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基于固有频率的运动冗余并联机构位置逆解优选方法

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机械工程学报 2024年第13期60卷 297-307页

作者：吴震李秦川叶伟浙江理工大学机械工程学院杭州310018 浙江交通职业技术学院杭州311112

运动冗余并联机构在规避奇异、增大工作空间、提升机构性能等方面具有显著优势,但运动冗余并联机构位置逆解不唯一,需要考虑性能指标进行优选。提出一种运动冗余并联机构位置逆解优选新方法。首先,基于闭环矢量法和全局独立广义位移坐标... 详细信息

运动冗余并联机构在规避奇异、增大工作空间、提升机构性能等方面具有显著优势,但运动冗余并联机构位置逆解不唯一,需要考虑性能指标进行优选。提出一种运动冗余并联机构位置逆解优选新方法。首先,基于闭环矢量法和全局独立广义位移坐标法,对运动冗余并联机构进行运动学和弹性动力学建模。其次,选用机构的第一阶固有频率(基频)为弹性动力学性能指标,对于动平台某个确定的输出位姿,运用粒子群优化算法,根据基频最大得到运动冗余并联机构的最优位置逆解。然后,利用多项式拟合技术,建立最优位置逆解与动平台输出位姿参数的响应面映射模型,获得动平台在不同输出位姿下的最优位置逆解。最后,以运动冗余2PUPR-PRPU并联机构(P:移动副,U:虎克铰,R:转动副)为例应用了所提的方法,通过位置逆解优选前后机构的基频对比证明该方法的有效性。

关键词：并联机构运动冗余位置逆解优选固有频率

基于共形几何代数的并联机器人逆运动学分析方法

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农业机械学报 2024年第3期55卷 421-430页

作者：柴馨雪李翔毅汤陈昕李秦川徐灵敏浙江理工大学机械工程学院杭州310018 上海交通大学机械系统与振动国家重点实验室上海200240

运动学分析是并联机器人运动学性能评估和结构尺寸优化的基础。现有并联机器人运动学分析方法存在几何建模与几何计算相分离的问题,本文利用共形几何代数(Conformal geometric algebra, CGA)集几何表示和计算为一体的优势,提出一种并联... 详细信息

运动学分析是并联机器人运动学性能评估和结构尺寸优化的基础。现有并联机器人运动学分析方法存在几何建模与几何计算相分离的问题,本文利用共形几何代数(Conformal geometric algebra, CGA)集几何表示和计算为一体的优势,提出一种并联机器人逆运动学分析方法。根据动平台位姿参数给出动平台刚体运动算子,通过共形几何代数框架下的几何积实现动平台上任意点的刚体变换,得到任意点在运动过程中的共形几何表达式;结合机构中尺寸、几何约束,利用内积运算,建立机构运动学方程;根据运动学方程,进行运动学反解计算和速度分析。以3自由度的3-RPS并联机器人和6自由度6-UPS并联机器人为例,对所提方法进行验证,并将逆运动学推导结果与仿真软件所得结果进行了对比,验证了本文提出方法的正确性。该方法将空间向量和旋转表示等几何对象与矩阵乘法、矢量外积等计算方式相结合,使得并联机器人空间几何问题统一在一个代数系统中进行处理,因此分析过程几何直观性较强,简化了运动学逆解分析计算过程。

关键词：并联机器人共形几何代数运动学分析

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Neoadjuvant camrelizumab(an anti-PD-1 antibody)plus chemotherapy or apatinib(a VEGFR-2 inhibitor)for initially unresectable stage II–III non-small-cell lung cancer:a multicentre,two-arm,phase 2 exploratory study

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Signal Transduction and Targeted Therapy 2024年第7期9卷 3015-3023页

作者： Haoran Xia Han Zhang Zheng Ruan Huibiao Zhang liangdong Sun Hezhong Chen Yongxin Zhou Lele Zhang Dongliang Bian Xinsheng Zhu Jing Zhang Fenghuan Sun Huansha Yu Nan Song Xiaogang liu Yuming Zhu Haiping Zhang Wenxin He Jian Chen Jie Yang Guohan Chen Shiliang Xie Dongfang Tang Xiaomiao Zhang liang Duan Deping Zhao qinchuan li Peng Zhang Gening Jiang Department of Thoracic Surgery Shanghai Pulmonary HospitalTongji University School of MedicineShanghaiChina Department of Thoracic Surgery Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghaiChina Department of Thoracic Surgery Huadong Hospital Affiliated to Fudan UniversityShanghaiChina Department of Thoracic Surgery Changhai HospitalNaval Medical UniversityShanghaiChina Department of Thoracic-Cardiovascular Surgery Tongji HospitalTongji University School of MedicineShanghaiChina Central Laboratory Shanghai Pulmonary HospitalTongji University School of MedicineShanghaiChina Experimental Animal Center Shanghai Pulmonary HospitalTongji University School of MedicineShanghaiChina Department of Oncology Shanghai Pulmonary HospitalTongji University School of MedicineShanghaiChina Department of Thoracic Surgery Shanghai East HospitalTongji University School of MedicineShanghaiChina

