Kinematic Solution of Spherical Stephenson-Ⅲ Six-bar Mechanism

A closed-form solution can be obtained for kinematic analysis of spatial mechanisms by using analytical method.However,extra solutions would occur when solving the constraint equations of mechanism kinematics unless the constraint equations are established with a proper method and the solving approach is appropriate.In order to obtain a kinematic solution of the spherical Stephenson-III six-bar mechanism,spherical analytical theory is employed to construct the constraint equations.Firstly,the mechanism is divided into a four-bar loop and a two-bar unit.On the basis of the decomposition,vectors of the mechanism nodes are derived according to spherical analytical theory and the principle of coordinate transformation.Secondly,the structural constraint equations are constructed by applying cosine formula of spherical triangles to the top platform of the mechanism.Thirdly,the constraint equations are solved by using Bezout’ s elimination method for forward analysis and Sylvester’ s resultant elimination method for inverse kinematics respectively.By the aid of computer symbolic systems,Mathematica and Maple,symbolic closed-form solution of forward and inverse displacement analysis of spherical Stephenson-III six-bar mechanism are obtained.Finally,numerical examples of forward and inverse analysis are presented to illustrate the proposed approach.The results indicate that the constraint equations established with the proposed method are much simpler than those reported by previous literature,and can be readily eliminated and solved.

Approximate Solution of Non-Linear Reaction Diffusion Equations in Homogeneous Processes Coupled to Electrode Reactions for CE Mechanism at a Spherical Electrode

A mathematical model of CE reaction schemes under first or pseudo-first order conditions with different diffusion coefficients at a spherical electrode under non-steady-state conditions is described. The model is based on non-stationary diffusion equation containing a non-linear reaction term. This paper presents the complex numerical method (Homotopy perturbation method) to solve the system of non-linear differential equation that describes the homogeneous processes coupled to electrode reaction. In this paper the approximate analytical expressions of the non-steady-state concentrations and current at spherical electrodes for homogeneous reactions mechanisms are derived for all values of the reaction diffusion parameters. These approximate results are compared with the available analytical results and are found to be in good agreement.

Biped 4R2C Six-bar Mechanism with Inner and Outer Feet

Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C（R and C denote revolute and cylindric joints, respectively） mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes（sphere and cylinder manipulating modes） are carried out. This interesting mechanism feathering its single dosed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.

A quantitative analysis method for contact force of mechanism with a clearance joint based on entropy weight and its application in a six-bar mechanism

Contact force in a clearance joint affects the dynamic characteristics and leads to nonlinear response of the mechanism.It is necessary to assess the nonlinearity of contact force quantitatively.Therefore,a new method named contact-force entropy weight is proposed in this paper.This method presents a comprehensive description of the judgment matrix in the X,Y,and Z directions.To assess the influence degrees of different clearances and angular velocities on the contact force,the method is applied to numerical calculation and simulation of a six-bar mechanism with a clearance joint to illustrate its application and investigate the influence degree of angular velocity and clearance on the contact force.By combining the simulation results and theoretical calculations,the influence degrees of different clearances and angular velocities on the contact-force entropy weight of the six-bar mechanism with a clearance joint are revealed.It is found that the angular velocity has a significant influence on the contact force entropy weight of the clearance joint,showing that the contact-force entropy weight is a feasible new method of assessing non-linearity of contact force quantitatively.The method gives a theoretical reference for quantitatively analyzing the nonlinear dynamics.

An Analysis of the Impact of Economic-Ecological Balance Mechanism Based on Non-Linear Partial Differential Equations on Land Financial Teaching Methods

This paper clarifies the relationship between the flow paths of the corresponding ecological flows because of the ecological impact for land consolidation, using external energy methods to measure the external input of the project area or the output of ecological products. The application for nonlinear estimation of partial differential equations to land consolidation, the project ecological flow and system efficiency were quantitatively calculated. It shows that the conflict between fairness and efficiency is caused under conditions and levels of value and ecological compensation mechanism is built as a criterion for this ecological economics. Based on the years of use of the land improvement project, the time evolution of regional net ecological value, natural resource dependence, renewable resource dependence, ecological output ratio, ecological carrying capacity and ecological sustainability after the implementation of the project was assessed.

Non-isothermal Decomposition Mechanism and Kinetics of LiClO_4 in Nitrogen

The non-isothermal decomposition kinetics of LiClO4 in flow N2 atmosphere was studied. TG-DTA curves show that the decomposition proceeded through two well-defined steps below 900℃, and the mass loss was in agreement with the theoretical value. XRD profile demonstrates that the product of the thermal decomposition at 500℃ is LiCI. For the decomposition kinetics study, the activation energies calculated with the Friedman method were considered as the initial values for non-linear regression and were used for verifying the correctness of the fired models. The decomposition process was fitted by a two-step consecutive reaction： extended Prout-Tompkins equation[Bna, f（α） is （1-α）^nα^α] followed by a lth order reaction（F1）. The activation energies were （215.6±0.2） and （251.6±3.6） kJ/mol, respectively. The exponentials n and a for Bna reaction were （0.25±0.05） and （0.795±0.005）, respectively. The reaction types and activation energies were in agreement with those obtained from the isothermal method, but the exponentials were optimized for better firing and prediction.

