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intelligent mechanism TO SUPPORT DFX ABILITIES IN AUTOMATED DESIGNER'S ENVIRONMENT

Chinese Journal of Aeronautics 2000年第4期13卷 234-241页

作者：乌兰木其邓家堤 Stt. 863/CIMS Des. Automat. Lab. Institute of Manufacturing Systems Beijing Univ. Aero. and Astronaut. Beijing 100083 China

The paper aims at providing a computerized design environment to support product design practically. The authors solved this problem by taking the product life-cycle issues into consideration as more as possible during the design process from the designer-oriented perspective of view. Design for X-abilities (DFX) is an effective approach to this philosophy. So the paper mainly presents the infrastructure of an intelligent DFX mechanism which is the essential part of the developed product design environment. At first the designer-oriented computer environment DesignerSpace is introduced for understanding the designer how to implement design activities and DFX method better. In order to integrate design knowledge from downstream aspects for the optimization and the design decision-making, an intelligent DFX mechanism is developed to incorporate knowledge base, algorithm-base and monitoring/debugging tools. DesignerSpace is implemented with DFX abilities and applied to the blisk design of aircraft engine and the further development is strongly intended.

关键词： product design product life cycle designer-oriented environment intelligent mechanism design knowledge information infrastructure

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Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2022年第10期23卷 771-782页

作者： Yong-bin JIN Shao-wen CHENG Yan-yan YUAN Hong-tao WANG Wei YANG Center for X-Mechanics Zhejiang UniversityHangzhou 310027China ZJU-Hangzhou Global Scientific and Technological Innovation Center Zhejiang UniversityHangzhou 311200China State Key Laboratory of Fluid Power and Mechatronic System Zhejiang UniversityHangzhou 310027China Institute of Applied Mechanics Zhejiang UniversityHangzhou 310027China

Designing anthropomorphic prosthetic hands that approach human-level performance remains a great *** prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force,grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci’s mechanism driven by a flexible twisted string actuator(TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light,flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70% of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.

关键词： Anthropomorphic hand da Vinci’s mechanism Twisted string actuator(TSA) intelligent mechanism Principal component analysis(PCA)

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