Novel Mobility Formula for Parallel Mechanisms Expressed with Mobility of General Link Group

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.

ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH FLEXIBLE LINKS

The object of study is about dynamic modeling and control for a 2degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic anddynamic equations are established according to the characteristics of mixed rigid and flexiblestructure. By using the singular perturbation approach (SPA), the model of the mechanism can beseparated into slow and fast subsystems. Based on the feedback linearization theory and inputshaping technique, the large scale rigid motion controller and the flexible link vibrationcontroller can be designed separately to achieve fast and accurate positioning of the PM.

Trans-scale mechanics: looking for the missing links between continuum and micro/nanoscopic reality

Problems involving coupled multiple space and time scales offer a real challenge for conventional frame-works of either particle or continuum mechanics. In this paper, four cases studies （shear band formation in bulk metallic glasses, spallation resulting from stress wave, interaction between a probe tip and sample, the simulation of nanoindentation with molecular statistical thermodynamics） are provided to illustrate the three levels of trans-scale problems （problems due to various physical mechanisms at macro-level, problems due to micro-structural evolution at macro/micro-level, problems due to the coupling of atoms/ molecules and a finite size body at micro/nano-level） and their formulations. Accordingly, non-equilibrium statistical mechanics, coupled trans-scale equations and simultaneous solutions, and trans-scale algorithms based on atomic/molecular interaction are suggested as the three possible modes of trans-scale mechanics.

DETERMINATION OF THE ASSEMBLING POSITION OF A PLANAR LINKAGE MECHANISMS

In planar linkage mechanisms,when dimensions of the mechanisms and one position of inputlink are given,there are,in general,two or more corresponding positions of output link even withthe dimensions of all links unchangable.So,prior to the analysis and synthesis of the mechanisms,we should determine the necessary assembling position.This paper presents a method to solve thisproblem for a sort of planar linkage mechanisms and provides a very simple rule for pivot four-barlinkage mechanism.

Measurement and Analysis of a Take-down Mechanism of Eccentric Links

In this paper the rule of take-down speed variationthrough a mechanism of eccentric links is analysed.Us-ing telemetric technique,the authors dynamicly mea-sured take-down speed and tension of this mechanism.The curve diagram of the take-down speed is experi-mentally obtained.Results of theoretical analysis and ex-perimental measurement show that take-down tensionof this kind of mechanism is more even than that of theoblique rings in model Z214 interlock machine and it isdeeply affected by many factors which include the instal-lation of the conic gear,horizontality of the take-downroller,gaps between hinge joint points of the wholemechanism and so on.

Mechanical Modeling of Dike Propagation: Methods, Recent Results and Links to Geophysics

Magma is transported in brittle rock by diking.Diking plays a key role in tectonic phenomena such as continental rifting and plate divergence at mid-ocean ridges.In spite of the importance of understanding how magma is

Analysis of Mechanical Combined-Type CVT Consisting of Closed Links,Grooved Cam and Non-invertible Elements

As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known that the CVT is mechanism that can change gear ratios continuously in power transmission installed in vehicles,or power generation and its transfer systems.In this paper,we propose a CVT using a new type of mechanism in which four-bar linkages(quadric crank chains)and non-invertible elements such as one-way clutches or ratchets are installed.The conventional CVTs which are classified as belt-type CVTs or toroidal CVTs are driven by friction force between conduction mechanisms.Due to slippage or high-pressure between the transmission components in the conduction mechanism,the transfer efficiency in the conduction energy becomes inferior.However,the proposed CVT does not depend upon any friction forces,and it is considered that its transfer efficiency is superior.

Multiple Resonance and Stability of a Motor-elastic Linkage Mechanism System

The dynamics of a three-phase AC motor-elastic linkage mechanism system is considered. Taking the drive motor and the linkage mechanism as an integrated system, the coupling dynamic equations of the system are established by the finite element method. The multiple resonance and its stability of the system are studied using the method of multiple scales. The first order approximate solutions of the multiple resonance of the system are obtained. An algorithm for determining the stability of resonance is derived. The studies show that the multiple resonance and its stability of the system are not only related to the structure parameters of the linkage mechanism, but also to the electromagnetism parameters of the motor. At last, an experiment is given to verify the results of the theoretical analysis.