Quantitative analysis of the morphing wing mechanism of raptors:Morphing kinematics of Falco peregrinus wing

Raptors are getting more attention from researchers because of their excellent flight abilities.And the excellent wing morphing ability is critical for raptors to achieve high maneuvering flight,which can be a good bionic inspiration for unmanned aerial vehicles(UAV)design.However,morphing wing motions of Falco peregrinus with multi postures cannot be consulted since such a motion database was nonexistent.This study aimed to provide data reference for future research in wing morphing kinetics.We used the computed tomography(CT)approach to obtain nine critical postures of the Falco peregrinus wing skeleton,followed with motion analysis of each joint and bone.Based on the obtained motion database,a six-bar kinematic model was proposed to regenerate wing motions with a high fidelity.

A new passive transfemoral prosthesis mechanism based on 3R36 knee and ESAR foot providing walking and squatting

Researchers have proposed various linkage mechanisms to connect knee and ankle joints for above-knee prosthe-ses,but most of them only offer natural walking.However,studies have shown that people assume a squatting posture during daily activities.This paper introduces a novel mechanism that connects the knee joint with the foot-ankle joint to enable both squatting and walking.The prosthetic knee used is the well-known 3R36,while the energy storing and return(ESAR)prosthetic foot is used for the ankle-foot joint.To coordinate knee and ankle joint movements,a six-bar linkage mechanism structure is proposed.Simulation results demonstrate that the proposed modular transfemoral prosthesis accurately mimics the motion patterns of a natural human leg during walking and squatting.For instance,the prosthesis allows a total knee flexion of more than 140°during squatting.The new prosthesis design also incorporates energy-storing mechanisms to reduce energy expenditure during walking for amputees.

DYNAMIC ANALYSIS OF A LATE-MODEL DOBBY SHEDDING MECHANISM

This paper presents the dynamic analysis of a dobby shedding mechanism. Taking theoscillatory slider as a moving reference frame, relative motion relations of the cam-rocker mech-anism are established in the kinematic analysis. A non-linear equation is solved by indirectmethod to obtain its numerical solutions expressed in algebraic power series for the six-barlinkage. In dynamic analysis, the authors have set up dynamic equations for the entire mecha-nism to find the solutions. From the results of dynamic analysis, it can be seen that the mecha-nism is suitable for operation at high speed and under heavy load.

THE APPLICATION OF GENETIC ALGORITHM IN NON-LINEAR INVERSION OF ROCK MECHANICS PARAMETERS

The non-linear inversion of rock mechanics parameters based on genetic algorithm is presented. The principIe and step of genetic algorithm is also given. A brief discussion of this method and an application example is presented at the end of this paper. From the satisfied result, quick, convenient and practical new approach is developed to solve this kind of problems.

Non-Linear Forces and Irreversibility Problem in Classical Mechanics

Restrictions of classical mechanics which take place because of holonomic constraints hypothesis used for obtaining canonical Lagrange equation are analyzed. As it was shown that this hypothesis excludes non-linear terms in the expression for forces which are responsible for energy exchange between different degrees of freedom of a many-body system. An oscillator passing a potential barrier is considered as an example which demonstrated this fact. It was found that the oscillator can pass the barrier even if kinetic energy of its mass center is below the potential barrier’s height due to non-linear terms. This effect is lost because of holonomic constraints hypothesis. We also explained how one can derive a system’s motion equation without the use of holonomic constraints hypothesis. This equation can be used to describe non-linear irreversible processes within the frames of Newton’s laws.

Microstructure evolution of Al-Zn-Mg-Cu alloy during non-linear cooling process

The microstructure evolution and properties of an Al-Zn-Mg-Cu alloy were investigated under different non-linear cooling processes from the solution temperature, combined with in-situ electrical resistivity measurements, selected area diffraction patterns （SADPs）, transmission electron microscopy （TEM）, and tensile tests. The relative resistivity was calculated to characterize the phase transformation of the experimental alloy during different cooling processes. The results show that at high temperatures, the microstructure evolutions change from the directional diffusion of Zn and Mg atoms to the precipitation of S phase, depending on the cooling rate. At medium temperatures, q phase nucleates on A13Zr dispersoids and grain boundaries under fast cooling conditions, while S phase precipitates under the slow cooling conditions. The strength and ductility of the aged alloy suffer a significant deterioration due to the heterogeneous precipitation in medium temperature range. At low temperatures, homogeneously nucleated GP zone, η′ and η phases precipitate.

