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基于形状记忆合金的自主导管导向机器人设计 被引量:23
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作者 付宜利 李显凌 梁兆光 《机械工程学报》 EI CAS CSCD 北大核心 2008年第9期76-82,共7页
为提高血管介入手术的成功率和安全性,研制一种用于控制自主导管的由多个形状记忆合金(Shape memory alloy,SMA)驱动器驱动的多节蛇形结构导向机器人。针对SMA驱动的导向机器人结构和原理,提出偏置弹簧尺寸参数的估算方法,使用大挠度理... 为提高血管介入手术的成功率和安全性,研制一种用于控制自主导管的由多个形状记忆合金(Shape memory alloy,SMA)驱动器驱动的多节蛇形结构导向机器人。针对SMA驱动的导向机器人结构和原理,提出偏置弹簧尺寸参数的估算方法,使用大挠度理论对导向机器人进行运动学分析,通过积分变换推导出SMA驱动器在已知导向机器人弯曲角度和方向下的输出力和位移,给出精确的导向机器人前端中心位置坐标。在此基础上,进一步推导SMA驱动器的尺寸参数设计计算公式,提出一套系统的导向机器人设计理论方法。利用提出设计方法研制导管导向机器人样机,并在血管模型中成功地进行模拟介入手术试验。研究成果为导向机器人的设计和分析提供了数学模型,完善了导管导向机器人的设计方法和理论。 展开更多
关键词 形状记忆合金 大挠度理论 自主导管 微创介入手术
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Laminar Natural Convective Heat Transfer in theEnclosed Evacuated Collector Tube with East-West Symmetric Heat Input
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作者 ZhangHeng-Yun GeXin-Shi 《Journal of Thermal Science》 SCIE EI CAS CSCD 1997年第1期35-43,共9页
Heat transfer in the evacuated collector tube is a three-dimensional laminar natural convection prob-lem driven by buoyancy. Because of its complexity, no effective theoretical model is available despiteof limited exp... Heat transfer in the evacuated collector tube is a three-dimensional laminar natural convection prob-lem driven by buoyancy. Because of its complexity, no effective theoretical model is available despiteof limited experimental work which is confined to one aspect- The present work aims to depict theconvective heat transfer inside a tweended inclined tube with East-West symmetric heat input us-ing numerical methods. Based on reasonable assumptions, governing equations of the inside fluid areestabllshed. The corresponding discretizated equations are solved by employing numerical methods.The calculated results are displayed for velocity and temperature profiles on different cross-sectionalplanes, which present the flow pattern characterized by upflow and dowallow along the axial direc-tion and adherent flow along the peripheral direction, and the heat transfer process from the wall tothe center. Furthermore, the transient Nusselt number and average temperature level are shown anddiscussed. Finally, the parametric effects of the tube radius and the heat input on the flow and heattransfer are also given. 展开更多
关键词 natural convection evacuated collector tube E-W symmetric heat input boundary singularity numerical simulation
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