根据基于方位特征(POC)方程的并联机构拓扑设计理论和方法,设计了一种可实现两平移一转动(2T1R)输出运动的半对称并联机构,并对该机构的方位特征集、自由度、耦合度3个主要拓扑特征进行了分析计算,表明该机构的耦合度为1。然后,基于序...根据基于方位特征(POC)方程的并联机构拓扑设计理论和方法,设计了一种可实现两平移一转动(2T1R)输出运动的半对称并联机构,并对该机构的方位特征集、自由度、耦合度3个主要拓扑特征进行了分析计算,表明该机构的耦合度为1。然后,基于序单开链(Single Open Chain,SOC)的运动学建模原理,求解了机构的位置正解,导出位置机构反解解析式;进一步根据导出的位置反解公式分析了该机构的工作空间及其转动能力,研究了机构发生奇异的条件;并对机构的速度及其加速度进行了仿真分析。最后,对机构应用于脚踝按摩仪的原理进行了分析。展开更多
The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numer...The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue.This paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb singularity.To solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this PM.Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity.This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.展开更多
The sweet taste receptors comprised of T1r2 and T1r3, sense glucose concentrations in the gastrointestine. While hyperglycemia was reported to decrease the T1R2 and T1R3 tanscript levels in healthy subjects, no change...The sweet taste receptors comprised of T1r2 and T1r3, sense glucose concentrations in the gastrointestine. While hyperglycemia was reported to decrease the T1R2 and T1R3 tanscript levels in healthy subjects, no change was observed in type 2 diabetes patients. We investigated which glucose level and nutrients affect those transcript levels in MIN 6 and primary cultured taste buds cells using quantitative Reverse Trancription Polymerase Chain Reaction. High glucose diminished T1r2 transcript levels in MIN 6 and primary cultured taste buds cells. Resveratrol and its analogue augmented transcript levels of T1r1 and T1r2 above normal levels in MIN 6 cells in the medium with 25 mM glucose. Adenine, but not guanine, augmented T1r2 transcript levels of MIN 6 cells in the medium with 25 mM glucose. These results imply that nutrients in meals could affect sweet taste sensitivity by modulating T1r2 transcript levels in response to blood glucose levels.展开更多
文摘根据基于方位特征(POC)方程的并联机构拓扑设计理论和方法,设计了一种可实现两平移一转动(2T1R)输出运动的半对称并联机构,并对该机构的方位特征集、自由度、耦合度3个主要拓扑特征进行了分析计算,表明该机构的耦合度为1。然后,基于序单开链(Single Open Chain,SOC)的运动学建模原理,求解了机构的位置正解,导出位置机构反解解析式;进一步根据导出的位置反解公式分析了该机构的工作空间及其转动能力,研究了机构发生奇异的条件;并对机构的速度及其加速度进行了仿真分析。最后,对机构应用于脚踝按摩仪的原理进行了分析。
基金Supported by National Natural Science Foundation of China(Grant No.51775474)Hebei Provincial Natural Science Foundation of China(Grant No.E2020203197).
文摘The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue.This paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb singularity.To solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this PM.Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity.This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.
文摘The sweet taste receptors comprised of T1r2 and T1r3, sense glucose concentrations in the gastrointestine. While hyperglycemia was reported to decrease the T1R2 and T1R3 tanscript levels in healthy subjects, no change was observed in type 2 diabetes patients. We investigated which glucose level and nutrients affect those transcript levels in MIN 6 and primary cultured taste buds cells using quantitative Reverse Trancription Polymerase Chain Reaction. High glucose diminished T1r2 transcript levels in MIN 6 and primary cultured taste buds cells. Resveratrol and its analogue augmented transcript levels of T1r1 and T1r2 above normal levels in MIN 6 cells in the medium with 25 mM glucose. Adenine, but not guanine, augmented T1r2 transcript levels of MIN 6 cells in the medium with 25 mM glucose. These results imply that nutrients in meals could affect sweet taste sensitivity by modulating T1r2 transcript levels in response to blood glucose levels.