Research and Application for the Regularity of Distribution about Curvature Radius and Curvature Center of the Linkage Point Track in a Link Mechanism

It is illustrated that there exists an inflection circle on the linkage rigid body by the principle of relative motion. Confirmed methods of the inflection circle, curvature radius and curvature center of the point track on the linkage rigid body are given in the case of the different contact type of move instantaneous center line and static instantaneous center line. The regularity of distribution of curvature radius and curvature center of the point track is researched. The identification methods called determination parameters and auxiliary vertical line of the diameter and direction of the inflection circle in the four bar mechanism are pointed out. A design method of the crane hoisting mechanism is discussed in the end of this paper.

A Facile Route for the Large Scale Fabrication of Graphene Oxide Papers and Their Mechanical Enhancement by Cross-linking with Glutaraldehyde

A facile route for the large scale production of graphene oxide(GO) papers and their mechanical enhancement has been presented in this work. The novel paper-like GO made from individual GO sheets in aqueous suspension can be achieved in large scale by a simple drop casting method on hydrophobic substrates.Significant enhancement in mechanical stiffness(341%) and fracture strength(234%) of GO paper have been achieved upon modification with a small amount(less than 10 wt%) of glutaraldehyde(GA). The cross-linking reaction takes place between hydroxyl groups on the surface of GO and aldehyde groups of GA, through forming hemiacetal structure, which can result in distinct mechanical enhancement of the GO papers.

RESISTANT MECHANISMS OF CISPLATIN IN HUMAN LUNG ADENOCARCINOMA CELL LINE A_(549)DDP

To study the resistant mechanisms of cisplatin in human lung adenocarcinoma cell line A 549 DDP. A 549 DDP cells was established by stepwise increasing concentration of cisplatin (CDDP) in medium. Interstrand cross linked DNA (ICL) was measured by ethidium bromide fluorescence assay. The intracellular and intranuclear accumulation of cisplatin was measured by atomic absorption spectrometry. The removal of GS X was determined by FCM and fluorescence microscopy. Results: The A 549 DDP cell line was 8.9 fold resistance relative to the parental A 549 cell line. The formation of ICL in A 549 was 6.28 times higher than that in A 549 DDP cells. The intracellular and intranuclear accumulation of cisplatin in A 549 cells was 5.9 times and 4.1 times higher than that in A 549 DDP cells, respectively. The ability of GS X pump pumped GS X complex (GS Pt) in A 549 DDP cells was higher than that in A 549 . The repair rate in A 549 DDP cells was 2 times higher than that in A 549 . Conclusions: Decreased accumulation and increased export of cisplatin might be the main mechanism of cisplatin resistant A 549 DDP cells while the enhanced repair capacity of DNA may play a role in CDDP resistance.

Determination of the workspace of a new coordinate-measuring machine using parallel-link mechanism

Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing the physical and kinematical constraints from the structural characteristics of the parallel link mechanism, and discusses the actual geometries of workspace and the factors having effect on workspace through computer simulation thereby providing necessary theoretical basis for the research and development of coordinate measuring machines using parallel link mechanism.

Dynamic Mechanical and Thermal Properties of Cross-linked Polystyrene/Glass Fiber Composites

Cross-linked polystyrene/glass fiber composites were fabricated using cross-linked polystyrene （CLPS） as matrix and E-glass fiber as the reinforcement. Surfaces of E-glass fibers were modified by vinyl triethoxysilane （VTES）, vinyl trimethoxysilane （VTMS） and γ-methacryloylpropyl trimethoxysilane （MPS）. The treated glass fibers were analyzed by fourier transform infrared spectroscopy （FTIR）. Dynamic mechanical thermal analysis （DMTA） and thermo-gravimetric analysis （TGA） were employed to investigate the effect of glass fibers surface modification on viscoelastic behavior and thermal properties. The morphology of fracture surfaces of various composites was observed by scanning electron microscopy （SEM）. The results revealed that these coupling agents were connected to the surfaces of the fibers by chemical bonding. Dynamic mechanical properties as well as thermal stability of the composites were improved considerablely, but to varying degrees depending on the fiber modification. The diversities of improvement of properties were attributed to the different interfacial adhesion between CLPS matrix and the glass fibers.

Synchronization motions of a two-link mechanism with an improved OPCL method

An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of different motion characteristics of the two-link synchronization and the effects of different control parameters on synchronous processes are investigated with numerical simulations.

