Analysis of kinematic and singular configurations of an asymmetrical parallel mechanism

The forward kinematics and singularity configuration of an asymmetrical parallel mechanism with three translational degrees of freedom were analyzed. By establishing the position equations of the mechanism and obtaining the forward solutions, a better decoupling of the mechanism was proved. Based on the Jacobi velocity transfer matrix, the possible singularity configurations were studied and the methods avoiding these configurations discussed. Although improving the rigidity, the 4R structures in the mechanism also resulted in new singularity configurations. By analysis of a feasible instance, this kind of parallel mechanism can avoid all singularity configurations. Meanwhile, it was proved that the design of structure parameters and the choice of inputs range are important for rigidity and stability of parallel mechanisms.

Combined method for parallel manipulator configuration design

Configuration design is an essential, creative and decision-making step m parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C＋＋ and UG/OPEN on Unigraphics.

Parallel Test Tasks Scheduling and Resources Configuration Based on GA-ACA

A Genetic Algorithm-Ant Colony Algorithm(GA-ACA),which can be used to optimize multi-Unit Under Test(UUT)parallel test tasks sequences and resources configuration quickly and accurately,is proposed in the paper.With the establishment of the mathematic model of multi-UUT parallel test tasks and resources,the condition of multi-UUT resources mergence is analyzed to obtain minimum resource requirement under minimum test time.The definition of cost efficiency is put forward,followed by the design of gene coding and path selection project,which can satisfy multi-UUT parallel test tasks scheduling.At the threshold of the algorithm,GA is adopted to provide initial pheromone for ACA,and then dual-convergence pheromone feedback mode is applied in ACA to avoid local optimization and parameters dependence.The practical application proves that the algorithm has a remarkable effect on solving the problems of multi-UUT parallel test tasks scheduling and resources configuration.

Solution for Output Coordination Equations of Several Typical Parallel Six-Dimensional Acceleration Sensing Mechanisms

Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanisms are taken as examples.By analyzing the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,a new method for establishing the dynamic equation of the sensing mechanism is proposed.Firstly,based on the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,the expression of the branch rod length is obtained.The inherent constraint relationship between the branches is excavated and the branch coordination closed chain of the“12-6”configuration is constructed.The output coordination equation of the sensing mechanism is successfully derived.Secondly,the dynamic equations of“12-4”and“12-6”configurations are constructed by the Newton-Euler method,and the forward decoupling equations of the two configurations are solved by combining the dynamic equations and the output coordination equations.Finally,the virtual prototype experiment is carried out,and the maximum reference errors of the forward decoupling equations of the two configuration sensing mechanisms are 4.23%and 6.53%,respectively.The results show that the proposed method is effective and feasible,and meets the real-time requirements.

Experimental Analysis to Extract the Maximum Output of Serial and Parallel PV Module Configurations under Partial Shadow Conditions: A Case Study for Bambey, Senegal

Using an experimental setup, the series configurations (SC) and the parallel configurations (PC) of the PV cell connection are studied to compare their performance under the condition of partial shading s. The performance of the configurations is evaluated by comparing the open-circuit voltage, the short-circuit current, the maximum power point (MPP), the voltage and current corresponding to MPP, and the Fill Factor (FF). The variations of the series resistance and the shunt resistance of a PV module under different irradiance levels are also determined by considering the effect of thermal voltage. Finally, a comparison between the performance losses in the different configurations is presented. The results of this study show that the parallel configuration has the best performance under the conditions of partial shade in the context of this work.

Singular Assembly Configurations and Configuration Bifurcation Characteristics of the Semi-regular Hexagons 6-6 Gough-Stewart Manipulator

It is well known that singular configurations are inherent to parallel manipulators and have serious influences on their properties. Therefore, these singular configurations should be avoided in the design and application of mechanisms. The researches on the singularity identification and distribution have revealed the relations among the six configuration parameters at singular points. Few works have dealt with the relation between the singularity and the input parameters, as wcll as the properties of the manipulator nearby the singularity. In this paper, taking the semi-regular hexagons 6-6 Gough-Stewart manipulator （SRHGSMP） as an example, the configuration bifurcation characteristics going with the input parameters, the assembly configurations at singular points, and the reasons to cause the singularity are analyzed. The research reveals that the number and the combination of the input parameters have great influences on the complexity of the singularity and the curvature radiuses of the configuration curves. Under different number of input parameters, the dimensional-utmost singularity, line vectors correlation singularity and Jacobian matrix correlation singularity can occur individually or jointly. Choosing the adjacent input parameters, the simple singularity and the large singularity-free input parameters zones can be obtained. And selecting multiple input parameters, the self-motion regions and the singularity avoidance errors can be reduced. These new discoveries are valuable and of significance for the trajectory design, the singularity avoidance, and the self-motion control of the parallel manipulator.

Research on optimal drive joints configuration of a rolling robot of closed five-bow-shaped-bar linkage

The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.

