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...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.展开更多
A scheme for dealing with the quantum three-body problem is presented to separate the rotational degrees of freedom completely from the internal ones. In this method, the three-body Schrodinger equation is reduced to ...A scheme for dealing with the quantum three-body problem is presented to separate the rotational degrees of freedom completely from the internal ones. In this method, the three-body Schrodinger equation is reduced to a system of coupled partial differential equations, depending only upon three internal variables. For arbitrary total orbital angular momentum / and the parity (? 1) l+λ (λ = 0 or 1), the number of the equations in this system isl = 1 ?λ. By expanding the wavefunction with respect to a complete set of orthonormal basis functions, the system of equations is further reduced to a system of linear algebraic equations.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51405425)Hebei Provincial Natural Science Foundation of China(Grant No.E2014203255)Independent Research Program Topics of Young Teachers in Yanshan University,China(Grant No.13LGA001)
文摘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.
文摘A scheme for dealing with the quantum three-body problem is presented to separate the rotational degrees of freedom completely from the internal ones. In this method, the three-body Schrodinger equation is reduced to a system of coupled partial differential equations, depending only upon three internal variables. For arbitrary total orbital angular momentum / and the parity (? 1) l+λ (λ = 0 or 1), the number of the equations in this system isl = 1 ?λ. By expanding the wavefunction with respect to a complete set of orthonormal basis functions, the system of equations is further reduced to a system of linear algebraic equations.
