CN115758831A - Protection effect prediction method for labor protection gloves - Google Patents
Protection effect prediction method for labor protection gloves Download PDFInfo
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Abstract
The invention provides a method for predicting the protection effect of labor protection gloves, which comprises the following steps: constructing a three-dimensional geometric model of hand bones and soft tissues according to a scanning picture obtained by CT scanning on a hand of a human body; establishing a glove fabric model and a handle model according to the three-dimensional entity model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, gloves and handle finite element model; carrying out mesh division on hand skeleton and soft tissue models in finite element simulation software; setting material properties and interaction contact properties of a hand model, glove fabric and a handle model in finite element modeling software; and driving the model in finite element modeling software to carry out dynamic grabbing simulation, and evaluating the protection capability of the protective glove by comparing and analyzing the pressure distribution condition of the surfaces of the front palm and the rear palm of the protective glove and the stress-strain distribution condition of the internal tissues and bones of the hand.
Description
Technical Field
The invention relates to the technical field of protection performance testing of protection gloves, in particular to a method for predicting the protection effect of labor protection gloves.
Background
With the increasing level of mechanization and automation of mines, many workers in the mining industry need to perform high risk manual tasks. Hand, finger and wrist injuries are common among miners. When the hand or the wrist repeatedly does certain movement, the local muscles repeatedly move and the static load easily causes skeletal muscle injury. When the joints are subjected to excessive stress and assume extreme joint postures, the probability of hand injury increases drastically. Ulnar deviation and radial deviation are most likely to cause discomfort or injury in the grasping handle position. As a common safety measure, a plurality of workers need to wear labor protection gloves, however, the labor protection gloves on the market at present only have information on fabrics, cannot provide information on protection effects on flexibility, grip strength, muscle activity and fatigue of hands during operation by wearing the gloves, cannot strengthen protection on certain easily damaged parts from the viewpoint of biomechanics, and accordingly, the safety of the hands of the workers cannot be effectively guaranteed.
With the development and wide application of computer numerical simulation technology, the finite element method has unique computing power for structures with different shapes, various performances and complex loads, and is suitable for various complex biomechanical analyses. By establishing the human body-fabric finite element model, the mechanical action relationship between the human body and the fabric under various external load states can be simulated, so that the protection effect of the protection protector can be predicted and improved information can be provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for predicting the protection effect of labor protection gloves, which can provide feasibility suggestions before the mass production of the protection gloves and provide effective references for the design and production of hand protection protectors by predicting and evaluating the protection effect of the labor protection gloves.
In order to solve the problems, the technical scheme of the invention is as follows:
a method for predicting the protection effect of labor protection gloves comprises the following steps:
constructing a three-dimensional geometric model of hand bones and soft tissues according to a scanning picture obtained by CT scanning of a hand of a human body;
establishing a glove fabric model and a handle model according to the three-dimensional entity model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, gloves and handle finite element model;
carrying out mesh division on hand skeleton and soft tissue models in finite element simulation software;
setting material properties and interaction contact properties of a hand model, glove fabric and a handle model in finite element modeling software;
and driving the model in finite element modeling software to carry out dynamic grabbing simulation, and evaluating the protection capability of the protective gloves by comparing and analyzing the pressure distribution condition of the surfaces of the palms before and after wearing the protective gloves and the stress-strain distribution cloud charts of the internal tissues and bones of the hands.
Preferably, the step of constructing a three-dimensional geometric model of hand bones and soft tissues according to a scan picture obtained by CT scanning of a human hand specifically includes:
CT scanning is carried out on the hand of a human body to obtain a sectional picture of the hand;
importing the obtained scanning data into three-dimensional modeling software, and establishing a hand three-dimensional geometric model;
processing the obtained three-dimensional geometric model to obtain a three-dimensional solid geometric model of the hand with a more regular surface;
and moving the three-dimensional solid model of the hand skeleton and soft tissue to a proper position to perform repositioning model according to the relative position of each skeleton tissue of the hand in the biological anatomy of the hand.
