Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs

This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.

All-Optical WDM Buffer System Realized by NOLM and Feedback Loop Structure

We propose an all-optical WDM buffer for optical packet switching system, which consists of NOLM and feedback loop. The proposed structure provides more than 40 turn buffering and nice output of buffered data when selected by control signal.

Breather-induced quantised superfluid vortex filaments and their characterisation

We study and characterise the breather-induced quantised superfluid vortex filaments which correspond to the Kuznetsov-Ma breather and super-regular breather excitations developing from localised perturbations.Such vortex filaments,emerging from an otherwise perturbed helical vortex,exhibit intriguing loop structures corresponding to the large amplitude of breathers due to the dual action of bending and twisting of the vortex.The loop induced by the Kuznetsov-Ma breather emerges periodically as time increases,while the loop structure triggered by the superregular breather—the loop pair—exhibits striking symmetry breaking due to the broken reflection symmetry of the group velocities of the super-regular breather.In particular,we identify explicitly the generation conditions of these loop excitations by introducing a physical quantity—the integral of the relative quadratic curvature—which corresponds to the effective energy of breathers.Despite the nature of nonlinearity,it is demonstrated that this physical quantity shows a linear correlation with the loop size.These results will deepen our understanding of breather-induced vortex filaments and be helpful for controllable ring-like excitations on the vortices.