A Massively Parallel Re-Configurable Mesh Computer Emulator: Design, Modeling and Realization

Emulating massively parallel computer architectures represents a very important tool for the parallel programmers. It allows them to implement and validate their algorithms. Due to the high cost of the massively parallel real machines, they remain unavailable and not popular in the parallel computing community. The goal of this paper is to present an elaborated emulator of a 2-D massively parallel re-configurable mesh computer of size n x n processing elements (PE). Basing on the object modeling method, we develop a hard kernel of a parallel virtual machine in which we translate all the physical properties of its different components. A parallel programming language and its compiler are also devel-oped to edit, compile and run programs. The developed emulator is a multi platform system. It can be installed in any sequential computer whatever may be its operating system and its processing unit technology (CPU). The size n x n of this virtual re-configurable mesh is not limited;it depends just on the performance of the sequential machine supporting the emulator.

完全各向同性的Stewart型六维加速度感知机构构型综合

各向同性是六维加速度感知机构的重要性能指标之一,决定了传感器的测量精度。为获得感知机构的完全各向同性,提出了一种新的构型综合方法。首先,运用Newton⁃Euler法并基于支链之间固有的尺度约束关系,构建了Stewart型六维加速度感知机构的正向解耦方程。其次,剖析了感知机构的各向同性与正向解耦方程中输入矩阵条件数的关联,以及支链位姿与输入矩阵的映射关系。创建了完全各向同性感知机构的构型综合步骤。最后,遵循该步骤,综合出“12⁃6”式Stewart型六维加速度感知机构,并开展了虚拟实验。将添加0.100%随机扰动和零扰动这两种情况相比较,结果显示,六维加速度的最大引用误差为0.169%,也即输入、输出误差的放大倍数仅为1.69。这表明,新构型具有优异的各向同性性能。

可重构解耦并联移动机器人构型综合及性能分析

为提高机器人承载能力,减少驱动电动机能量消耗且使轮腿模式切换平稳高效,提出了一种可重构解耦并联移动机器人构型,并对其进行了构型综合研究及解耦性和奇异性分析。根据机器人机械腿期望自由度,综合出4种主运动支链;基于螺旋理论的去约束法,综合出58种约束支链;基于螺旋理论的虚拟链法,综合出3R球面并联机构作为机械腿承载支链。随后,给出两个机器人实例。以其中一个机器人为例,建立输入-输出方程,分析了机械腿解耦性;通过反证法,验证了可重构单元的奇异位形,并基于Grassmann线几何判断出奇异类型。最后,分析了承载支链的奇异性对于机械腿运动输出的影响。结果说明,机器人机械腿采用并联支链构型,具有较强的承载能力;机器人基于约束奇异方式实现轮腿切换,可使得切换动作更加平稳;机械腿的可重构性可使得驱动电动机能量消耗减少;机械腿各驱动相互解耦,降低了控制难度,使得机械腿轮腿模式切换更加高效。

单相无桥功率因数校正变换器拓扑族推演回顾与性能分类总结

随着多种节能标准与低碳政策的实施,单相无桥功率因数校正(power factor correction,PFC)拓扑受到更多关注。目前,虽然多种无桥拓扑已被提出并被应用于不同应用场合,但尚未有文献系统地概述这类无桥PFC拓扑结构特点并开展拓扑性能分析。该文通过将双变换单元进行输入并联输出并联(input-parallel output-parallel,IPOP)、输入并联输出串联(input-parallel output-series,IPOS),提出无桥拓扑族系统推演方法以及无桥拓扑IPOP与IPOS的分类。同时,以6种变换单元为例,推演28种无桥拓扑并作相关拓扑概述,说明无桥拓扑族系统推演方法的普适性。其次,通过对称性与对偶性,进一步简化无桥拓扑族的器件数量。然后,筛选出12种主要无桥拓扑与传统有桥拓扑比较,并分别介绍12种无桥拓扑性能特点。最后,基于性能对比结果,归纳IPOS与IPOP两类拓扑的优缺点与适用场景。

Stewart型并联机器人的奇异对其运动精度的影响

以9-3 Stewart型并联机器人为研究对象,分析其在机构接近奇异位形时动平台运动精度的情况。通过计算并联机器人速度Jacobian矩阵的行列式得到奇异点的坐标。通过虚拟样机实验,得到动平台参考点位置反解和正解计算的相对误差。用转动Jacobian矩阵条件数的倒数来度量机构接近奇异的程度,并分析该程度与上述相对误差之间的映射关系。研究结果表明:当指标值大于7.027×10^(-5)时,正、反解的相对误差可忽略不计,这为奇异规避、路径规划等后续工作提供了理论参考。

城市固废焚烧过程炉温与烟气含氧量多目标鲁棒预测模型

为实现城市固废焚烧(Municipal solid waste incineration,MSWI)过程炉温与烟气含氧量的准确预测,提出一种基于改进随机配置网络的多目标鲁棒建模方法(Multi-target robust modeling method based on improved stochastic configuration network,MRI-SCN).首先,设计了一种并行方式增量构建SCN隐含层,通过信息叠加与跨越连接来增强隐含层映射多样性,并利用参数自适应变化的监督不等式分配隐含层参数;其次,使用F范数与L_(2,1)范数正则项建立矩阵弹性网对模型参数进行稀疏约束,以建模炉温与烟气含氧量间的相关性;接着,采用混合拉普拉斯分布作为每个目标建模误差的先验分布,通过最大后验估计重新评估SCN模型的输出权值,以增强其鲁棒性;最后,利用城市固废焚烧过程的历史数据对所提建模方法的性能进行测试.实验结果表明,所提建模方法在预测精度与鲁棒性方面具有优势.

