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.

Topology Structure Synthesis and Analysis of Spatial Pyramid Deployable Truss Structures for Satellite SAR Antenna

Many attentions for structural synthesis are paid to planar linkages and parallel mechanisms, while design novel pyramid deployable truss structure（PDTS） of satellite SAR mainly depends on experience of designer. To design novel configuration of PDTS, a two-step topology structure synthesis and analysis approach is proposed. Firstly, a conceptual configuration of PDTS is synthesized. Weighted graph and weighted adjacency matrix are established to realize topological description for PDTS. Graph properties are then summarized to distinguish differentia between PDTS and other type structures. According to graph properties, a procedure for synthesis conceptual configuration of PDTS is presented. Secondly, join relationship of components in a PDTS is analyzed. Kinematic chain and corresponding incidence/adjacency matrix are employed to analyze join relationship of PDTS. Properties and simplified rules of kinematic chain are extracted to construct kinematic chain. A procedure for construction kinematic chain of PDTS is then established. Finally, with this two-step approach all 11 rectangular pyramid deployable structures whose folded state is planar are discovered and their kinematic chains are constructed. Based on synthesis results, a novel deployable support structure for satellite SAR is designed. The proposed research can be applied to obtain some novel PDTSs, which is of great importance to design some novel deployable support structures for satellite SAR antenna.

Synthesis, Crystal Structure and Neuroprotective Activity of(E)-1-(4-(4-Chlorobenzyl)piperazin-1-yl)-3-(benzo[d][1,3]dioxol-5-yl)prop-2-en-1-one

The crystal structure of the new cinnamide derivative（E）-1-（4-（4-chlorobenzyl）piperazin-1-yl）-3-（benzo[d][1,3]dioxol-5-yl）prop-2-en-1-one（C（21）H（21）ClN2O3, Mr = 384.85） was determined by single-crystal X-ray diffraction method. Compound 5 crystallizes in the monoclinic system, space group P21/c with a = 11.762（2）, b = 15.279（3）, c = 11.865（2） , β = 116.57（3）°, V = 1907.1（7） 3, Z = 4, Dc = 1.340 g/cm3, F（000） = 808, μ = 0.224 mm-1, Mo Kα radiation（λ = 0.71073 ）, the final R = 0.0565 and w R = 0.1479 for 2318 observed reflections with I 〉 2σ（I）. Intramolecular C（9）–H（9A）···O（1） interactions as well as intermolecular C（16）–H（16A）···O（1） hydrogen bonds help to stabilize the crystal structure. The bioassay results indicated that the title compound displayed promising neuroprotection in vitro and in vivo, and suppressed apoptosis of glutamate-induced PC12 cells.

Synthesis,Crystal Structure,Antitumor Activities and Docking Study of 1-(2-(1H-Indol-3-yl)ethyl)-3-(2-methoxyphenyl)urea

The title compound,1-（2-（1 H-indol-3-yl）ethyl）-3-（2-methoxyphenyl）urea（C（18）H（19）N3O2,Mr = 309.36） has been synthesized,and its structure was characterized by ^1H-NMR,^13C-NMR,ESI-MS and single-crystal X-ray diffraction.It crystallizes in the monoclinic space group P21/c with a = 16.2774（15）,b = 11.1082（10）,c = 9.0819（3） A,β = 103.09（9）°,V = 1599.5（3） A^3,Z = 4,T = 293（2） K,μ（MoKα） = 0.086 mm^（-1,Dc = 1.285 g/cm^3,F（000） = 656 and GOOF = 0.981.5973 reflections were measured（7.04≤2θ≤52.04°）,and 3143 were unique（Rint= 0.0393,Rsigma = 0.0546） and used in all calculations.The final R = 0.0756（I 〉 2σ（I）） and w R = 0.1976（all data）.The antitumor activity of the title compound was analyzed by MTT assay.Meanwhile,to rationalize its potencies in the CDK4 target,the title compound was docked into CDK4 protein and the interactions with the active site residues were analyzed.