Preferably, the steps of establishing a glove fabric model and a handle model according to the three-dimensional solid model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, glove and handle finite element model specifically include:
importing the three-dimensional solid models of the hand bones and the soft tissues into Solidworks software, and establishing a glove fabric model and a handle model;
and assembling the hand skeleton, the soft tissue, the glove fabric and the handle model to obtain a complete hand skeleton, soft tissue, glove and handle finite element model.
Preferably, the step of meshing the hand bone and soft tissue model in the finite element simulation software specifically includes:
automatically dividing 2D grids on the surfaces of geometric models of hand bones and soft tissues in Hypermesh software, and checking and optimizing the quality of the grids;
dividing the 3D grids on the basis of the obtained 2D grids, further checking the quality of the grids after the 3D grids are generated, and modifying unqualified grids;
and deleting the 2D grids after the 3D grid quality reaches the standard, and exporting the 3D grid models one by one.
Preferably, the step of setting the material properties and the interaction contact properties of the hand model, the glove fabric and the handle model in the finite element modeling software specifically comprises:
setting the elastic modulus, the mass density and the Poisson ratio of hand bones, soft tissues and a handle in an attribute module of Abaqus software, and setting material parameters of the glove fabric according to data measured by an instrument;
assembling a hand skeleton model, a soft tissue model, a glove fabric model and a handle model in an Abaqus software assembly module to obtain a complete assembly body model;
setting the analysis step type as power in an analysis step module of the Abaqus software, and displaying analysis;
the connection relationship between adjacent components is set in the interaction module of the Abaqus software.
Preferably, the step of driving the model in the finite element modeling software to perform dynamic grabbing simulation, and evaluating the protective capability of the protective glove by comparing and analyzing the pressure distribution of the surfaces of the front and rear palms and the stress-strain distribution of the internal tissues and bones of the hand after wearing the protective glove specifically comprises:
obtaining dynamic parameters under a hand gripping action state by using an angle measuring instrument, and performing dynamic gripping simulation by using the obtained dynamic parameters as a boundary condition driving model in a load module of Abaqus software;
and establishing and submitting operation in an operation module of the Abaqus software, and obtaining a displacement cloud picture and a stress distribution cloud picture of surface pressure, internal bones and tissues of a palm before and after the hand wears the protective glove in a state of dynamically grasping a handle in a visualization module, so as to predict and evaluate the protective effect of the labor protective glove.
Preferably, the step of obtaining the kinetic parameters in the state of the hand grasping action by using the angle measuring instrument, and in a load module of the Abaqus software, performing dynamic grasping simulation by using the obtained kinetic parameters as a boundary condition driving model specifically includes: the method comprises the steps of measuring angles of 14 joints when fingers hold a handle at the best holding position by using an angle measuring instrument, obtaining dynamic parameters of joint force and joint moment under the hand gripping action state, taking the obtained dynamic parameters as boundary conditions in a load module of Abaqus software, and taking a connection displacement form as a load driving model to carry out dynamic gripping simulation.
Compared with the prior art, the invention provides a method for predicting the protection effect of a labor protection glove, which is used for realizing the real-time calculation of the palm surface pressure, the internal skeleton and tissue and the equivalent stress generated between the glove and the hand in the handle grasping state based on a model and multi-mode hand motion information; the hand motion protection evaluation of multi-mode information is realized by adopting a finite element biomechanics modeling technology, a sensing technology and a man-machine interaction technology, and the protection effect of different types of labor protection gloves can be predicted by modifying parameters such as material properties, thickness and the like of the labor protection gloves; the stress distribution condition of the palm surface and the internal skeleton tissue can be visually observed from the visual stress-strain distribution cloud picture when the gloves are worn to grip the handle, feasibility suggestions can be provided before the protective gloves are produced in large batch, and effective references are provided for the design and production of hand protection protectors.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of a method for predicting the protection effect of a labor protection glove according to an embodiment of the present invention;
FIG. 2 is a three-dimensional geometric model of the soft tissues and bones of the hand after meshing according to an embodiment of the present invention;
fig. 3 is a diagram of a complete model for complete glove and hand donning in Abaqus finite element software according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will help those skilled in the art to further understand the present invention, and will make the technical solutions of the present invention and their advantages obvious.
