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Lion dance is a very popular and lively Chinese traditional art form. A robotic project in Singapore has been dedicated to the design and demonstration for similar traditional art forms using modern mechatronics technology. This paper deals with a novel six-degree-of-freedom （6-DOF） hybrid manipulator with high stiffness, high loading capability and high dexterity, mimicking the lion dancer＇s upper body motions along with the lion head movements. The design of the hybrid manipulator consists of a 2-DOF torso structure in serial configuration and a 4-DOF dual arm structure in parallel configuration. The combined 6-DOF hybrid manipulator can support the weight and dynamics of the lion head during the lion dance performance. Forward kinematics of the manipulator has been formulated and visualized for design purposes. Inverse kinematics of the hybrid manipulator were analytically derived for real-time motion control. Based on the design and modeling, a complete hybrid manipulator has been fabricated, implemented into the robotic lion, and successfully demonstrated for real robotic lion dance performance. 相似文献
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The issues related to climate change such as depletion of energy resources and continuous high oil prices,global warming,and development of clean energy are adopted and discussed as a national agenda i... 相似文献
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吕红梅 《黑龙江教育学院学报》2011,30(3):190-192
改革开放以来中国的经济不断发展壮大,随着中国国际声望的日益提高,全球掀起了学习汉语热的高潮,对外汉语教学也成了热门话题,那么摆在我们面前的任务就是如何做好对外汉语教学工作。对外汉语教学的对象就是指母语不是汉语而是其他国家语言的外国学生,这就涉及到各个国家的学生状况,然而每个学生的自身条件、文化背景、教育背景、语言背景、学习的目的等不同,教学的方法和效率也就不同。如何使学生能够更好、更快、更准确地掌握汉语和运用汉语,换句话来说,让学生喜欢上汉语,传播中华民族文化,搞好国际交流是对外汉语教学的目的。对外汉语教学是有针对性的,对不同的学生采取相应的不同的教学方法,否则就达不到教学目的,鉴于此,结合日本汉语教学方面的问题作一些有益的探讨,以期进一步提高中对日汉语教学质量。 相似文献
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