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
Bamboo became the best material choice for sustainable construction because it is fully renewable materials. Indonesian people traditionally choose bamboo for their housing since a long time ago. Bamboo stems usually ...Bamboo became the best material choice for sustainable construction because it is fully renewable materials. Indonesian people traditionally choose bamboo for their housing since a long time ago. Bamboo stems usually have unique shape. Its geometrical shape assumed as tapered hollow pipe. This study aims to find the effect of bamboo taper to its strength properties on center point bending test. The ratio between the Modulus of Rupture （S~） calculated in the center point, and the maximum bending stress along the beam is called strength ratio of taper （Ct）. The theoretical calculation results Ct value is 1 if the taper lower than 0.023, while Ct value become lower if the taper is higher than 0.023. The survey on Ampel （Bambusa vulgaris Schrad.）, Tali （Gigantochloa apus （BI. Ex Schult. f） Kurz）, Gombong （Gigantochloa verticillata （Willd.） Munro）, and Mayan （Gigantochloa robusta Kurz.） found that the overall taper range is -0.0047-0.0088 and 0-0.0127 for inner and outer taper respectively. On that overall range the Ct value is always 1, so it is reasonable to ignore the taper effect on one point bending test.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Bamboo became the best material choice for sustainable construction because it is fully renewable materials. Indonesian people traditionally choose bamboo for their housing since a long time ago. Bamboo stems usually have unique shape. Its geometrical shape assumed as tapered hollow pipe. This study aims to find the effect of bamboo taper to its strength properties on center point bending test. The ratio between the Modulus of Rupture （S~） calculated in the center point, and the maximum bending stress along the beam is called strength ratio of taper （Ct）. The theoretical calculation results Ct value is 1 if the taper lower than 0.023, while Ct value become lower if the taper is higher than 0.023. The survey on Ampel （Bambusa vulgaris Schrad.）, Tali （Gigantochloa apus （BI. Ex Schult. f） Kurz）, Gombong （Gigantochloa verticillata （Willd.） Munro）, and Mayan （Gigantochloa robusta Kurz.） found that the overall taper range is -0.0047-0.0088 and 0-0.0127 for inner and outer taper respectively. On that overall range the Ct value is always 1, so it is reasonable to ignore the taper effect on one point bending test.