Synthesis,Crystal Structure and Plant Growth Regulatory Activity of 1-(3-Amino-[1,2,4]triazol-1-yl)-3,3-dimethyl-butan-2-one

The title compound 1-（3-amino-[1,2,4]triazol-1-yl）-3,3-dimethyl-butan-2-one（3） was synthesized by Hofmann-alkylation reaction of 1-chloro-3,3-dimethyl-butan-2-one（1） and ~1H-[1,2,4]triazol-3-ylamine（2） with equal amount of K_2CO_3 as acid acceptor. The structure of compound 3 was characterized by ~1H NMR, 13 C NMR, HRMS and single-crystal X-ray diffraction. The compound crystallizes in the monoclinic system, space group P21/n with a = 5.7227（8）, b = 27.924（4）, c = 6.2282（7） ？, β = 101.892（11）°, V = 973.9（2） ？~3, Z = 4, T = 180.00（10） K, μ（MoKα） = 0.087 mm^（-1）, Dc = 1.243 g/cm^3, 3832 reflections measured（3.648≤θ≤26.022°）, 1916 unique reflections（Rint = 0.0359, Rsigma = 0.0572） used in all calculations. The final R = 0.0557（I 〉 2σ（I）） and w R = 0.1276（all data）. Bioassay showed that 3 displayed excellent activity as plant growth regulator with inducing lateral root formation and enhancing primary root elongation at 0.27 mmol/L（50 ppm） in soybeen（He Feng-50）. Good water solubility was found with 50 mg in 1 m L of water. Therefore, application of 3 in agriculture is more environmentally friendly due to cosolvent-free condition, and results in improved abiotic-stress tolerance by affecting the root growth. And furthermore, it can be used as a precursor to investigate the function of regulating plant root growth.

Synthesis,Crystal Structure and Antitumor Activities of Ethyl(R)-2-(Biphenyl-4-carbonyl)-2,3,4,9-tetrahydro-1H-pyrido[3,4-b]indole-1-carboxylate

The title compound,ethyl（R）-2-（biphenyl-4-carbonyl）-2,3,4,9-tetrahydro-1H-pyri do-[3,4-b]indole-1-carboxylate（C（27）H（24）N2O3） has been synthesized,and its structure was charac-terized by ^1H-NMR,^13C-NMR,ESI-MS and single-crystal X-ray diffraction.It crystallizes in the orthorhombic system,space group Pbca with a = 16.9950（8）,b = 9.5445（4）,c = 28.3188（3）A,V = 4593.6（3）A^3,Z = 8,T = 294.64（10） K,μ（MoKα） = 0.08 mm^-1,Dc = 1.228 g/cm^3,F（000） = 1792 and GOOF = 1.036.11836 reflections were measured（7.04≤2θ≤52.04°）,and 4506 were unique（R（int）= 0.0393,R（sigma ）= 0.0546） and used in all calculations.The final R = 0.0576（I 〉 2σ（I）） and wR = 0.1563（all data）.The preliminary biological tests show that the title compound has a good antitumor activity against Hela in vitro with the IC（50） value of 4.71 μmol/L.

Synthesis and Crystal Structure of N1-(2-(4-Bromo-2-nitrophenoxy)-2-dimethyl acyloxymethyl)-5-fluorouracil

The title compound N1-（2-（4-bromo-2-nitrophenoxy）-2-dimethyl acyloxymethyl）-5-fluorouracil（C15H13BrFN3O7, Mr = 446.19） was synthesized and structurally characterized by ^1H-NMR, -（13）C-NMR, ESI-MS and single-crystal X-ray diffraction. The compound crystallizes in triclinic, space group P1, with a = 8.3325（6）, b = 10.1808（13）, c = 11.8194（16） A, α = 73.194（12）, β= 72.351（9）, γ = 89.509（8）o, V = 911.2（2） A^3, Z = 2, T = 300.79（10） K, μ（Cu Kα） = 3.578 mm^-1, Dc = 1.626 g/cm3, F（000） = 448.0, GOF = 1.060, 5723 reflections measured（8.232≤2θ≤139.592°）, 3339 unique（Rint = 0.0184, Rsigma = 0.0254） which were used in all calculations. The final R = 0.0517（I 〉 2s（I）） and wR = 0.1494（all data）. Hydrogen bonds and π-π interactions together stabilize the structure of the molecule. The preliminary biological test shows that the title compound has good antitumor activity against A549 in vitro and lower toxicity to normal cells.

Synthesis,Crystal Structure and Thermal Decomposition of a New Energetic Potassium Salt of Bis(dinitromethyl)difurazanyl Ether

A new energetic organic potassium salt bis（dinitromethyl）difurazanyl ether potas- sium salt [K2（BDFE）] was synthesized, and structurally characterized by elemental analysis, IR spectra, t3C NMR and single-crystal X-ray diffraction. K2（BDFE） crystallizes in monoclinic system, space group C2/c with a = 17.342（3）, b = 12.6943（17）, c = 8.0972（11） A, β = 110.630（2）°, V = 1668.3（4） A3, Z = 4, Dc = 2.000 g/cm3, F（000） = 1000,μ= 0.675 mm-1, S = 1.058, the final R = 0.0499 and wR = 0.1452. The K ion is eight-coordinated with eight O atoms from one water molecule and four bis（dinitromethyl）difurazanyl ethers （BDFE）, forming a distorted dodecahedral structure. Thermal decomposition of the title complex was studied by using DSC and TG-DTG. There are primarily two exothermic decomposition processes between 200 and 370 ℃.

