Cable-driven parallel robots(CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several adv...Cable-driven parallel robots(CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980 s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in different areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfigurable design.展开更多
When treated with an alkoxide base like t-BuOK in aprotic solvent,N-di phenyl methyl imino oxindoles,made conveniently through condensation of corresponding isatins with N-di phenyl methyl amine,are deprotonated to fo...When treated with an alkoxide base like t-BuOK in aprotic solvent,N-di phenyl methyl imino oxindoles,made conveniently through condensation of corresponding isatins with N-di phenyl methyl amine,are deprotonated to form azaallyl anions.Allylation and alkylation of this type of intermediates proceed smoothly with diverse C-electrophiles.Acidic work up finishes 3-amino-3-allyl/alkyl oxindoles.The overall transformation equals to an umpolung process at the C3 of isatins.展开更多
A ruthenium based catalytic system([Ru(p-cymene)Cl2]2/XantPhos with substoichiometric Cs2CO3)has been established to effectively achieve the first direct amination cyclization of 1,2,4-butanetriol with primary aromati...A ruthenium based catalytic system([Ru(p-cymene)Cl2]2/XantPhos with substoichiometric Cs2CO3)has been established to effectively achieve the first direct amination cyclization of 1,2,4-butanetriol with primary aromatic amines.The product of this sustainable hydrogen autotransfer process is valuable Naryl-3-pyrrolidinol.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51605126,51575150,91748109)
文摘Cable-driven parallel robots(CDPRs) are categorized as a type of parallel manipulators. In CDPRs, flexible cables are used to take the place of rigid links. The particular property of cables provides CDPRs several advantages, including larger workspaces, higher payload-to-weight ratio and lower manufacturing costs rather than rigid-link robots. In this paper, the history of the development of CDPRs is introduced and several successful latest application cases of CDPRs are presented. The theory development of CDPRs is introduced focusing on design, performance analysis and control theory. Research on CDPRs gains wide attention and is highly motivated by the modern engineering demand for large load capacity and workspace. A number of exciting advances in CDPRs are summarized in this paper since it is proposed in the 1980 s, which points to a fruitful future both in theory and application. In order to meet the increasing requirements of robot in different areas, future steps foresee more in-depth research and extension applications of CDPRs including intelligent control, composite materials, integrated and reconfigurable design.
基金the National Natural Science Foundation of China(No.21672027)for financial supportsupported by High-Level Entrepreneurial Talent Team of Jiangsu Province(No.2017-37)。
文摘When treated with an alkoxide base like t-BuOK in aprotic solvent,N-di phenyl methyl imino oxindoles,made conveniently through condensation of corresponding isatins with N-di phenyl methyl amine,are deprotonated to form azaallyl anions.Allylation and alkylation of this type of intermediates proceed smoothly with diverse C-electrophiles.Acidic work up finishes 3-amino-3-allyl/alkyl oxindoles.The overall transformation equals to an umpolung process at the C3 of isatins.
基金the National Natural Science Foundation of China (No. 21672027)QingLan Project of Jiangsu Province (2016)+1 种基金SixTalent-Peaks Program of Jiangsu (2016) for financial supportsupported by High-Level Entrepreneurial Talent Team of Jiangsu Province (No.2017-37)
文摘A ruthenium based catalytic system([Ru(p-cymene)Cl2]2/XantPhos with substoichiometric Cs2CO3)has been established to effectively achieve the first direct amination cyclization of 1,2,4-butanetriol with primary aromatic amines.The product of this sustainable hydrogen autotransfer process is valuable Naryl-3-pyrrolidinol.
