Structural Synthesis of a Class of 2R2T Hybrid Mechanisms

Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially for the four degrees of freedom（DOF） hybrid mechanisms.In order to develop a manipulator with additional constraints,a class of important spatial mechanisms with coupling chains（CCs） whose motion type is two rotations and two translations（2R2T） is presented.Based on screw theory,the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed.The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method.Moreover,the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains（SKCs） of the corresponding parallel mechanisms are presented.According to the constraint analysis of the mechanisms,the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains.At last,fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented.The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms.

Reaction Mechanism,Synthesis and Characterization of Urea-glyoxal(UG) Resin

The reaction mechanism of glyoxal （G） with urea （U） under weak acid condition was theoretically investigated at PW91/DNP/COSMO of quantum chemistry using density functional theory （DFT） method. The results show that the addition reaction of G with U under the conditions mainly involves the reactions of U with protonated glyoxal （p-G）, protonated 2,2-dihy- droxyacetaldehyde （p-G 1） and protonated bis-hemdiol （p-G2） to form two important carbocation reactive intermediates of C-p-UG and C-p-UG1, and two important hydroxyl compounds of UG and UG1. These compounds play important roles in the formation of UG resin. According to the result of quantum chemical calculation, UG resin was synthesized successfully under weak acid conditions. The UG resin was characterized by matrix assisted laser desorption ionization time of flight mass spectrometry （MALDI-TOF-MS）, ultraviolet and visible spectroscopy （UV-vis）, Fourier transform infrared spectroscopy （FT1R） and nuclear magnetic resonance spectroscopy （13CNMR and 1HNMR）. These instrumental analytical results agree with each other and further confirm the addition reaction pathway of glyoxal with urea proposed by quantum chemical calculation.

Type Synthesis for 4-DOF Parallel Press Mechanism Using G_F Set Theory

Parallel mechanisms is used in the large capacity servo press to avoid the over-constraint of the traditional redundant actuation. Currently, the researches mainly focus on the performance analysis for some specific parallel press mechanisms. However, the type synthesis and evaluation of parallel press mechanisms is seldom studied, especially for the four degrees of freedom（DOF） press mechanisms. The type synthesis of 4-DOF parallel press mechanisms is carried out based on the generalized function（GF） set theory. Five design criteria of 4-DOF parallel press mechanisms are firstly proposed. The general procedure of type synthesis of parallel press mechanisms is obtained, which includes number synthesis, symmetrical synthesis of constraint GF sets, decomposition of motion GF sets and design of limbs. Nine combinations of constraint GF sets of 4-DOF parallel press mechanisms, ten combinations of GF sets of active limbs, and eleven combinations of GF sets of passive limbs are synthesized. Thirty-eight kinds of press mechanisms are presented and then different structures of kinematic limbs are designed. Finally, the geometrical constraint complexity（GCC）, kinematic pair complexity（KPC）, and type complexity（TC） are proposed to evaluate the press types and the optimal press type is achieved. The general methodologies of type synthesis and evaluation for parallel press mechanism are suggested.

Dissolution-precipitation mechanism of self-propagating high-temperature synthesis of TiC-Cu cermets

The mechanism of self-propagating high-temperature synthesis （SHS） of TiC-Cu cermets was studied using a combustion front quenching method. Microstructural evolution in the quenched sample was observed using scanning electron microscope （SEM） with energy dispersive X-ray （EDX） spectrometry, and the combustion temperature was measured. The results showed that the combustion reaction started with local formation of Ti-Cu melt and could be described with the dissolution-precipitation mechanism, namely, Ti, Cu, and C particles dissolved into the Ti-Cu solution and TiC particles precipitated in the saturated Ti-Cu-C liquid solution. The local formation of Ti-Cu melt resulted from the solid diffusion between Ti and Cu particles.