ISOLATION, STRUCTURE ELUCIDATION AND SYNTHESIS OF A NEW PRENYLATED FLAVONOL, MAACKIAFLAVONOL, FROM MAACKIA TENUIFOLIA

A new prenylated flavonol, maackiaflavonol, was isolated from the ethanol extract of the roots of Maackia tenuifolia. Its structure was elucidated as 7-hydrox-8-prenylflavonol by means of spectroscopic analysis (UV, IR, MS, NMR and 1H-1H COSY) and confirmed by total synthesis.

Synthesis,Bioactivity and Crystal Structure Analysis of N-(2-ethoxyphenyl)-3-oxobenzo[d]isothiazole-2(3H)-carboxamide

The title compound N-（2-ethoxyphenyl）-3-oxobenzo[d]isothiazole-2（3H）-carboxa-mide（C16H14N2O3S,Mr = 314.35） has been synthesized and structurally characterized by IR,1H NMR and single-crystal X-ray diffraction.The crystal belongs to triclinic,space group P with a = 4.6395（15）,b = 8.689（3）（A°）, c=17.917（7）（A°）α=87.763（9）,β = 84.625（9）,γ = 82.344（9）°,V = 712.4（4）（A°）^3,Z = 2,Dc = 1.465 Mg·m^-3,λ（MoKa） = 0.71073,F（000） = 328,μ（MoKa） = 0.242 mm-1,the final R = 0.038 and wR = 0.089.A total of 3702 unique reflections were collected,of which 2762 with I 〉 2σ（I） were observed.X-ray analysis revealed that the benzisothiazolone ring and benzene moieties were essentially planar,and three intramolecular hydrogen bonds N（2）-H（2N）…O（1）,N（2）-H（2N）…O（3） and C（10）-H（10）…O（2） were observed.The preliminary biologi-cal test showed that the title compound had antifungal and antibacteria activities against Bacillus subtilis（CMCC63003）,Aeromonas hydrophila（ATCC7966）,Staphylococcus aureus（ATCC6538）,Escherichia coli（JM103）,Blastomyces albicans,Gloeosporium papaya P.Henn,Colletotrichum gloeosporioides Penz and Botryodiplodia theobromae.

Synthesis and Crystal Structure of 3-(2-Hydroxybenzly)-4-(4-Hydroxybenzylideneamino)-(1H) -1,2,4-Triazole-5-Thione and Its Antibacterial Activities

The title compound C15H12N4O2S was synthesized by the reaction of 3-（2-hydroxybenzyl）-4-amino-（1H）-1,2,4-triazole-5-thione with 4-hydroxybenzaldehyde in ethanol and characterized by IR, ^1H NMR spectra and elemental analysis. Its structure has been determined by X-ray diffraction analysis. The crystal belongs to monoclinic, space group C2/c with a = 27.990（3）, b = 13.1326（14）, c = 7.9770（8） A, β= 105.787（2）°, V = 2821.6（5）A^3, Z = 8, Mr= 312.35,μ= 0.243 mm^-1, Dc = 1.471 g/cm^3 and F（000） = 1296. The structure was solved by direct methods.and refined to a Rint value of 0.0388. The crystal structure involving in intermolecular N-H…S and O-H…S hydrogen bonds is observed, meanwhile intramolecular O-H…N hydrogen bond is also found. Their biological activities have been measured. The results show that this type of compound has certain antibacterial activity for Staphylococous aureus and Bacillus subtilis.

Synthesis,Crystal Structure and Properties of A Triphenyltin Schiff Complex with Salicylidene-2-aminophenol

The triphenyltin complex with salicylidene-2-aminophenol （C31H24NO2Sn, 1） has been synthesized and characterized by elemental analysis, IR spectroscopy, thermogravimetric analysis, and X-ray single-crystal diffraction. The complex crystallizes in monoclinic system, P21/c space group with a = 1.09515（8）, b = 1.17739（8）, c = 2.29075（14） nm, β = 117.070（4）°, V = 2.6302（3） nm3, Z = 4, Dc = 1.417 g/cm3, ？ = 0.999 mm–1, F（000） = 1123, R = 0.0472 and wR = 0.1169. X-ray single-crystal diffraction showed that 1 demonstrates a one-dimensional chain structure. The quantum chemical calculation of 1 has been investigated. Complex 1 emits fluo- rescence at 558 nm and exhibits certain inhibitory activity against NCI-H460, A549 and MCF-7.

