INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR

The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom （DOF） in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory .

Kinematic Characteristics Analysis and Parametric Solving of Snow Melting Agent Throwing Mechanism with Variable Crank Length

Variable crank length cam⁃linkage mechanism has attracted much attention due to its compact overall structure when realizing complex motion laws.According to the special trajectory requirements,the kinematic characteristics and parameters of the mechanism have been analyzed and solved,which lays foundation for the implementation of the variable crank length snow melting agent throwing mechanism designed in this paper.Based on the trajectory equation of the point,the mathematical model of the throwing mechanism was established,and the theoretical trajectory of the end point of the throwing mechanism was obtained by programming.The parametric modeling and trajectory drawing were carried out by computer aided three⁃dimensional interactive application(CATIA),and the correctness of the mathematical model was verified by comparison.The regional trajectory distribution characteristics of the end points of the throwing mechanism were studied by using the trajectory region location method,and the influence of various parameters on the trajectory was investigated by using the numerical cycle comparison method.The human⁃computer interaction system of snow melting agent throwing mechanism with variable crank length was constructed by using Microsoft Visual Basic(VB)software.Based on the restriction conditions,the optimum combination of structural adjustment parameters and operational parameters suitable for Harbin first⁃class roads was obtained by using orthogonal test table,which provides an effective method to solve the parameters of the variable crank length cam mechanism with smooth impulse trajectory.

Kinematic and Dynamic Characteristics Analysis of Bennett's Linkage

Bennett's linkage is a spatial fourlink linkage,and has an extensive application prospect in the deployable linkages.Its kinematic and dynamic characteristics analysis has a great significance in its synthesis and application. According to the geometrical conditions of Bennett 's linkage,the motion equations are established,and the expressions of angular displacement,angular velocity and angular acceleration of the followers and the displacement,velocity and acceleration of mass center of link are shown. Based on Lagrange's equation,the multi-rigid-body dynamic model of Bennett's linkage is established. In order to solve the reaction forces and moments of joint,screw theory and reciprocal screw method are combined to establish the computing method.The number of equations and unknown reaction forces and moments of joint are equal through adding link deformation equations. The influence of the included angle of adjacent axes on Bennett 's linkage 's kinematic characteristics,the dynamic characteristics and the reaction forces and moments of joint are analyzed.Results show that the included angle of adjacent axes has a great effect on velocity,acceleration,the reaction forces and moments of Bennett's linkage. The change of reaction forces and moments of joint are apparent near the singularity configuration.

SPATIAL AND TEMPORAL VARIATIONS OF THE KINEMATIC CHARACTERISTICS IN THE PROPAGATION OF ATMOSPHERIC STATIONARY WAVES

Time-mean global general circulation data are employed to analyze the temporal and spatial variations of the meridional gradient of zonal mean potential vorticity,the critical wavenumber n_s for horizontal wave- propagation,and the critical wavenumber K_c for vertical wave-propagation.Thereby the kinematic charac- teristics in the propagation of atmospheric stationary waves and their annual variations are studied.Results show that in the troposphere n_s and K_c usually decrease with the increase of either latitude or altitude. Synoptic and near-resonant Rossby waves could be trapped during their upward and meridional propagations. These characteristics possess prominent annual variations,especially in the Northern Hemisphere.It is found that the spatial and temporal variations of these kinematic characteristics are in good agreement with those of the atmospheric wave patterns.

Kinematic characterization and optimization of vehicle front-suspension design based on ADAMS

To improve the suspension performance and steering stability of light vehicles, we built a kinematic simulation model of a whole independent double-wishbone suspension system by using ADAMS software, created random excitations of the test platforms of respectively the left and the right wheels according to actual running conditions of a vehicle, and explored the changing patterns of the kinematic characteristic parameters in the process of suspension motion. The irrationality of the suspension guiding mechanism design was pointed out through simulation and analysis, and the existent problems of the guiding mechanism were optimized and calculated. The results show that all the front-wheel alignment parameters, including the camber, the toe, the caster and the inclination, only slightly change within corresponding allowable ranges in design before and after optimization. The optimization reduces the variation of the wheel-center distance from 47.01 mm to a change of 8.28 mm within the allowable range of ?10 mm to 10 mm, promising an improvement of the vehicle steering stability. The optimization also confines the front-wheel sideways slippage to a much smaller change of 2.23 mm; this helps to greatly reduce the wear of tires and assure the straight running stability of the vehicle.

Characteristics analysis of a novel centralized-driving flip-flow screen

During screening operation, blinding or clogging of screen perforations generally occurs to reduce the sieving capacity and efficiency. Recently, the flip-flow screening has been widely recognized as a feasible method to deal with the problem. In this paper, a novel centralized-driving flip-flow screen(CFS) was developed for the separation of fine and moist coal, and the key structures, namely, a centralized-driving mechanism and a quasi-circle beam mounted with the mat were designed for high reliability and stability. By means of a test on an experimental prototype, the effect of some factors, i.e., initial stretch and hardness of the polyurethane panel, respectively, and the rotation speed of the driving motor on the kinematic characteristic of the screen surface was investigated. Results show that without an initial stretch, the sieve mat generates the largest vibratory amplitude while the slacker the sieve mat initially is, the smaller amplitude it will accomplish. And an increase in the rotation speed could cause a rise in the vibratory amplitude. Unlike the two factors, the hardness does not have a definite effect on the kinematic performance, on which a further study is required. Finally, screening processing on a laboratory prototype was conducted to draw the conclusion that the developed CFS also has a high sieving efficiency for the fine and moist coal.

Type Design for Heavy-payload Forging Manipulators

Heavy-payload forging manipulators are mainly characterized by large load output and large capacitive-load input.The relationship between outputs and inputs,which will greatly influence the control and the reliability,is the key issue in type design for heavy-payload forging manipulators.In this paper,a type design method by considering the incidence relationship between output characteristics and actuator inputs is presented and used to design the mechanism for forging manipulators.The concept of modeling method based on the outputs tasks is defined and investigated.The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed.An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.The incidence relationship matrix between outputs and inputs is also given.The design flow is obtained,and the incidence relationship between outputs and inputs for heavy-payload forging manipulators is divided into three parts after detailed understanding of the functional properties.Four types of mechanisms for heavy-payload forging manipulators are given,and the corresponding spatial mechanical sketches are also drawn,some new designed mechanisms have been adopted by company or used as prototype.These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators and patent application.

Elastic Model of Flexure-Based Linkage under Motion Constrains and External Load

For a flexible mechanism with several-stage flexible linkage, the flexible linkage is equivalent to work under the actions of an external load and motion constrains. This paper aims to deal with a simplified elastic model on the kinematic characteristics of a flexure-based linkage under these conditions. The elastic modeling method was developed based on motion constrains and the elastic beam theorem(EBT). Effects of a constant force, an elastic force with a constant stiffness, and the materials were taken into account. The proposed modeling method was verified by comparing with the finite element method(FEM). Further, the developed modeling method was used to optimize a flexure-based mechanism based on a two-stage flexible linkage to realize a maximum displacement amplification ratio of 6.56. The flexure-based mechanism was employed to drive a miniature sucker, which performed with a negative pressure of 2.45 kPa at a frequency of 13.2 kHz.

Micro-Scale Motion Precision Simulation Method for a New-Type 6-DOF Micro-Manipulation Robot

A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.