Research on Coordinated Simulation of Medical Robot Arm Based on Simulink and RecurDyn

2011 ◽  
Vol 58-60 ◽  
pp. 1300-1305 ◽  
Author(s):  
Xiao Hui Xie ◽  
Qiang Sun ◽  
Xiao Fang Yu ◽  
Ru Xu Du

To improve the design efficiency of medical robot arm, a virtual simulation system was built by making full use of the virtual simulation technology. First , a 3D model of the robot arm with five-freedom was built in Solidworks; and then, the model was imported into the dynamic simulation software RecurDyn for kinematics and dynamic simulation; at last, through the interface modular part of Matlab/Simulink and RecurDyn, medical robot arm control system was established by using Simulink module and coordinated simulation of five-freedom was successfully implemented .The simulation results indicate that the coordinated simulation system of the robot arm has preferable dynamic response characteristics and nicer locus-tracking ability.

2011 ◽  
Vol 197-198 ◽  
pp. 203-207
Author(s):  
Shi Jie Li ◽  
Ya Rui Zhang ◽  
Hai Xia Bi ◽  
Tie Cheng Wang

In recent years, the research on the medical robot's already became a new domain about the robot application, particularly the special medical robot already became a direction of the medical robot develops. This article started with the medical robot organization design, construct the three-dimensionalmodel,designed master-Slave Medical robot control system overall project, determined a new two-way control method of force telepresence, developed Master-Slave medical robot control system's simulation software, and conducted the experimental study, the experimental result showed that this simulation system had the very good timeliness and the accuracy.


2013 ◽  
Vol 339 ◽  
pp. 153-156 ◽  
Author(s):  
Lei Wang ◽  
Yu Yun Kang

Firstly, the industrial manipulators 3D model is built by using 3D software. Secondly, the 3D model is imported to the dynamic simulation software ADAMS, and the corresponding constraints and motions are added to the model according to the actual design requirements. Finally, the movement simulation is implemented and the displacement, velocity and acceleration curves of each direction for the end position and mid-position are given. The simulation results show the correctness and feasibility of the industrial manipulators 3D model. Therefore, this can provide a certain referencing value for designing industrial manipulator.


2014 ◽  
Vol 635-637 ◽  
pp. 1817-1821
Author(s):  
Feng Feng Wu ◽  
Dong Sheng Li ◽  
Hong Jie Guo ◽  
Shu Sheng Zhang

The utilization of reconfigurable numerically controlled tooling is important for flexible fuselage assembly. An online programming and simulation system for flexible tooling is presented, which is composed of two modules. The online programming module generates NC code from an adjustment sequence and path, taking into consideration the process and device parameters. This paper details the second module, the visualized simulation module, which validates and optimizes the related adjustment process. This module covers three steps, those are, the creation of a virtual simulation environment based on the light-weight 3D model, the loading of the key feature points related to the adjustment and process information, and the adjustment simulation. The system can rapidly response to “one fixture with more models” and “one fixture with more states” deep flexibility demands for digital fuselage assembly, enable the flexible tooling to a have better capacity for independent adaptability. An example of flexible fuselage assembly process is used to illustrate the detail and advantages of the system. The three-step simulation strategy is proposed and detailed in this paper.


2013 ◽  
Vol 321-324 ◽  
pp. 582-585
Author(s):  
Hai Hui Yang

To change the phenomenon of“Being an armchair strategist” in the research on the photoelectric encoder,the simulation system of that had been researched using virtual-reality technology. Thebasic principle of the photoelectric encoder was expounded. The developmentstrategy of the simulation software was introduced. Some key problems and theirsolutions, including drawing of grid line and motion control method, voltagesignal and the pulse signal processing and display and parameter adjustmentmethod, were put forward in development. Finally, a virtual simulation examplewas provided.


Author(s):  
J Scott Thompson ◽  
Douglas D Hodson

Simulation approaches generally fall into two categories: discrete time or discrete event. For military modeling and simulation needs, the two approaches typically align with virtual simulation, which implies human interaction with the simulation program, and constructive simulation, which implies no human interaction. The Air Force Research Laboratory develops and distributes AFSIM (Advanced Framework for Simulation, Integration, and Modeling) to a user community that uses both virtual and constructive simulation. This paper documents the software design and primary algorithms that provide AFSIM’s support for both modes, which is termed a hybrid simulation.


2014 ◽  
Vol 658 ◽  
pp. 389-394
Author(s):  
Oana Cella Andrei ◽  
Livia Alice Tanasescu ◽  
Ruxandra Margarit ◽  
Mircea Horia Tierean

The paper presents the study of the stresses and the displacements that appear in different areas of the removable partial denture (RPD) with extracoronal attachments under occlusal loading, using FEA. The first step was to create the 3D model of a RPD with ball attachments in case of a class I Kennedy edentulous patient with all six anterior teeth as abutments. All materials were considered homogeneous, isotropic and having linear elasticity. There were assumed two types of constraints: in the first one the model is fixed under the action of the mastication forces; in the second one the rotational movement of the denture’s saddles in the sagittal plane was simulated, towards the edentulous ridge. In the first case, the 3D model and FEA were developed using Autodesk Inventor 2013 software. In the second case, the FEA was done using Autodesk Algor Simulation software. The loading of the model was symmetrically applied, considering the magnitude of the tangential and normal oral forces determined by Las Casas et al. These forces were applied to all the PM1, PM2, M1 and M2 pairs. Each loading case was analysed separately. The results of the two constrain situations are presented graphically, comparatively and show that the amount of the saddle displacement depends on the application area of the mastication force. Maximum displacement was computed at the application of the mastication forces on the M2 and decreases as the force is applied more mesial. The amount of the major connector’s deformation is very little influenced by the site of the force. The largest displacement of the denture was recorded at the distal end of the saddle, with values ​​that depend on the site of the forces. The existence of the rotational movement of the denture’s free end saddles in the sagittal plane, towards the edentulous ridge, changes the values ​​of accumulated stresses in denture during mastication and its Von Mises stress peaks. This analysis can be use to establish the principles of planning and designing the RPD with ball attachments having in mind to minimize the number of repairs caused by fractures of the components.


2012 ◽  
Vol 499 ◽  
pp. 238-242
Author(s):  
Li Zhang ◽  
Hong Wu ◽  
Yan Jue Gong ◽  
Shuo Zhang

Based on the 3D model of refrigeration's compressor by Pro/E software, the analyses of theoretical and experimental mode are carried out in this paper. The results show that the finite element models of compressor have high precision dynamic response characteristics and the natural frequency of the compressor, based on experimental modal analysis, can be accurately obtained, which will contribute to further dynamic designs of mechanical structures.


2011 ◽  
Vol 421 ◽  
pp. 250-253
Author(s):  
Hu Zhu ◽  
Xiao Guang Yang

To lay the foundation of the automation for line heating forming, a method for heating path generation and simulation for ship plate steel base on STL mode was proposed in this paper. The line heating path was generated by slicing the STL model of the steel plate using a series of planes, and the models of the heating equipment of ship plate steel were build, and the heating process of ship plate steel can be simulated by inputting the models of the heating equipment into the simulation system that was built by using VC++ and OpenGL. The case study shows that the method can primely solve the inconvenient of manual heating and the whole heating process can be observed by the simulation so that the heating process can be made a reasonable monitoring, and the heating path generation and simulation software are runs stably and reliably.


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