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相关概念视频

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When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
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Consider a truss structure with frictionless joints fixed to a wall and roller support. If a force of 150 N is applied to joint A, the forces in each member of the truss can be determined using the method of joints.
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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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相关实验视频

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Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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上肢外骨康复机器人逆动力学建模和解决方法基于多目标优化.

Yuansheng Ning1,2,3, Lingfeng Sang1, Hongbo Wang2,4

  • 1Ningbo Key Laboratory of Aging Health Equipment and Service Technology, Ningbo Polytechnic, Ningbo, China.

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|October 27, 2024
PubMed
概括

本研究提出了一种多目标优化方法,用于解决上肢外骨架机器人的复杂反向动力学. 这种方法提高了康复机器人的运动适应性和准确性.

关键词:
类似人类的运动.逆动力学建模反向动力学建模多目标优化多目标优化冗余的上肢外骨架机器人机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 康复工程 康复工程 康复工程

背景情况:

  • 外骨康复机器人的逆动力学是复杂的,因为缺乏标准的分析模型.
  • 冗余的上肢外骨在适应人类解剖学方面面临挑战,阻碍了康复的有效性.

研究的目的:

  • 为解决上肢外骨架机器人的反动力学提出一个多目标优化方法.
  • 为了提高上肢冗余外骨架的适应性和运动质量,用于康复.

主要方法:

  • 开发了一种多目标的反向动力学模型,包括终端位置,关节舒适度,能源消耗,安全性和类似人类的约束.
  • 采用了改进的平衡优化 (IEO) 算法来解决反动力学问题.
  • 在自主开发的冗余上肢外骨康复机器人系统上验证了该方法.

主要成果:

  • 提出的方法有效地解决了多余的上肢外骨架的逆动力学.
  • 结合关节舒适性,能源消耗和类似人类的约束,显著改善了机器人的运动形状.
  • 与其他算法相比,IEO算法显示出优越的解决方案准确性和稳定性.

结论:

  • 使用IEO算法的多目标优化为上肢外骨逆动力学提供了有效的解决方案.
  • 这种方法提高了康复机器人的性能和类似人类的运动.
  • 该方法为复杂的机器人康复系统提供了强大而准确的解决方案.