Specifically, as shown in fig. 1 to 3, the present invention provides a method for predicting the protective effect of a labor protection glove, the method comprising the steps of:
s1: constructing a three-dimensional geometric model of hand bones and soft tissues according to a scanning picture obtained by CT scanning of a hand of a human body;
specifically, the step S1 includes the steps of:
step 11: CT scanning is carried out on the hand of a human body to obtain a sectional picture of the hand;
and selecting a healthy male volunteer to carry out CT scanning on the right hand to obtain a tomogram of the hand, wherein the scanning parameter thickness is set to be 0.625mm, the scanning mode is spiral scanning, and the scanning range is from the near end of the forearm to the finger part.
Step 12: importing the obtained scanning data into three-dimensional modeling software, and establishing a hand three-dimensional geometric model;
storing the scanning data in a DICOM format, importing the scanning data into Mimics software, extracting three-dimensional contours of hand bones and surrounding soft tissues through tools such as threshold segmentation and manual drawing, establishing a three-dimensional model of each part of the hand, and exporting the three-dimensional model in an STL format.
Step 13: processing the obtained three-dimensional geometric model to obtain a three-dimensional solid geometric model of the hand with a more regular surface;
and importing the established three-dimensional model into Geomagic software in an STL format file, after the grid is re-divided, performing relaxation, denoising, nail removal and sand paper smoothing on the model by using a polygon command, and then obtaining the three-dimensional solid geometric model of the hand with a more regular surface by using an accurate surface command.
Step 14: and moving the three-dimensional solid model of the hand bones and the soft tissues to a proper position to perform the repositioning model by combining the relative positions of the bones and tissues of the hand in the biological anatomy of the hand.
And moving the three-dimensional solid model of the hand bones and soft tissues to a proper position by combining the relative positions of the bones and tissues of the hand in the biological anatomy of the hand, repositioning the model, and finally deriving the model in a STEP format.
S2: establishing a glove fabric model and a handle model according to the three-dimensional entity model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, gloves and handle finite element model;
specifically, the step S2 includes the steps of:
step 21: importing the three-dimensional entity model of the hand skeleton and the soft tissue into Solidworks software, and establishing a glove fabric model and a handle model;
specifically, each skeleton model and soft tissue model in the STEP format are guided into Solidworks software to be stored into a PRT format, equidistant surface is taken from the skin surface layer of a hand part through an equidistant surface tool in a surface command, the equidistant parameter is set to be 0.74mm, a glove fabric model is established, and a cylindrical handle model is established through a stretching boss tool.
Step 22: and assembling the hand skeleton, the soft tissue, the glove fabric and the handle model to obtain a complete hand skeleton, soft tissue, glove and handle finite element model.
Specifically, boolean operation is carried out on hand bones and soft tissue models to obtain hollow soft tissue models, all bone models and soft tissue models in a PRT format are introduced into an assembly body through an insertion part tool, the assembly is carried out through a matching tool to obtain a complete hand bones, soft tissues, gloves and handle finite element model, error surfaces or interference between bones and between soft tissues and bones is checked and removed through an interference inspection tool, and finally the hand bones and the soft tissue models are exported in an X-t format.
S3: carrying out mesh division on hand skeleton and soft tissue models in finite element simulation software;
specifically, the step S3 includes the steps of:
step 31: automatically dividing 2D grids on the surfaces of geometric models of hand bones and soft tissues in Hypermesh software, and checking and optimizing the quality of the grids;
introducing a bone model and a soft tissue model in an X-t format into Hypermesh software to divide grids, selecting a triangle for grid unit type, setting the grid size of the bone to be 2mm, automatically dividing 2D grids after setting the grid size of the soft tissue to be 1mm, performing quality inspection in a quality index tool, and optimizing the grids for unqualified grids through a unit optimization tool, a smoothing tool, a unit editing tool and the like.
Step 32: dividing the 3D grids on the basis of the obtained 2D grids, further checking the quality of the grids after the 3D grids are generated, and modifying unqualified grids;
after the quality of the 2D meshes reaches the standard, the 2D surface meshes generate 3D meshes inwards, the mesh types select tetrahedral meshes, the mesh division method is set to flow type division, and after the 3D meshes are generated, the quality inspection of collapse ratio and volume skewness is further carried out, wherein the parameter of the tetrahedral collapse ratio is set to 0.1, the parameter of the volume skewness is set to 0.7, and unqualified meshes are modified by dividing the meshes again.