Dehydration Mechanism of Secondary Cross-linked Gels

In this paper, microscopic characteristics of preformed gels （PGs） and secondary cross-linked gels （SCG） with the same concentration were analyzed by atomic force microscopy （AFM）. Experimental results indicate that the microstructure of secondary cross-linked gels is a thick 3-D network, in which micro-holes and irregular macro-holes are embedded. The maximum width of the irregular macro-holes is 200 nm. In the SCG two different chemical bonds were formed, which leads to the structural inhomogeneity and the asymmetry of the crosslinking density. The structural inhomogeneity of SCG results in the formation of irregular macro-holes. The excessive cross-linking density is the primary reason for dehydration of SCG and the presence of irregular macro-holes in SCG can facilitate dehydration.

A Development of Rom-Exercise Machine Using Linkages(Design of Leg Mechanism by Walking Simulation)

In this study, the design of an automatic ROM-Exercise machine that is constructed witha planar multililnk mechamsm consisting of only revolute pairs is investigated. Namely, equations thatdetermine the minimum moving spaces and relative positions of link required to construct the legmechanism are formulated with consideration of transform functions. For the leg mechanism that isconstructed with a planar eleven-link mechanism, arrangements of each link and optimum linkprofiles avoided mutual interferences among moving links are determined wb consideration of therelative locations of each link in the same plane during a cycle of motion of the mechanism. Based onthe above analytical results, an automatic ROM-Exercise machine that performs within a minimum moving spaces is proposed as a prachcal example. ms study is carried out as part of the students'computcr education to the graduation thesis, in order to improve their creativity and machine designtechnology skills in coniunction with educational advantages. Significam educational results areobtained by using the design techniques mentioned above.

基于Link机制的DPoS的共识机制改进

论文针对DPoS共识机制存在的节点投票积极性不高及恶意节点危害系统安全稳定两个方面提出了DL-DPoS共识机制。首先,通过引入Link机制充分发挥活跃节点的特性,由活跃节点带动不活跃节点,增强节点参与投票选举的积极性;之后,根据节点的财富水平、性能高低和稳定程度三个方面对节点进行评分,计算出其综合信用值,最后动态调整区块获得的奖励,使系统更加稳定。实验验证,DL-DPoS共识机制相比DPoS共识机制吞吐量增加23.1%,节点参与度增强40%,权益分配更加合理,证明DL-DPoS共识机制具有更好的性能,安全性及稳定性。

含转动副润滑间隙的多连杆机构动力学优化设计

为改善含运动副润滑间隙多连杆机构的动力学特性,以二自由度七连杆机构为研究对象,建立转动副润滑间隙模型,采用拉格朗日乘子法推导出含润滑间隙机构的动力学方程,并通过试验验证了动力学方程的正确性。为优化变量,建立含润滑间隙机构动力学优化模型并利用遗传算法求解。结果表明动力学优化使滑块的加速度降低25%,转动副间隙A、B处的运动副元素之间的作用力分别减小14.8%、18.2%,有效提高了含转动副润滑间隙机构的动力学特性。

基于simmechanics的曲柄压力机机构仿真分析

曲柄压力机是利用曲柄连杆机构完成材料成形的设备,利用simmechanics建立曲柄连杆机构的仿真模型,对其进行运动学和动力学仿真,可以得到机构各组成部分的运动和动力数据,避免了解析法的建立数学模型及编程的繁琐过程,具有快捷、准确、直观的特点,同时也为机构的优化设计提供了重要的参考依据。

改进RT-DETR的无人机图像目标检测算法

针对轻小型无人机图像目标检测中由于目标灵活多样、环境复杂多变导致的检测精度低等问题,提出基于改进RT-DETR无人机目标检测算法。综合考虑轻量级SimAM注意力和倒置残差模块改进ResNet-r18主干网络,提高目标检测模型的特征提取能力。采用级联分组注意力机制优化倒置残差模块和特征交互模块,提升特征选择能力,实现目标检测信息的精细化获取。颈部网络中引入160×160检测层,提升特征融合阶段小目标的感知能力。基于VisDrone2019数据集的实验结果表明,改进后的模型具有更低的参数量和更高的检测精度。在Alver_Lab_Ulastirma和HIT-UAV数据集上进一步验证了改进方法的有效性和鲁棒性。