Synthesis, Structure and Antimicrobial Activity of 9,9-Dimethyl-9,10-dihydrospiro[benzo[a]-xanthene-12,3'-indoline]-2',11(8H)-dione

One novel spiro-compound（C_（26）H_（21）NO_3） has been synthesized and characterized by means of NMR spectroscopy,elemental analyses and X-ray diffraction. The single crystal belongs to the monoclinic system,space group P21/c with a = 8.8039（7）,b = 24.123（2）,c = 10.0751（9） ？,β = 108.403（3）°,M3r = 395.44,V = 2030.3（3） ？~3,Z = 4,D_c = 1.294 g/cm,F（000） = 832.0,μ = 0.085 mm^（-1）,R = 0.0801 and wR = 0.2228. The title compound shows good activities against Micrococcus tetragenus,Bacillus cereus,Bacillus subtilis,Staphylococcus aureus,S.albus and Escherichia coli.

Synthesis,Crystal Structure and Anti-fungal Activity of 2-(4-Chlorophenyl)-(1,3-dimethyl-2,3-dihydro-1H)-perimidine

The title compound 2-（4-chlorophenyl）-1,3-dimethyl-2,3-dihydro-1H-perimidine（C（19）H（17）ClN2） was synthesized and characterized by elemental analysis, ^1H NMR, HRMS and single-crystal X-ray diffraction. The crystal of the title compound belongs to orthorhombic system,space group Pnma with a = 11.385（2）, b = 12.170（2）, c = 11.210（2）A, V = 1553.2（5）A^3, Z = 4, Dc =1.321 g/cm^3, m（Mo-Ka） = 0.244 mm^-1, F（000） = 648, S = 1.309, R = 0.0400 and w R（I 〉 2s（I）） =0.1065. X-ray diffraction results showed that the molecular structure is highly symmetric and the new-formed N-heterocyclic ring is non-planar. In addition, the biological experiment showed that the title compound showed inhibitory activities against fungi with varied potencies.

THE SYNTHESIS AND CRYSTAL STRUCTURE OF CIS-BIS(1,10-PHENANTHROLINE)GLYCINECOBALT(Ⅲ)

A new coordination compound of cis-bis(1,10-phenanthroline)glycinecobalt(Ⅲ) chloridate tetrahydrate,cis-[Co(phen)_2gly]Cl_2.4H_2O,has been prepared by glycine reacted with cis-[Co(phen)_2Cl_2]Cl,then isolated by SP-Sephadex C-25 H^+ form column. The crystal and molecular structure of the new compound has been determined by RIGAKU AFC5R four circle diffractometer,5032 independent reflections were collected of which 3781 observable reflections were used for structure refinement.The crystal is monoclinic,space group C2/c,with a=35.13(1),b=9.637(3)(,c=17.485(6),β= 115.08(Z)~,V=5362(3),Z=8.The structure was refined by full matrix least-squares procedure to a final R=0.041 and R_=0.060.The molecular formula was CoC_(28)H_(28)N_5O_8Cl_2. with molecular weight M_r=636.38,D_c=1.58g/cm^3,μ=8.88cm^(-1)and F_((000))=2624.

Synthesis,Crystal Structure,DFT Studies and Biological Activity of a Novel Schiff Base Containing Triazolo[4,3-a]pyridine Moiety

The novel Schiff base（E）-8-chloro-NA-（4-（dimethylamino）benzylidene）-[1,2,4]triazolo[4,3-a]pyridine-3-carbohydrazide was synthesized and characterized by ^1H NMR,MS,elemental analysis and X-ray diffraction.The compound crystallizes in the monoclinic space group P2_1/c with a = 7.091（2）,b = 10.750（3）,c = 21.380（6） A,β = 96.299（6）°,V = 1619.7（8） A^3,Z = 4 and R = 0.0351.Theoretical calculation of the title compound was carried out with the B3LYP/6-31 G basis set.The frontier orbital energy and atomic net charges were discussed.It is found that the experimental data show good agreement with the calculated values.And the compound exhibits good antifungal activity against Stemphylium lycopersici（Enjoji） Yamamoto.