CALCULATION OF NATURAL FREQUENCIES FOR THE PLANAR SIX-BAR LINKAGE OF WATT TYPE

By using transfer matrix,the lower-order natural frequencies of the Watt type planar six-barlinkage are calculated in this paper.The experiment of the modal analysis is done with the SignalProcessor 7T17S,and the experiment results agree with the calculated ones.This method only re-quires calculation of lower-order transfer matrix and determinant values,so that, it can be done ona minicomputer such as IBM/PC.The method adopted in this paper is also suitable for vibrationanalysis of other types of linkages.

A New Lung Mechanics Model and Its Evaluation with Clinical Data

Acute Respiratory Distress Syndrome (ARDS) is a major cause of morbidity and has a high rate of mortality. ARDS patients in the intensive care unit (ICU) require mechan-ical ventilation (MV) for breathing support, but inappropriate settings of MV can lead to ventilator induced lung injury (VILI). Those complications may be avoided by carefully optimizing ventilation parameters through model-based approaches. In this study we introduced a new model of lung mechanics (mNARX) which is a variation of the NARX model by Langdon et al. A multivariate process was undertaken to deter-mine the optimal parameters of the mNARX model and hence, the final structure of the model fit 25 patient data sets and successfully described all parts of the breathing cycle. The model was highly successful in predicting missing data and showed minimal error. Thus, this model can be used by the clinicians to find the optimal patient specific ventilator settings.

Numerical simulation of the effect of coupling support of bolt-mesh-anchor in deep tunnel

The mechanical effects of bolt-mesh-anchor coupling support in deep tunnels were studied by using a numerical method, based on deep tunnel coupling supporting techniques and non-linear deformation mechanical theory of rock mass at great depths.It is shown that the potential of a rigid bolt support can be efficiently activated through the coupling effect between a bolt-net support and the surrounding rock.It is found that the accumulated plastic energy in the surrounding rock can be sufficiently transformed by the coupling effect of a bolt-mesh-tray support.The strength of the surrounding rock mass can be mobilized to control the deforma-tion of the surrounding rock by a pre-stress and time-space effect of the anchor support.The high stress transformation effect can be realized by the mechanical coupling effect of the bolt-mesh-anchor support, whereby the force of the support and deformation of the surrounding rock tends to become uniform, leading to a sustained stability of the tunnel.

Wheeled jumping robot by powermodulation using twisted string lever mechanism

This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.

Synthesis, Growth and Characterization of an Organic Material: P-Chloroanilinium Ethanoate

Aromatic organic material of P-Chloroanilinium ethanoate (CAE) has been synthesized by condensation process using methanol as a solvent. The synthesized product is allowed to evaporate slowly at room temperature and crystals of cell dimension 25 × 29 × 10 mm3 were grown. The grown material was subjected to single crystal X-ray diffraction to obtain the cell parameters. The presence of functional groups in the grown material was confirmed by Fourier transform infrared and Fourier transform Raman spectral studies. The UV-VIS absorption spectrum reveals that the material has lower UV cut-off wavelength at 337 nm. Using the Kurtz Perry Powder method, the NLO activity was confirmed. Mechanical strength of the crystal was estimated by Vickers micro hardness test which shows that the material belongs to the soft category. The thermal behavior of the material was investigated by using thermo gravimetric and differential scanning calorimetric analyses.

Two methodological approaches to assess the seismic vulnerability of masonry bridges

This work describes the seismic vulnerability assessment of a railway masonry arch bridge.Its conservation state is initially investigated by means of a thorough field and laboratory test campaign, comprising destructive and non-destructive tests. Two different methods are used to evaluate the bridge seismic vulnerability. The first method adopts a deterministic approach and corresponds to a single non-linear static analysis, performed as described in the Eurocodes. The second method employs a probabilistic approach and considers the variability of the involved mechanical parameters(structure geometry and properties of the building materials) and seismic parameters(intensity of the action and site conditions). This method associates the probabilistic values of ground acceleration exceedance to the estimated seismic vulnerability. This is shown by means of fragility curves, which allow to take into consideration the uncertainty of the various components involved in the definition of the seismic vulnerability and display the seismic damage scenarios. Currently no code requires to perform this calculation procedure. In addition,this work compares the values of masonry mechanical properties specified in the Eurocodes with those obtained in an extensive investigation campaign involving more than one hundred masonry bridges. Compressive strength and longitudinal elasticity modulus are the relevant mechanical parameters investigated. The outcomes of this research can contribute to the development of a more efficient maintenance system of the masonry bridges belonging to the railway network. This has an important role when it comes to establishing the priority order of assets intervention.

Generalized Coherent States for Position-Dependent Effective Mass Systems

A generalized scheme for the construction of coherent states in the context of position-dependent effective mass systems has been presented. This formalism is based on the ladder operators and associated algebra of the system which are obtained using the concepts of supersymmetric quantum mechanics and the property of shape invariance. In order to exemplify the general results and to analyze the properties of the coherent states, several examples have been considered.