Poly(ethylene glycol)-supported Liquid-phase Parallel Synthesis of Di(aryloxyacetyl)thiosemicarbazides

An efficient poly(ethylene glycol) (PEG)-supported liquid-phase parallel approach to di(aryloxyacetyl)thiosemicarbazides is described. PEG-bound phenol reacted with chloroacetic acid to afford PEG-bound phenyloxyacetic acid, which was readily converted into corresponding phenyloxyacetyl chloride. Subsequent nucleophilic substitution with ammonium thiocyanate followed by addition of aryloxyacetic acid hydrazides gave PEG-bound di(aryloxyacetyl)thiosemi-carbazides, which were easily cleaved to give the resulting library of 1-aryloxyacetyl-4-(4'-methoxylcarbonylphenyloxyacetyl)thiosemicarbazides in good to high yield and high purity.

Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

Polyethylene Glycol as Support and Phase Transfer Catalyst in Aqueous Palladium-catalyzed Liquid-phase Synthesis

Excellent yields and purity were obtained in the aqueous medium Suzuki, Sonogashira, Stille and Heck reactions using palladium (II) as catalyst in liquid phase synthesis. Polyethylene glycol (PEG) acted as soluble polymeric support and phase transfer catalyst as well.

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.

Type Synthesis of 4-DOF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method

Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.

Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on di erent theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the GF set method, the linear transformation method, the POC set method,and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an e ective synthesis method for innovative design and further scientific investigations for mechanisms.

Dimensional Synthesis of a 3-DOF Parallel Manipulator with Full Circle Rotation

Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational（2T1R） motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1 R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

Type Synthesis Method for the Translational Decoupled Parallel Mechanism Based on Screw Theory

Coupling is the significant characteristic of parallel mechanism,while it is just the coupling that brings about much difficulty for the configuration design,theoretical analysis and the development of the control system of the parallel mechanism. And recently,the research on the decoupled parallel mechanism becomes one of the research hot points in the mechanism fields. In this paper,a type synthesis method for the translational decoupled parallel mechanism( TDPM) is proposed based on the screw theory. To achieve the decoupling characteristics of the translational parallel mechanism,the translational decoupled criterion for type synthesis of the branches are presented in this paper. According to this criterion and the realization conditions of rotational degree of freedom of the mechanism proposed former,a large number of branches for the TDPM are obtained. Taking the three degrees of freedom( DOFs) TDPM as an example,the process of type synthesis is discussed in detail. Using this proposed type synthesis method,a serial of translational decoupled parallel mechanisms, including but not limited to all the existing typical 3-DOF TDPMs, are obtained, which identifies the correctness and effective of the method. The contents of this paper provide a reference and possess significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms.

STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY

Structural synthesis for 4-DOF parallel manipulators using screw theory issystematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulatorsaccording to the relationship between screw and reciprocal screw are analyzed. Mathematicalexpressions for constraint screws and twist screws of moving platform are constructed, and allpossible limbs, which provide one or more force constraints, are enumerated. Finally, a parallelmanipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe thesynthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators.

A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type synthesis.The number of redundant parallel mechanisms obtained by these two methods is limited.In this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is proposed.Firstly,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation criteria.Secondly,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units.Finally,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are assembled.In this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were synthesized.All the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good symmetry.Therefore,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled.The instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.

Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

A Rapid Parallel Synthesis of 2-Dialkylamino-4(3H)-quinazolines

Dialkylamino-4(3H)-quinazolinones 4 were rapidly synthesized by a solution-phase parallel synthetic method, which includes aza-Wittig reaction of iminophosphorane 1 with aromatic isocynate to give carbodiimide 2 and subsequent reaction of 2 with various aliphatic secondary amine in a parallel fashion.

Type Synthesis of fully-Decoupled 2T2R Parallel Mechanisms Based on Driven - Chain Principle

Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled two-translational(2T) and two-rotational(2R) parallel mechanism is proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fully-decoupled parallel mechanisms,a method is proposed by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices.Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg are established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements are obtained.Finally,the desired fully-decoupled parallel mechanisms can be synthesized by using the structural synthesis rule and structural synthesis of fullydecoupled 2T2R parallel mechanisms can be obtained exploiting the abovementioned methodology.In particular,the direct Jacobian matrix of each synthesized fully-decoupled 2T2R parallel mechanism is a non-zero diagonal matrix throughout the entire workspace.Motors are mounted on each leg and each one of them actuates one degree-of-freedom(Do F) of the fully-decoupled parallel mechanism through a one-to-one velocity relation.

OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS

Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mecha-nism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimiza-tion is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm.

A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation

The parasitic motion has been widely recognized as the major drawback of the parallel mechanism.Therefore a class of 2R1T PMs(parallel mechanism)without parasitic motion has been synthesized.However,these PMs can only rotate around two axes in sequential order.It decreases the performance of the balancing adjustment of the end-efector.In this paper,a family of 2R1T PMs without parasitic motion was reconstructed by using a novel method based on the remarkable properties of rotational bifurcation mechanisms,which can rotate in sequential order.Furthermore,some PMs rotating around two continuous axes in an arbitrary order are established by adding single joints.Taking the practicability of these structures into consideration,the workspace of 3-PRPS PM was analyzed as an example.Moreover,this study explores the practical application of the PMs without parasitic motion in developing balance mechanisms in rough-terrain fre-fghting robots.During the climbing process,the tank is adjusted to be parallel to the horizontal plane in real-time.It is proved that this kind of structure realizes continuous rotation around two rotation axes on the premise of no parasitic motion.

Exploration of New Phosphors Using a Mineral-Inspired Approach in Combination with Solution Parallel Synthesis

The concept, as well as the methodology of using a mineral-inspired approach in combination with solution parallel synthesis (SPS) for exploration of new phosphors among Na/Sr(Ba)/Al-silicate and Zr(Ti)-silicate minerals, is reported. By employing the proposed approach, we have discovered new phosphors of NaAlSiO4:Eu2+ and BaZrSi3O9:Eu2+, that emit green-yellow (553 nm) and blue-green (480 nm) light, respectively, when excited by radiation of 290 to 420 nm.

Structural Synthesis, Dynamic Modeling and Analysis of a 3-DOF Asymmetric Parallel Mechanism

Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may offer advantages. This work objective is to present the synthesis, dynamic modeling and analysis of a 3-dof asymmetric parallel chain mechanism, conceived as a robot manipulator for pick-and-place operations. Firs＇t, a structural synthesis, resulting in a three translations end-effector, and a kinematic modeling are carried out. Then, the inverse dynamic modeling is developed by employing the virtual work principle. Based on the model equations and on the saturation of the mechanism actuators, a maximum acceleration analysis is performed and shows that although the mechanism has a parallel architecture its actuators influences on the 3-dof are quite decoupled.

Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were obtained.Finally,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.

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.