This multicentre,two-arm,phase 2 study aimed to explore the efficacy and safety of neoadjuvant camrelizumab plus chemotherapy or apatinib in patients with initially unresectable stage II–III non-small-cell lung cancer(NSCLC).Eligible patients regardless of PD-L1 expression received neoadjuvant camrelizumab 200 mg and platinum-doublet chemotherapy every 3 weeks(arm A)or those with PD-L1-positive tumors received neoadjuvant camrelizumab and apatinib 250 mg once daily(arm B),for 2–4 cycles,followed by *** primary endpoint was major pathological response(MPR)*** patients in arm A and 21 in arm B were *** rates were 50.0%(15/30)in arm A and 42.9%(9/21)in arm B,with all patients achieving R0 *** these patients,the MPR and pathological complete response rates were both 20.0%(95%CI 4.3–48.1)in arm A and were 55.6%(95%CI 21.2–86.3)and 11.1%(95%CI 0.3–48.2)in arm B,*** corresponding objective response rates were 33.3%(95%CI 11.8–61.6)and 55.6%(95%CI 21.2–86.3).With a median follow-up of 22.4 months(95%CI 19.0–26.0),the median event-free survival was not reached(NR;95%CI 13.6-NR)in arm A and 16.8 months(95%CI 8.6-NR)in arm *** 3 or above treatment-related adverse events occurred in eight(26.7%)patients in arm A and three(14.3%)in arm *** analysis showed baseline TYROBP expression was predictive of treatment response in arm *** camrelizumab plus chemotherapy or apatinib exhibits preliminary efficacy and manageable toxicity in patients with initially unresectable stage II–III NSCLC.

关键词： Surgery chemotherapy treatment

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政府调控下居民绿色出行的演化及扩散

山东交通学院学报 2024年第3期32卷 1-9,17页

作者：曾益李勤川华东交通大学交通运输工程学院江西南昌330013

为分析政府政策调控对居民绿色出行的作用机制,考虑政府政策调控和出行成本影响,构建政府调控下居民绿色出行和非绿色出行的演化博弈模型,探索居民向绿色出行转型的演化路径,并进行求解分析和仿真验证。采用Lotka-Volterra模型研究不同... 详细信息

为分析政府政策调控对居民绿色出行的作用机制,考虑政府政策调控和出行成本影响,构建政府调控下居民绿色出行和非绿色出行的演化博弈模型,探索居民向绿色出行转型的演化路径,并进行求解分析和仿真验证。采用Lotka-Volterra模型研究不同政府调控力度下绿色出行的扩散路径和趋势,证实政府调控是推动居民向绿色出行转型的重要因素。结果表明:分析政府和居民双方策略演化博弈模型,可得到不同条件下的2个稳定均衡点,设置的初始点不同时,最终都会向稳定均衡点演化;将演化路径与扩散模型平衡解进行匹配,可得到绿色出行扩散路径;政府调控能有效促进居民向绿色出行转型,不断调整调控力度,政府的补贴和税费政策对居民向绿色出行转型起重要推动作用。为鼓励更多居民选择绿色出行方式,政府应实行补贴为主,惩罚为辅的调控模式。

关键词：绿色出行演化博弈模型 Lotka-Volterra模型政府调控

Robust decoupling control of a parallel kinematic machine using the time-delay estimation technique

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Science China(Technological Sciences) 2023年第7期66卷 1916-1927页

作者： ZHANG HaiFeng YE Wei li qinchuan School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

This paper proposes a robust decoupling control scheme using a time-delay estimation technique for a parallel kinematic machine to enhance its trajectory tracking *** dynamic model of a parallel kinematic machine(PKM)is a multivariable nonlinear strongly coupled system that is always affected by uncertainties and external *** proposed controller employs the time-delay estimation(TDE)technique to estimate the dynamic model of a PKM with uncertainties and disturbances,thus obtaining a simple model *** TDE technique involves estimating the unknown system dynamics by intentionally using a time-delayed signal,which will inevitably lead to estimation ***,the proposed controller effectively reduces the unfavourable TDE error by combining fast and robust integral terminal sliding mode control with TDE(TDE-ITSMC).In turn,the TDE technique can reduce the upper bound on the switching gain in the sliding mode control(SMC)scheme,which reduces damage to the ***,comparative experimental studies with other controllers confirm that TDEITSMC offers excellent trajectory tracking accuracy and is a practical robust control scheme for PKMs.