Titanium Aluminides: Science, Technology, Applications and Synthesis by Mechanical Alloying

The production. characteristics. and commercialization of monolithic and composite titanium aluminides are summanzed with emphasis on use in the demanding aerospace industry. The attractive elevated temperature properties combined with alow density make these materials of great interest, but inherently low 'forgiveness', and environmental concerns, must be overcome before widespread use will occur One synthesis method for the production of monolithic titanium aluminides-mechanical alloying- will be discussed in detail

Synthesis of condensed polynuclear aromatic resin from furfural extract oil of reduced-pressure route Ⅱ

As an industrial byproduct of oil refining,furfural extract oil from reduced-pressure route Ⅱ with high aromatic content was used to prepare heat-resistant condensed polynuclear aromatic（COPNA） resin for the first time.The basic properties of furfural extract oil and the resultant COPNA resin were characterized by infrared spectroscopy（FT-IR）,nuclear magnetic resonance spectroscopy（1H-NMR）,thermogravimetric analysis（TGA） and elemental analysis（EA）.The result showed that heat treated furfural extract oil was successfully used for the synthesis of heat-resistant COPNA resin.The average structural parameters of raw materials and prepared resin were calculated by the improved Brown-Ladner method,and the averaged molecular structure of the resin was obtained.The reaction mechanism for the synthesis of COPNA resin was suggested as an acid-catalyzed positive ion type polymerization.

Compliant Mechanism Synthesis by Using Elastic Similitude

Compliant mechanisms have several advantages, especially smaller number of elements and therefore less movable joints. The flexural members furthermore allow an integration of special functions like balancing or locking. Especially fiber reinforced materials exhibit a wide range of function integration considering their compliance in passive as well active applications. To take advantage of compliant elements in applications a robust synthesis tool is needed. The synthesis based on topology optimization method or the pseudo rigid body approach leads to complex structures. Considering the use of fiber reinforced material a synthesis approach which leads to less complex structures is more suitable. For building up simple structures, with only one cantilever beam as compliant element（B） a graphical approach using the elastic similitude is the most efficient method. A step-by-step synthesis procedure is presented to synthesize compliant mechanisms with rotatory joints（R） and prismatic joints（P） to develop RRB/PRB- and RPB-linkages. Using the elastic similitude to implement these results into a graphical synthesis algorithm is the innovation part of this paper. It can be shown that this approach leads to a comfortable handling of beam elements during the synthesis, where the two free parameters can be directly coupled to scale and fix the orientation of the beam element. This advantage inherently shortens the development process. In giving an example the focus lies of the experimental approach, which also shows that the simple BERNOULLI beam model is valid and so the synthesis by using the elastic similitude. The method is presented and discussed by using an application for a cup holder mechanism made of fiber reinforced material.

An Iteration Method Based on Homotopy Function for Solving Polynomial Systems and Application to Mechanisms Problems

A new iterating method based on homotopy function is developed in this paper. All solutions can be found easily without the need of choosing proper initial values. Compared to the homotopy continuation method, the solution process of the present method is simplified, and the computation efficiency as well as the reliability for obtaining all solutions is also improved. By application of the method to the mechanisms problems, the results are satisfactory.

Theory of Degrees of Freedom for Parallel Mechanisms with Three Spherical Joints and Its Applications

The analysis of degrees of freedom（DOF） of a moving platform is the fundamental problem in kinematics of parallel mechanism. However, many problems should be considered to correctly perform the DOF calculation by using the traditional DOF criterion, and it is difficult to find a DOF criterion suitable for all kinds of mechanisms. A rule that can be used to determine the position and orientation of the moving platform is presented. Based on the proposed rule, a new form of DOF criterion is proposed, which is suitable for a class of parallel mechanisms with three spherical joints attached to the moving platform. The basic types of generalized limb structures are given based on the possible dimension of achieving the center of spherical joint attached to the moving platform, and the general steps of analyzing the DOF are presented. This proposed formula simplifies the DOF analysis of parallel mechanisms with spherical joints attached to the moving platform, and plays an important role in structural synthesis of such parallel mechanisms.

Diffusion Mechanism of Energy Flow in Multi-heat-source Synthesis of SiC

Through the experiments and the numerical simulation of temperature field in multi-heatsource synthesis Si C furnace, in order to research the feature point in multi-heat-source synthesis furnace, the variation law of heat fl ux was studied and the multi-directional energy fl ow diffusion mechanism was revealed. The results show that, due to the shielding action between the heat-source and the superposition effect of thermal fields, the insulating effect is best in multi-heat-source synthesis furnace. The heat emission effect is good outside the common area between heat-sources, but the heat storage is poor. Compared with the synthesis furnace that heat source is parallelly arranged, the furnace of stereoscopic arrangement has a more obvious heat stacking effect and better heat preservation effect, but the air permeability of heat source connecting regions is worse. In the case with the same ingredients, the resistance to thermal diffusion and mass diffusion is higher in heat source connecting regions.