Step 33: and deleting the 2D grids after the 3D grid quality reaches the standard, and exporting the 3D grid models one by one.
And deleting the 2D grids after the quality of the 3D grids reaches the standard, hiding the geometric model, and exporting the 3D grids one by one in an inp format.
S4: setting material properties and interaction contact properties of a hand model, glove fabric and a handle model in finite element modeling software;
specifically, the step S4 includes the steps of:
step 41: setting the elastic modulus, the mass density and the Poisson ratio of hand bones, soft tissues and handles in an attribute module of the Abaqus software, and setting material parameters of the glove fabric according to data measured by an instrument;
specifically, in the Abaqus software component module, hand bones and soft tissues are imported in inp format and glove fabric and handle models are imported in X _ t format. Setting hand bones, soft tissues and a handle as homogeneous entities, setting glove fabrics as homogeneous shells with thickness, and setting the shells in a deviation manner as a middle surface; the Young modulus, poisson's ratio and mass density of hand bones are 17600MPa, 0.3 and 2.3E-09tonne/mm respectively 3 The Young modulus, poisson's ratio and mass density of soft tissue are respectively 0.18MPa, 0.3 and 1.06E-09tonne/mm 3 The Young modulus, poisson's ratio and mass density of the handle are 210000MPa, 0.3 and 7.85g/cm respectively 3 The Poisson ratio of the glove fabric is 0.2, and the parameters of the Young modulus, the mass density and the thickness measured by a thickness meter, an electronic balance, a DMA thermal state mechanical analyzer and the like are respectively set as 1129.36MPa and 2.3E-09tonne/mm 3 And 1.12mm.
Step 42: assembling a hand skeleton model, a soft tissue model, a glove fabric model and a handle model in an Abaqus software assembly module to obtain a complete assembly body model;
specifically, in an assembly module of Abaqus software, a hand skeleton model, a soft tissue model, a glove fabric model and a handle model are assembled to obtain a complete hand-glove fabric-handle assembly model; and (3) dividing the glove fabric and the handle model into grids in the grid module, wherein the overall size of the glove is set to be 0.74mm, the grid unit type is an S4R four-node curved thin shell, the overall size of the handle is set to be 1.1mm, and the grid unit type is a C3D8R eight-node linear hexahedral unit.
Step 43: setting the analysis step type as power in an analysis step module of the Abaqus software, and displaying analysis;
the analysis step type is set as power in the analysis step module, analysis is displayed, the time length is set as 1s, the increment is a default value, and the mass scaling is set to scale to 1E-05 times of the target time increment step.
Step 44: the connection relationship between adjacent components is set in the interaction module of the Abaqus software.
Specifically, setting the connection relationship between adjacent components in the interaction module of the Abaqus software constrains the bone to a rigid body because the stiffness of the bones of the fingers is much greater than the tissue. In order to enable the external muscles of the fingers to rotate along with the bones of the fingers to realize the grasping of the hand, the bones and the soft tissues of the fingers are set to be bound and restrained, the operation interruption caused by the contact deformation of the fingers in the buckling process is prevented, the universal contact is added on the basis of the bound restraint, the tangential behavior mechanics is set to be a 'penalty' contact method, no friction is generated, and the pressure interference of the normal behavior is set to be hard contact. The contact pattern between the soft tissue and the glove fabric was set as a face-to-face contact, the outer surface of the soft tissue was defined as the major face, the inner surface of the glove fabric was defined as the minor face, the tangential behaviour mechanics was set as the "penalty" contact method, the friction coefficient was set to 0.2, and the pressure interference of the normal behaviour was set as a hard contact. Since only the inner surface of the hand is in contact with the handle when the handle is grasped by the hand, the inner surface of the hand and the outer surface of the handle are placed in surface-to-surface contact when the contact relationship is set.
Constructing a separate local coordinate system at each finger joint, establishing two reference points for connecting the bones at each joint position, creating a connection between the reference points and endowing the connection attribute of the hinge, so that the finger bones can perform bending rotation around an X-axis.
