检索结果-南通市图书馆

Energy Distribution Index for robot manipulators and its application to buffering capability evaluation

Science China(Technological Sciences) 2011年第2期54卷 457-470页

作者： WANG Hao ZHAO Kai CHEN GenLiang LIN ZhongQin State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Shanghai Key Laboratory of Digital Autobody Engineering Shanghai Jiao Tong University Shanghai 200240 China

This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis. Based on the dynamics analysis of the manipulator, the Energy Distribution Index （EDI） is defined to depict the energy increment contribution of its subsystem to the whole manipulator. EDI is applied to the evaluation of the buffeting capability of the manipulator working under unpredictable and heavy external loads. A series of buffering indices, the Static Buffering Index （SBI）, Kineto-Static Buffering Index （KBI）, Dynamic Buffering Index （DBI）, and Global Buffering Index （GBI） are proposed to evaluate the buffering capability under different conditions. In order to acquire higher calculation accuracy, the general stiffness mapping of manipulators considering the actuator stiffness, inertia of the manipulator, damping, as well as elasticity of linkages is developed. Three different robot manipulators are studied as evaluation cases, in which the buffering structures are mechanism with variable topology, linear springs, and the elasticity of linkages respectively. The case studies show that the indices based on energy analysis have the advantage of coordinate free and are effective for buffering capability evaluation.

关键词： robot manipulator performance evaluation energy analysis stiffness mapping

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Nanomechanics of Protein aggregation under biological conditions

Nanomechanics of Protein aggregation under biological condit...

引用

第18届国际真空大会

作者： F. Besenbacher Interdisciplinary Nanoscience Center （iNANO） Department of Physics and Astronomy University of Aarhus

Protein aggregation process shows a remarkable degree of structural polymorphism. Such polymorphism leads to significant differences in both aggregate stability and conformation. AFM shows morphological changes of the fibril aggregates deposited on surfaces at different stages during the aggregation process. The aggregate structure reflects the mechanical and dynamical properties of proteins. Force measurements allow extending AFM observations of the actual fibril growth with an in-depth analysis of the underlying physical features of these fibrils, such as fibril flexibility, strength, elasticity, and other mechanical properties. By applying recently developed Microsecond Force Spectroscopy （μFS）, one can applied it to quantitative nanomechanical imaging on protein fibrils, which allows determining the mechanical properties of fibrils of nanoscale dimensions （nanofibrils）. μFS will thus allow monitoring the morphological changes and mechanical changes, and elucidating the origin of the cascade event leading to fibrillation.

关键词： stiffness mapping fibrillation AFM Microsecond Force Spectroscopy

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：