基于实时监控的动态调节线程池方法研究

在数字社会对强算力的要求下,为使CPU性能最大化,需要使用线程池来提高CPU并行计算能力,然而在开发中线程池的使用往往伴随着线程池状态混乱以及难以监控的问题。针对该问题,本文提出了一种基于实时监控的动态调节线程池方法。该方法通过实时监控线程池参数,动态调整核心线程数与最大线程数的数量来规避由于线程资源的配置不足导致业务故障的问题;引入监控中心与报警中心模块,以便直观监测线程池的执行状态、线程数量、队列容量等来实现实时监控。引入配置中心模块实时同步修改线程池的参数,快速的调整线程池参数并同步到线程池中。实验结果表明,本文所提出的方法能有效的动态调节线程池,缓解线程池状态与任务混乱的问题。

广西林权数据整合成果质检系统研究

针对广西林权数据整合成果数据存在重复返工,质检信息化、数字化程度低,检验过程无控制,质检记录不完整的情况,基于林权数据整合,开展自动化业务模式和数字化传递技术研究,开发了广西不动产林权数据质量检查入库系统。该系统实现林权数据整合成果质检后一键入库至广西不动产登记信息管理云平台,解决了质检重复工作、数据质量不可控等问题,提高了项目作业效率和项目通过率。

Analytic Anisotropic Toroidally Axi-Symmetric Equilibria with Parallel Flow for Arbitrary Aspect Ratio and Large Triangularity

Solov＇ev type analytic equilibria of toroidally axi-symmetric plasmas are extended to include the anisotropic pressure and parallel flow effect. It is shown that the combined effects of the parallel flow and the anisotropic pressure can be added to give a modified Grad-Shafranov equation. Effects of the anisotropic pressure and the parallel flow on the equilibrium＇s properties such as the safety factor and the magnetic well are clarified. The most prominent characteristic of these two effects is the deviations of both the p//-contours and the p⊥-contours from the magnetic flux contours.

The Parallel Calculation of the Ground-State Correlation Energy of Helium Atom

When we use Modified Configuration Interaction method(MCI) to calculate the correlation energy of double electron systems, for obtaining the higher precision, we always need huge calculations. In order to handle this problem, which will cost much CPU time and memory room if only using a single computer to do it, we now adopt the parallel multisection recurrence algorithm. Thus we can use several CPUs to get the ground state energy of a Helium atom at the same time.

基于Parallel NOR Flash的多FPGA配置方案

分析Xilinx Kintex7系列FPGA配置的特点以及系统设计要求,提出基于Parallel NOR Flash的多片FPGA配置方案。该方案采用Parallel Daisy Chain的配置模式,由Parallel NOR Flash芯片来配置四片Kintex7 FPGA。本方案具有多版本FPGA程序配置功能和比特流加密功能,同时使系统的软、硬件设计得到极大简化,并获得较高的配置速度。

2转动高精度重载并联机构构型综合

采用一种基于支链分析法的并联机构构型综合方法,综合出了具有解耦特性的2转动并联机构。首先,对2转动并联机构的结构特点进行分析,得到2转动并联机构的最简结构形式,并基于空间无约束的Kutzbach-Grübler公式对各支链的自由度组合方式进行分类,得到所有支链组合形式。其次,提出了一种并联机构初步筛选原则,并考虑球副、万向副的加工难度和成本对并联机构进行优选。最后,由于优选出的2转动并联机构存在局部自由度,对具有局部自由度的并联机构支链进行降自由度处理,得到6种解耦性好、承载能力高、精度高、结构简单的2转动并联机构。采用螺旋理论对U-RPU-UPS并联机构进行自由度分析,建立了逆运动学模型,并进行了验证。结果表明,所构建的并联机构可以实现2转动自由度的运动,并且具有很好的运动解耦特性。所综合出的2转动并联机构弥补了现有机构的不足,可作为光伏跟踪尤其是聚光光伏跟踪机构。

9-3 Stewart型并联机器人的结构设计及奇异位形分析

以一种9-3 Stewart型并联机器人为研究对象,对其进行结构设计及奇异位形分析。通过设计三重复合虎克铰链,减小了运动学求解难度;通过设计可转换主、从运动的变胞移动副,实现了变拓扑驱动;基于环路方程法推导出了并联机器人的速度雅可比矩阵,并运用代数法分析了并联机器人的奇异位形,得到了并联机器人的位置奇异曲面和姿态奇异曲面。研究内容为该并联机器人后续的轨迹规划及工作空间优化奠定了理论基础。