摘要：This paper presents the design of a computational software system that enables solutions of multi-phase and multi-scale problems in mechanics. It demonstrated how mechanicians can design “process-driven” software systems directly, and that such efforts are more suitable in solving multi-phase or multi-scale problems, rather than utilizing the “data-driven” approaches of legacy network systems. Specifically, this paper demonstrates how this approach can be used to solve problems in flexible dynamics. Then it suggests a view of mechanics algorithms as ‘state equilibrium’ enforcers residing as servers, rather than as computer programs that solve field equations. It puts forth the need for identical input/output files to ensure widespread deployment on laptops. Then it presents an assessment of the laptop platform. A software system such as the one presented here can also be used to supply virtual environments, animations and entertainment/education software with physics.

摘要：减振抗冲是足式机器人控制研究的重要难题,使用主被动联合减振抗冲的方法可以对足式机器人的振动冲击进行很好的抑制。文章首次将主被动联合抗冲减振控制方法应用到足式机器人的减振控制中,通过建模分析,设计了被动减振单元的刚度和阻尼比,实现了对冲击振动中的高频信号的衰减,然后根据被动减振结果设计合理的主动控制方案,进一步减小了冲击振动中的低频振动。最后使用Sim mechanics建模分析,验证主被动减振参数设置的有效性。

摘要：针对传统PID控制机械臂在运动中存在跟踪精度低、响应速度慢、动态性能差等问题,提出采用自适应模糊PID控制。通过用Sim mechanics搭建二自由度机械臂模型,分别运用传统的PID控制和自适应模糊PID控制方案进行仿真并比较上述两种方案控制效果。仿真结果表明,所设计的自适应模糊PID控制器相比传统的PID控制器对控制机械臂运动有更好的控制效果。

摘要：目的:自2007年起我科行脊柱肿瘤椎体切除稳定性重建23例,其中我科自行研究设计的脊柱肿瘤椎体切除骨水泥浇铸重建技术在临床应用共计18例,我们通过生物力学实验将该技术与钛网、人工椎体的脊柱稳定重建进行对比研究。结果:(1)骨水泥浇铸在椎体稳定重建稳定性与钛网、人工椎体在统计学上无显著差异。(2)人工椎体也是椎体重建的良好方法,但此种方法价格昂贵。(3)钛网嵌入上下椎体内,椎体高度减低,稳定性欠佳。结论:骨水泥浇铸技术是椎体稳定性重建的可行性方法。价格低廉,操作简便,是值得推广的脊柱肿瘤椎体稳定性重建方法。