A novel sorting system based on one degree of freedom (DOF) tendon based parallel manipulator (TBPM) for high value waste processing was presented and designed. In order to control the motion of loads, nonlinear state...A novel sorting system based on one degree of freedom (DOF) tendon based parallel manipulator (TBPM) for high value waste processing was presented and designed. In order to control the motion of loads, nonlinear state feed forward control algorithm in the tendon length coordinate was used. Considering the system redundancy and actuation behavior, algorithms of optimal tension distribution and forward kinematics were designed. Then, the simulation experiments of motion control were implemented. The results demonstrate that the proposed TBPM translation system performs robust capacities. It can transfer the loads 1 m away within 1.5 s. With further optimization, the translation duration can be further reduced to be about 1 s and the optimized translation is followed with 43.59 m/s2 maximum acceleration. The translation errors at the aim position remain below 0.4 mm.展开更多
非特异性腰痛(nonspecific low back pain,NLBP)在中医归属“痹证”范畴,此疾病严重影响患者的日常生活。现代医学多采用改善患者局部组织血液循环、促进生物体新陈代谢和组织恢复,松解机体筋膜和软组织粘连等方法进行治疗。目前已有治...非特异性腰痛(nonspecific low back pain,NLBP)在中医归属“痹证”范畴,此疾病严重影响患者的日常生活。现代医学多采用改善患者局部组织血液循环、促进生物体新陈代谢和组织恢复,松解机体筋膜和软组织粘连等方法进行治疗。目前已有治疗方法的疗效并不显著。为治疗该疾病,作者基于前期动物实验结果,以“经筋-脾肾”理论展开叙述,认为寒凝筋脉、脾肾虚衰为非特异性腰痛的主要病因。故采用疏解经筋、固护脾肾的治疗方法,针对性地提出“针膏结合”的治疗手段,即皮内针针刺关元穴配以独活寄生汤膏药贴敷进行治疗。该手段为中医药在临床上治疗NLBP提供了新的思路及方法。展开更多
基金Project(B07028) supported by "111" Introducing Talents of Discipline to University Program through Ministry of Education of China
文摘A novel sorting system based on one degree of freedom (DOF) tendon based parallel manipulator (TBPM) for high value waste processing was presented and designed. In order to control the motion of loads, nonlinear state feed forward control algorithm in the tendon length coordinate was used. Considering the system redundancy and actuation behavior, algorithms of optimal tension distribution and forward kinematics were designed. Then, the simulation experiments of motion control were implemented. The results demonstrate that the proposed TBPM translation system performs robust capacities. It can transfer the loads 1 m away within 1.5 s. With further optimization, the translation duration can be further reduced to be about 1 s and the optimized translation is followed with 43.59 m/s2 maximum acceleration. The translation errors at the aim position remain below 0.4 mm.
文摘非特异性腰痛(nonspecific low back pain,NLBP)在中医归属“痹证”范畴,此疾病严重影响患者的日常生活。现代医学多采用改善患者局部组织血液循环、促进生物体新陈代谢和组织恢复,松解机体筋膜和软组织粘连等方法进行治疗。目前已有治疗方法的疗效并不显著。为治疗该疾病,作者基于前期动物实验结果,以“经筋-脾肾”理论展开叙述,认为寒凝筋脉、脾肾虚衰为非特异性腰痛的主要病因。故采用疏解经筋、固护脾肾的治疗方法,针对性地提出“针膏结合”的治疗手段,即皮内针针刺关元穴配以独活寄生汤膏药贴敷进行治疗。该手段为中医药在临床上治疗NLBP提供了新的思路及方法。