Cl^- induced synthesis of submicron cubic copper particles in solution

Submicron copper microcrystal was synthesized by reducing Cu2O with hydrazine hydrate as reducer in aqueous solution,and was characterized by X-ray diffraction （XRD） and scanning electron microscopy （SEM）. The shapes of copper microcrystal depend on additives. Cubic copper particles were observed when the inorganic salt containing Cl^-,such as NH4Cl,NaCl,or KCl,was added into the reaction system. By combined use of NH4Cl and polyvinylpyrrolidone （PVP）,the proportion of cubic copper particle number exceeded 90%,and the particle size is 0.1-0.5μrn. While other inorganic salt without Cl^-,such as Na2SO4 or （NH4）2SO4,had little effect on the shapes of the copper particles. The growth mechanism of metallic copper crystal in aqueous solution was analyzed. It is suggested that the formation of cubic copper crystals is ascribed to the selective adsorption of Cl^-on copper crystal （100） faces.

STUDY ON AB-CROSSLINKED POLYMERS Ⅰ. THE SYNTHESIS AND MECHANICAL PROPERTIES OF AB-CROSSLINKED POLYMERS BASED. ON PU/PS

The AB-crosslinked polymers (i.e. ABCP) with polystyrene as chain A and vinyl group blocked prepolymers of polyurethanes (PU) as chain B were synthesized and studied. The results of dynamic mechanical spectrometry (DMS) show that the compatibility between the components A and B can be improved greatly through chemical crosslinking during the formation of ABCPs. This effect is especially pronounced when short chain prepolymers is chosen as one of the components. It is apparent that the degree of crosslinking between the two components plays a major role in determining their compatibility. Copolymerizafion of styrene with maleic anhydride in chain A can improve the compatibility and broaden the damping temperature range. Mechanical properties of the sythesized ABCPs were also studied.

SYNTHESIS OF ROBOTIC MECHANISM FOR MICROSURGICAL CORNEAL GRAFTING

In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgical component motion in manual comeal grafting microsurgery, as the reference of robotic mechanism synthesis. On the basis of study on the kinematic correlation between the arm structures and the wrist structures, configuration of joint is determined for the surgical task and motion in type synthesis of the mechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanism dexterity as a manipulation capability. The condition number based on Jacob matrix is chosen as dexterity measure of the mechanism. The prototype is developed.

Synthesis mechanism of heterovalent Sn_2O_3 nanosheets in oxidation annealing process

Heterovalent Sn2O3 nanosheets were fabricated via an oxidation annealing process and the formation mechanism was investigated. The temperature required to complete the phase transformation from Sn3O4 to Sn2O3was considered.Two contrasting experiments showed that both oxygen and heating were not necessary conditions for the phase transition.Sn2O3 was formed under an argon protective atmosphere by annealing and could also be obtained at room temperature by exposing Sn3O4 in atmosphere or dispersing in ethanol. The synthesis mechanism was proposed and discussed. This fundamental research is important for the technological applications of intermediate tin oxide materials.

Nonlinear Doping, Chemical Passivation and Photoluminescence Mechanism in Water-Soluble Silicon Quantum Dots by Mechanochemical Synthesis

A series of boron- and phosphorus-doped silicon wafers are used to prepare a series of doped silicon nanocrystals （nc-Si） by high-energy ball milling with carboxylic acid-terminated surface. The sizes of the nc-Si samples are demonstrated to be 〈 S nm. The doping levels of the nc-Si are found to be nonlinearly dependent on the original doping level of the wafers by x-ray photoelectron spectroscopy measurement. It is found that the nonlinear doping process will lead to the nonlinear chemical passivation and photoluminescence （I3L） intensity evolution. The doping, chemical passivation and PL mechanisms of the doped nc-Si samples prepared by mechanochemical synthesis are analyzed in detail.

