed chromosomes and discontinuous double-layered nuclear membrane throughout the cell cycle. The assembled nuclei, being surrounded by a continuous double membrane containing nuclear pores and the uniformly dispersed chromatin fibers are morphologically distinguishable from that of Dinoflagellate Crythecodinium cohnii. However, incubation of dinoflagellate Crythecodinium cohnii chromosomes in the extracts from dinoflagellate Crythecodinillm cohnii cells does not induce nuclear reconstitution. 展开更多
关键词 Dinoflagellate Crythecodinium cohnii CHROMOSOME nuclear reconstitution cell-free system Xenopus laevis egg extracts
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The matrix metalloproteinase stromelysin-3 cleaves laminin receptor at two distinct sites between the transmembrane domain and laminin binding sequence within the extracellular domain 被引量:5
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作者 Tosikazu AMANO Olivia KWAK Anastasia MARSHAK 《Cell Research》 SCIE CAS CSCD 2005年第3期150-159,共10页
The matrix metalloproteinase (MMP) stromelysin-3 (ST3) has long been implicated to play an important role in extracellular matrix (ECM) remodeling and cell fate determination during normal and pathological processes. ... The matrix metalloproteinase (MMP) stromelysin-3 (ST3) has long been implicated to play an important role in extracellular matrix (ECM) remodeling and cell fate determination during normal and pathological processes. However like other MMPs, the molecular basis of ST3 function in vivo remains unclear due to the lack of information on its physiological substrates. Furthermore, ST3 has only weak activities toward all tested ECM proteins. Using thyroid hormone-dependent Xenopus laevis metamorphosis as a model, we demonstrated previously that ST3 is important for apoptosis and tissue morphogenesis during intestinal remodeling. Here, we used yeast two-hybrid screen with mRNAs from metamorphosing tadpoles to identify potential substrate of ST3 during development. We thus isolated the 37 kd laminin receptor precursor (LR). We showed that LR binds to ST3 in vitro and can be cleaved by ST3 at two sites distinct from where other MMPs cleave. Through peptide sequencing, we determined that the two cleavage sites are in the extracellular domain between the transmembrane domain and laminin binding sequence. Furthermore, we demon strated that these cleavage sites are conserved in human LR. These results together with high levels of human LR and ST3 expression in carcinomas suggest that LR is a likely in vivo substrate of ST3 and that its cleavage by ST3 may alter cell-extracellular matrix interaction, thus, playing a role in mediating the effects of ST3 on cell fate and behavior ob- served during development and pathogenesis. 展开更多
关键词 stromelysin-3 laminin receptor matrix metalloproteinase extracellular matrix Xenopus laevis cell surface substrate.
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Observation of nuclei reassembled from demembranatedXenopus sperm nuclei and analysis of their laminacomponents
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作者 QUJIAN CHUANMAOZHANG 《Cell Research》 SCIE CAS CSCD 1994年第2期163-172,共10页
A cell-free preparation obtained from extracts of activated Xenopus laevis eggs induced chromatin decondensation and nuclear formation from demembranated Xenopus sperm nuclei. Electron microscopy revealed that the rea... A cell-free preparation obtained from extracts of activated Xenopus laevis eggs induced chromatin decondensation and nuclear formation from demembranated Xenopus sperm nuclei. Electron microscopy revealed that the reassembled nucleus had a double-layered nuclear membrane, nuclear pore complexes, and decondensed chromatin etc. Indirect immunofluorescence analysis demonstrated the presence of lamina in newly assembled nuclei. Western-blotting results showed that lamin LII was present in egg extracts and in lamina of the reassembled nuclei which were previously reported to contain only eggderived lamin LIII. 展开更多
关键词 Nuclear assembly in vitro Xenopus laevis LAMINA
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δ-opioid Receptor Induced Inhibition of Sodium Channel Function
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作者 康学智 顾全保 +5 位作者 丁光宏 晁东满 王英伟 G Balboni LH Lazarus 夏萤 《Journal of Acupuncture and Tuina Science》 2008年第5期276-278,共3页
Objective: To study the precise role of DOR in the regulation of sodium channels at present. Methods: With Xenopus oocytes co-expressing sodium channel subtype 2 (Nav1.2) and DOR. Results: 1) Nav1.2 expression i... Objective: To study the precise role of DOR in the regulation of sodium channels at present. Methods: With Xenopus oocytes co-expressing sodium channel subtype 2 (Nav1.2) and DOR. Results: 1) Nav1.2 expression induced tetrodotoxin-sensitive inward currents; 2) DOR expression reduced the inward currents; 3) activation of DOR reduced the amplitude of the current and rightly shifted the activation curve of the current in the oocytes with both Nav1.2 and DOR, but not in ones with Nav1.2 alone; 4) the DOR agonist-induced inhibition of Nay 1.2 currents was in a dose-dependent manner and saturable; 5) the DOR agonist had no effect on naive oocytes. Conclusion: These data represent the first demonstration that activation of DOR inhibits Na^+ channel function by decreasing the amplitude of sodium currents and increasing its threshold of activation. This novel finding has far-reaching impacts on novel solutions of certain neurological disorders such as hypoxic/ischemic injury, epilepsy and pain. Also, our data may improve the understanding of the mechanisms underlying acupuncture since acupuncture is known to activate the brain opioid system. 展开更多
关键词 δ-opioid Receptors Na^+ Channels Na^+ Currents UFP-512 Xenopus Oocytes EXCITABILITY
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