S5: and driving a model in finite element modeling software to carry out dynamic grabbing simulation, and evaluating the protection capability of the protective gloves by comparing and analyzing the pressure distribution condition of the surfaces of the front and back palms and the stress-strain distribution cloud charts of the internal tissues and bones of the hands.
Specifically, the step S5 includes the steps of:
step 51: obtaining dynamic parameters under a hand gripping action state by using an angle measuring instrument, and performing dynamic gripping simulation by using the obtained dynamic parameters as a boundary condition driving model in a load module of Abaqus software;
in the load module of the Abaqus software, the load and boundary conditions are set for the model, and the displacement of the palm fault is very small in the process of finishing the gripping action, so that the displacement can be ignored, and 5 palm faults are completely fixed as the boundary conditions. Measuring the angles of 14 joints when fingers hold the handle at the optimal holding position by using an angle measuring instrument to obtain dynamic parameters such as joint force, joint moment and the like under the hand gripping action state, and in a load module of Abaqus software, taking the obtained dynamic parameters as boundary conditions and taking a connection displacement form as a load driving model to carry out dynamic gripping simulation;
step 52: and establishing and submitting operation in an operation module of the Abaqus software, and obtaining a displacement cloud picture and a stress distribution cloud picture of surface pressure, internal bones and tissues of a palm before and after the hand wears the protective glove in a state of dynamically grasping a handle in a visualization module, so as to predict and evaluate the protective effect of the labor protective glove.
Specifically, according to the obtained displacement cloud pictures and stress distribution cloud pictures of the palm surface pressure, the internal skeleton and the tissues before and after the hand wears the protective glove in the state of dynamically grasping the handle, the stress distribution conditions of the palm surface and the internal skeleton tissues can be observed visually, the protection effect of the labor protective glove is predicted and evaluated, feasibility suggestions can be provided before the labor protective glove is produced in large batches, and effective references can be provided for the design and production of the hand protective protector.
In conclusion, the invention provides a method for predicting the protection effect of a labor protection glove, which is used for realizing the real-time calculation of the palm surface pressure, the internal skeleton and tissue and the equivalent stress generated between the glove when the hand grips the handle on the basis of a model and multi-mode hand motion information; the hand motion protection evaluation of multi-mode information is realized by adopting a finite element biomechanics modeling technology, a sensing technology and a man-machine interaction technology, and the protection effect of different types of labor protection gloves can be predicted by modifying parameters such as material properties, thickness and the like of the labor protection gloves; the stress distribution conditions of the palm surface and the internal bone tissues can be observed from the visual stress-strain distribution cloud picture when the gloves are worn to grip the handle, feasibility suggestions can be provided before the protective gloves are produced in large scale, and effective references are provided for the design and production of hand protection protectors.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A method for predicting the protective effect of labor protection gloves, the method comprising the steps of:
constructing a three-dimensional geometric model of hand bones and soft tissues according to a scanning picture obtained by CT scanning on a hand of a human body;
establishing a glove fabric model and a handle model according to the three-dimensional entity model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, gloves and handle finite element model;
carrying out mesh division on hand skeleton and soft tissue models in finite element simulation software;
setting material properties and interaction contact properties of a hand model, glove fabric and a handle model in finite element modeling software;
and driving the model in finite element modeling software to carry out dynamic grabbing simulation, and evaluating the protection capability of the protective glove by comparing and analyzing the pressure distribution condition of the surfaces of the front palm and the rear palm of the protective glove and the stress-strain distribution condition of the internal tissues and bones of the hand.
2. The method for predicting the protective effect of labor protection gloves according to claim 1, wherein the step of constructing a three-dimensional geometric model of hand bones and soft tissues from the scanned image obtained by CT scanning of the hand of the human body specifically comprises:
CT scanning is carried out on a hand of a human body to obtain a hand tomogram;
importing the obtained scanning data into three-dimensional modeling software, and establishing a three-dimensional geometric model of the hand;
processing the obtained three-dimensional geometric model to obtain a three-dimensional solid geometric model of the hand with a more regular surface;
and moving the three-dimensional solid model of the hand bones and the soft tissues to a proper position to perform the repositioning model by combining the relative positions of the bones and tissues of the hand in the biological anatomy of the hand.