Quantum Chemical Studies on the Mechanism of Producing Oxygenates in Fischer-Tropsch Synthesis on M/SiO2(M = Ni,Ru,Rh,Pd)

EHMO calculations and orbital analyses of fragment;;have been performed for the formation of oxygenates in Fischer-Tropsch synthesis on the butterfly model for four different metal (Ni,Ru,Rh,Pd) catalysts supported on SiO2.Calculations were made for the four processes,i.e.,CO-dissociation;Coupling of CO and H to produce CHO;Insertion of CO to M-CH3;insertion of CH2 to M-CH3 On the basis of comparing the degree of CO bonds activation and the energy barriers of the foregoing processes for these four catalysts,it is concluded that Ni/SiO2 can be used as the methanation catalyst.On Ru/SiO2 and Rh/SiO2 C2-oxygenated compound can be produced (acetaldehyde),especially Rh/SiO2 is the even better catalyst,and Pd/SiO2 is a methanol synthesis catalyst.

Novel Design Solutions for Fishing Reel Mechanisms

Currently, there are various reels on the market regarding the type of mechanism, which achieves the winding and unwinding of the line. The designers have the purpose of obtaining a linear transmission function, by means of a simple and small-sized mechanism. However, the present solutions are not satisfactory because of large deviations from linearity of the transmission function and complexity of mechanical schema. A novel solution for the reel spool mechanism is proposed. Its kinematic schema and synthesis method are described. The kinematic schema of the chosen mechanism is based on a noncircular gear in series with a scotch-yoke mechanism. The yoke is driven by a stud fixed on the driving noncircular gear. The drawbacks of other models regarding the effects occurring at the ends of the spool are eliminated through achieving an appropriate transmission function of the spool. The linear function approximation with curved end-arches appropriately computed to ensure mathematical continuity is very good. The experimental results on the mechanism model validate the theoretical approach. The developed mechanism solution is recorded under a reel spool mechanism patent.

Design of Vegetable Pot Seedling Pick‑up Mechanism with Planetary Gear Train

It has been challenging to design seedling pick-up mechanism based on given key points and trajectories,because it involves dimensional synthesis and rod length optimization.In this paper,the dimensional synthesis of seedling pickup mechanism with planetary gear train was studied based on the data of given key points and the trajectory of the endpoint of seedling pick-up mechanism.Given the positions and orientations requirements of the five key points,the study first conducted a dimensional synthesis of the linkage size and center of rotation.The next steps were to select a reasonable solution and optimize the data values based on the ideal seedling trajectory.The link motion was driven by the planetary gear train of the two-stage gear.Four pitch curves of noncircular gears were obtained by calculating and distributing the transmission ratio according to the data.For the pitch curve with two convex points,the tooth profile design method of incomplete noncircular gear was applied.The seedling pick-up mechanism was tested by a virtual prototype and a physical prototype designed with the obtained parameter values.The results were consistent with the theoretical design requirements,confirming that the mechanism meets the expected requirements for picking seedlings up.This paper presents a new design method of vegetable pot seedling pick-up mechanism for an automatic vegetable transplanter.

Study on reaction mechanism of low temperature preparation of nanocrystalline LaCoO_(3-λ)

Perovskite-type oxide nanocrystalline LaCoO3-λ was prepared using the citrate method. The structure and morphology of the sampies were characterized by powder X-ray diffraction （XRD） and transmission electron microscopy （TEM）. The intermediate products were analyzed by thermal gravimetric and differential thermal analysis （TG-DTA） technology. The results showed that nanocrystalline LaCoO3-λ with a granula of 30-50 nm had a cubic perovskite structure. The reaction mechanism of low temperature preparation was suggested as follows： the metal complex was first formed by the combination of metal ion and citric acid; and then it decomposed into an aconitic acid complex, followed by an oxycarbonate, and finally a perovskite-type oxide.

Study of the synthesis,antiviral bioactivity and interaction mechanisms of novel chalcone derivatives that contain the 1,1-dichloropropene moiety

A series of novel chalcone derivatives that contain the 1,1-dichloropropene moiety was designed and synthesized. Bioactivity assays showed that most of the target compounds exhibited moderate to good antiviral activity against tobacco mosaic virus（TMV） at 500 mg/m L. Among the target compounds,compound 7h showed the highest in vivo inactivation activity against TMV with the EC50 and EC90value of 45.6 and 327.5 mg/m L, respectively, which was similar to that of Ningnanmycin（46.9 and 329.4 mg/m L）and superior to that of Ribavirin（145.1 and 793.1 mg/m L）. Meanwhile, the microscale thermophoresis and fluorescence spectroscopy experiments showed that the compound 7h had a strong interaction with the tobacco mosaic virus coat protein.