ABSTRACT
An auxiliary dining robot is designed in this paper, which implements the humanoid feeding function with theory of inventive problem solving (TRIZ) theory and aims at the demand of special auxiliary nursing equipment. Firstly, this robot simulated the motion function of human arm by using the tandem joints of the manipulator. The end-effector used a motor-driven spoon to simulate the feeding actions of human hand. Meanwhile, the eye in hand installation style was adopted to instead the human vision to realize its automatic feeding action. Moreover, the feeding and drinking actions of the dining robot were considered comprehensively with the flexibility of spatial movement under the lowest degree of freedom (DOF) configuration. The structure of the dining robot was confirmed by analyzing its stresses and discussing the specific application scenarios under this condition. Finally, the simulation results demonstrate high-flexibility of the dining robot in the workspace with lowest DOF configuration.
Subject(s)
Humans , Computer Simulation , Equipment Design , Hand , Movement , Robotics/methodsABSTRACT
OBJECTIVE:To establish the quality standard of Baoshenling capsules.METHODS:Radix Astragali,Radix et Rhizoma Rhei,Ligusticum chuanxiong and Hirudo were identified qualitatively by TLC,and the content of diphenyl ethylene in Baoshenling capsules was determined by HPLC.RESULTS:The characteristic TLC spots of Radix Astragali,Radix et Rhizoma Rhei,Ligusticum chuanxiong and Hirudo were identified accurately.The linear range of diphenyl ethylene was 0.176～0.880?g(r = 0.999 8) with an average recovery rate of 98.9%(RSD = 1.3%,n =6).CONCLUSION:The established standard is applicable for the quality control of Baoshenling capsules.
ABSTRACT
The experiments of rabbit mydriasis & isolated cat ciliare muscle paralysis of atropine Methobromide (AMB) have demonstrated that : AMB has much larger mydriasis effect. It effects faster than Atropine Sulfate, Homatropine & Tropinexamide in acetylcholin -induced ciliare muscle contraction. The combined-force of AMB on ciliare muscle is less than Atropine & Homatropine, but a little larger than Tropinexamide. There fore AMB is a rapid & short-time mydriasis agent & ciliare muscle paralysis agent.