3. The method for predicting the protective effect of a labor protection glove according to claim 1, wherein the step of establishing a glove fabric model and a handle model according to the three-dimensional solid model of the hand bones and the soft tissues, and assembling the hand bones, the soft tissues, the glove fabric and the handle model to obtain a complete hand bones, soft tissues, the glove and the handle finite element model specifically comprises the following steps:
importing the three-dimensional solid models of the hand bones and the soft tissues into Solidworks software, and establishing a glove fabric model and a handle model;
and assembling the hand skeleton, the soft tissue, the glove fabric and the handle model to obtain a complete hand skeleton, soft tissue, glove and handle finite element model.
4. The method for predicting the protection effect of labor protection gloves according to claim 1, wherein the step of meshing the hand bone and soft tissue models in finite element simulation software specifically comprises:
automatically dividing 2D grids on the surfaces of geometric models of hand bones and soft tissues in Hypermesh software, and checking and optimizing the quality of the grids;
dividing the 3D grids on the basis of the obtained 2D grids, further checking the quality of the grids after the 3D grids are generated, and modifying unqualified grids;
and deleting the 2D grids after the quality of the 3D grids reaches the standard, and exporting the 3D grid models one by one.
5. The method for predicting the protective effect of labor protection gloves according to claim 1, wherein the step of setting the material properties and the interaction contact properties of the hand model, glove fabric and handle model in the finite element modeling software specifically comprises:
setting the elastic modulus, the mass density and the Poisson ratio of hand bones, soft tissues and a handle in an attribute module of Abaqus software, and setting material parameters of the glove fabric according to data measured by an instrument;
assembling a hand skeleton model, a soft tissue model, a glove fabric model and a handle model in an Abaqus software assembly module to obtain a complete assembly body model;
setting the analysis step type as power in an analysis step module of the Abaqus software, and displaying analysis;
the connection relationship between adjacent components is set in the interaction module of the Abaqus software.
6. The method for predicting the protective effect of labor protection gloves according to claim 1, wherein the step of driving the model in the finite element modeling software to perform dynamic grabbing simulation, and evaluating the protective ability of the protective gloves by comparing and analyzing the pressure distribution of the palm surfaces before and after wearing the protective gloves and the stress-strain distribution of the internal tissues and bones of the hands specifically comprises:
obtaining dynamic parameters under a hand gripping action state by using an angle measuring instrument, and performing dynamic gripping simulation by using the obtained dynamic parameters as a boundary condition driving model in a load module of Abaqus software;
and establishing and submitting operation in an operation module of the Abaqus software, and obtaining a displacement cloud picture and a stress distribution cloud picture of surface pressure, internal bones and tissues of a palm before and after the hand wears the protective glove in a state of dynamically grasping a handle in a visualization module, so as to predict and evaluate the protective effect of the labor protective glove.
7. The method for predicting the protective effect of labor protection gloves according to claim 6, wherein the step of obtaining the dynamic parameters in the hand gripping action state by using the angle measuring instrument, and performing dynamic gripping simulation in the load module of the Abaqus software by using the obtained dynamic parameters as the boundary condition driving model specifically comprises: the method comprises the steps of measuring angles of 14 joints when fingers hold a handle at the best holding position by using an angle measuring instrument, obtaining dynamic parameters of joint force and joint moment under the hand gripping action state, taking the obtained dynamic parameters as boundary conditions in a load module of Abaqus software, and taking a connection displacement form as a load driving model to carry out dynamic gripping simulation.
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| CN116934760A (en) * | 2023-09-18 | 2023-10-24 | 张家港大裕橡胶制品有限公司 | Monitoring and alarming method and system for protecting rubber glove |
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| CN116934760A (en) * | 2023-09-18 | 2023-10-24 | 张家港大裕橡胶制品有限公司 | Monitoring and alarming method and system for protecting rubber glove |
| CN116934760B (en) * | 2023-09-18 | 2023-11-17 | 张家港大裕橡胶制品有限公司 | Monitoring and alarming method and system for protecting rubber glove |
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