关键词： robust control parallel kinematic machine sliding mode control time delay estimation

Robotized manufacturing equipment:A review from the perspective of mechanism topology

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Science China(Technological Sciences) 2023年第6期66卷 1683-1697页

作者： YE Wei TANG TengFei li qinchuan National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products Zhejiang Sci-Tech UniversityHangzhou 310018China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

In recent years,robots have been extensively applied in the establishment of intelligent manufacturing *** robotized manufacturing equipment have been developed,some of which have gained successful applications.A mechanism is the skeleton of a machine that transfers motion and *** topology of a mechanism is an important gene that determines the function and performance of a *** several reviews have focused on robotized manufacturing,an up-to-date review of robotized manufacturing equipment from the perspective of mechanism topology is *** motivated us to present a survey about existing robotics structures used in manufacturing *** studies are classified into three types:serial robot-based manufacturing equipment,parallel kinematic machines,and hybrid robot-based manufacturing *** features and performance behaviour of these equipments,as determined by their mechanism topology,are *** particular,the influences of joint numbers,rotational axes of output motion,actuation schemes,and topological symmetry on equipment performance are discussed to provide insight into the new development of robotized manufacturing equipment,as well as future research directions on this topic.

关键词： intelligent manufacturing robotized manufacturing equipment mechanism topology performance

1例转移性结直肠癌患者三线治疗的综合药学照护

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肿瘤药学 2024年第3期14卷 289-296页

作者：李秦川田姗姗成都市第二人民医院四川成都610017 遵义医科大学贵州遵义563000

目的探讨1例转移性结直肠癌患者(mCRC)三线治疗的综合药学照护,为mCRC患者三线治疗的药学照护提供参考建议。方法以临床病例为依据,依托在线离线(O2O)药学服务新模式,对患者实施综合药学照护;结合mCRC患者三线治疗现状,探索药物治疗管... 详细信息

目的探讨1例转移性结直肠癌患者(mCRC)三线治疗的综合药学照护,为mCRC患者三线治疗的药学照护提供参考建议。方法以临床病例为依据,依托在线离线(O2O)药学服务新模式,对患者实施综合药学照护;结合mCRC患者三线治疗现状,探索药物治疗管理方法。结果患者在临床医师与临床药师的协作下顺利完成3个周期的治疗,获得了实验室指标上的改善。结论临床药师通过综合药学照护可以协助临床医师诊疗,促进临床用药合理化和个体化,达到安全、有效、经济的治疗目标。

关键词：转移性结直肠癌三线治疗瑞戈非尼综合药学照护

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A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu lingyu Kong qinchuan li Hao Wang Genliang Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE)

Displacement manifold method for type synthesis of lower-mobility parallel mechanisms

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Science China(Technological Sciences) 2004年第6期47卷 641-650页

作者： li qinchuan HUANG Zhen Jacques Marie Hervé Center of Integration Engineering Zhejiang University of SciencesHangzhou 310033China Robotics Research Center Yanshan UniversityQinhuangdao 066004China Ecole Centrale Paris France

Type synthesis of lower-mobility parallel mechanisms is a hot and frontier topic in international academic and industrial field. Based on the lie group theory, a displacement manifold synthesis method is proposed. For all the nine kinds of lower-mobility parallel mechanisms, the mechanism displacement manifold, limb displacement manifold and the geometrical conditions which guarantee that the intersection of the limb displacement manifold is the desired mechanism displacement manifold are enumerated. Various limb kinematic chains can be obtained using the product closure of displacement subgroup. Parallel mechanisms can be constructed with these limbs while obeying the geometrical conditions. Hence, all the nine kinds of lower-mobility parallel mechanisms can be synthesized using this method. Since displacement manifold deals with finite motion, the result mechanism of synthesis have full-cycle mobility. Novel architectures of lower-mobility parallel mechanisms can be obtained using this method.

关键词： lower-mobility parallel mechanisms lie group displacement manifold type synthesis