中国科学院机构知识库网格系统: 检索

浏览/检索结果: 共4条，第1-4条

帮助

条数/页：排序方式：
	SAU-RFC hand: a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers 期刊论文 OAI收割 ROBOTICA, 2022, 页码: 19 作者: Su, Congjia; Wang, Rui; Lu, Tao; Wang, Shuo \| 收藏 \| 浏览/下载：32/0 \| 提交时间：2022/06/10 robot hand self-adaptive underactuated finger rigid-flexible structure contact force distribution
	Modeling and variable structure control of a vehicle flexible manipulator (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者: Wang Z.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 In this paper the mathematical modeling and the application of a new trajectory tracking control technique for hydraulic-driven rigid-flexible manipulator are concerned. To get a closer dynamic behavior of the real system both the flexible manipulator linkage and the actuator dynamics are considered. The exact dynamic model of flexible manipulator is derived using Lagrange principle and assumed modes method. The partial decoupled dynamic equation is derived using nonlinear decoupling feedback control method. The whole dynamic model is established by a driven Jacobin matrix which represents the coupling between hydraulic servo system and mechanical system. A variable structure controller with inverse dynamics is designed for trajectory tracking. To weaken the chattering of control signal saturation function is used to instead of sign function. The experimental results investigate the effectiveness of the proposed approaches. 2012 IEEE.
	Confined crystallization and phase transition in semi-rigid chitosan containing long chain alkyl groups 期刊论文 OAI收割 crystengcomm, 2011, 卷号: 13, 期号: 2, 页码: 561-567 Zhou Y; Shi HF; Zhao Y; Men YF; Jiang SC; Rottstegge J; Wang DJ 收藏 \| 浏览/下载：22/0 \| 提交时间：2012/06/12 COMB-LIKE POLYMERS X-RAY-SCATTERING FLEXIBLE SIDE-CHAINS C-13 CHEMICAL-SHIFTS RIGID-ROD POLYMERS SOLID-STATE NORMAL-TRITRIACONTANE SEGMENTAL DYNAMICS MOLECULAR-MOTION DEFECT STRUCTURE
	Application of precision harmonic gear drive in focusing mechanism of space camera (EI CONFERENCE) 会议论文 OAI收割 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, April 26, 2010 - April 29, 2010, Dalian, China 作者: Zhang X.; Zhang X.; Zhang X. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 A kind of precision harmonic gear drive in the focusing mechanism of space camera is studied which adopt external meshing complex wave transmission mode. Wave generator is combined with an elliptic cam and a flexible bearing around it. Flexspline is a structure of single wave with the same teeth. The output shaft is supported by a single cross-roller bearing. Ball screws connected the output shaft translate the rotational motion to the linear motion and drive the focusing mirror repeated moving along the linear guide. The output rigid wheel is connected with absolute encoder to detect displacement of focusing movement. It has the characteristics of big transmission ratio high precision compact structure high efficiency and smooth running etc. According to the practical application of this harmonic gear drive in the space camera the location relationship between the displacement of focusing structure and the focal plane movement is derived and the system error is analyzed its accuracy is tested with the open-loop control method. Experimental results show that transmission ratio of the instrument is 1:70 repeated positional accuracy is 2m which meet the requirements for use. 2010 SPIE.