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CompAct-VSA Design and modelling
说明: 本文介绍了一种新型变刚度执行机构(CompAct-VSA)的设计与建模。压实- vsa的工作原理是基于具有连续调节枢轴点的杠杆臂机构。提出的概念允许开发具有大刚度范围和快速刚度调节响应的驱动单元。执行机构的实现利用凸轮形杠杆臂与可变枢轴驱动齿条和小齿轮传动系统。这种实现导致了高度集成和模块化的组装。尺寸和重量确实是VSAs设计中的一个开放问题,这最终限制了它们在多自由度机器人系统中的实现。本文介绍了执行机构的原理、工作原理和模型。初步结果表明,所提出的压实vsa设计具有快速的刚度调节响应和较大的刚度范围。(This paper describes the design and modelling of a new variable stiffness actuator (CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm mechanism with a continuously regulated pivot point. The proposed concept allows for the development of an actuation unit with a wide range of stiffness and a fast stiffness regulation response. The implementation of the actuator makes use of a cam shaped lever arm with a variable pivot axis actuated by a rack and pinion transmission system. This realization results in a highly integrated and modular assembly. Size and weight are indeed an open issue in the VSAs design, which ultimately limit their implementation in multi-dof robotic systems. The paper introduces the mechanics, the principle of operation and the model of the actuator. Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed CompActVSA design.)
- 2019-03-19 23:31:15下载
- 积分:1
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三层架构登录功能实例源码
三层架构登录功能实例源码---------------(Three-tier Architecture Logon Function Instance Source)
- 2019-06-25 15:56:51下载
- 积分:1
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attributes
说明: CUB_鸟类数据标注,每张图312特征,共计200分类(class_attribute_labels_continuous)
- 2020-06-22 18:40:01下载
- 积分:1
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阵列天线zip
说明: 编程计算 线阵组成边射、端射和增强方向性端射阵满足的条件及方向图函数的增益、副瓣电平、半功率波束宽度、零波瓣宽度。(The direction pattern of the side array)
- 2020-06-30 17:20:02下载
- 积分:1
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C++的一些编程题,对于数据结构的学习有益.
C++的一些编程题,对于数据结构的学习有益.-C programming and that data structure for the study useful.
- 2022-02-25 03:51:16下载
- 积分:1
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manager
基于QT的简单的仓库管理软件,初始密码123456(QT based on simple warehouse management software, the initial password 123456)
- 2017-09-13 00:55:12下载
- 积分:1
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qnzddgfz
千年私服辅助外挂~~基本服所有都能用~~~分享一下,自动打怪,下洞(Millennium personal service auxiliary plug-in)
- 2018-11-16 20:42:16下载
- 积分:1
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Matlab_DNL_INL
该代码主要用于实现对ADC静态特性INL,DNL的测量(the code is used to test the parameter such as INL,DNL)
- 2021-04-24 20:08:46下载
- 积分:1
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Clixgrid Addon v5.x
说明: Clixgrid Addon v5.x compatible evolution script v5.0 or 5.1
- 2019-01-11 14:57:04下载
- 积分:1
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模式识别Matlab源码
说明: 模式识别解决各类问题,代码详解,可修改。(Pattern recognition solves all kinds of problems. The code is detailed and can be modified.)
- 2020-06-17 01:20:01下载
- 积分:1