Synthesis,Crystal Structure and Antifungal Activity of 2-((2-Fluorobenzyl)thio)-5-(pyridin-4-yl)-1,3,4-oxadiazole

The title compound 2-（（2-fluorobenzyl）thio）-5-（pyridin-4-yl）-1,3,4-oxadiazole（C_（14）H_（10）FN_3OS） was synthesized,and its structure was confirmed by ~1H NMR,MS,elemental analyses and X-ray diffraction. It crystallizes in the monoclinic system,space group P21/n with a = 11.541（16）,b = 8.226（12）,c = 13.683（19） ？,β = 94.872（17）o,V = 1294（3） ？~3,Z = 4 and R = 0.0648 for 2198 observed reflections with I 〉 2σ（I）. The preliminary biological test shows that the title compound has good activity against Pythium ultimum with inhibitory to be 100%.

Design,Synthesis and Crystal Structure of the Antitumor Agent N1-(2-(4-Methoxy-2-nitrophenoxy)-2-dimethyl acyloxymethyl)-5-fluorouracil

A series of novel 5-fluorouracil derivatives were designed and synthesized, and the compound N1-（2-（4-Methoxy-2-nitrophenoxy）-2-dimethyl acyloxymethyl）-5-fluorouracil（C（16）H（16）FN3O8, Mr = 397.32） was structurally characterized by 1H-NMR, 13C-NMR, ESI-MS and single-crystal X-ray diffraction. The compound crystallizes in triclinic, space group P1 with a = 5.6725（7）, b = 8.7443（19）, c = 18.116（3） ？, α = 98.226（17）, β = 96.247（12）, γ = 94.318（14）°, V = 880.3（3） ？~3, Z = 2, T = 294.12（10） K, μ（Mo Kα） = 0.128 mm^（-1）, Dc = 1.499 g/cm3, F（000） = 412 and GOOF = 1.105. 5175 reflections were measured（6.868≤2θ≤52.042°）, and 3416 were unique（Rint = 0.0272, Rsigma = 0.0579） and used in all calculations. The final R = 0.0551（I 〉 2σ（I）） and w R = 0.1288（all data）. The structure of the crystal was stabilized by hydrogen bonds and the antitumor activity of the compound was analyzed by MTT assay.

Synthesis,Crystal Structure,DFT Studies and Antifungal Activity of 5-(4-Cyclopropyl-5-((3-fluorobenzyl)sulfonyl)-4H-1,2,4-triazol-3-yl)-4-methyl-1,2,3-thiadiazole

5-（4-Cyclopropyl-5-（（3-fluorobenzyl）sulfonyl）-4H-1,2,4-triazol-3-yl）-4-methyl-1,2,3-thiadiazole was synthesized and recrystallized from Et OH. The compound was characterized by ^1H NMR,MS,elemental analysis and X-ray diffraction. The structure-active relationship and the antifungal activity based on density functional theory calculation（DFT） and antifungal activities were investigated. The compound crystallizes in the monoclinic space group P121/n1 with a = 8.929（3）,b=12.715（4）,c=15.161（5） A°,β = 106.142（3）o,V = 1653.3（9） A°3,Z = 4 and R = 0.0393 for 3930 observed reflections with I 〉 2σ（I）. Theoretical calculation of the title compound was carried out with B3LYP/6-31G（d,p）. The full geometry optimization was carried out using the 6-31G（d,p） basis set.The frontier orbital energy and atomic net charges were discussed. The observed results of the compound have been compared with theoretical results and the experimental data show good agreement with the calculated values. The compound exhibits good antifungal activity.

Synthesis, Bioactivity, and Crystal Structure Analysis of 2-(3-Oxobenzo[d]isothiazol-2(3H)-yl)ethyl Benzoates

Fifteen novel 2-（3-oxobenzo[d]isothiazol-2（3H）-yl）ethyl benzoates were synthesi- zed by the condensation of 2-（2-hydroxyethyl）benzo[d]isothiazol-3（2H）-one with substituted benzoic acids in dichloromethane. All the compounds were characterized by elemental analysis, IR, ESI-MS and 1H NMR. The crystal structures for 2-（2-hydroxyethyl）benzo[d]isothiazol-3（2H）-one （2） and 2-（3-oxobenzo[d]isothiazol-2（3H）-yl）ethyl 2-methoxybenzoate （30） have been determined by X-ray crystal structure analysis. Compound 2 （C9H9NO2S） crystallizes in the monoclinic system, space group Pn with a = 10.552（3）, b = 7.849（2）, c = 10.765（4） A, β = 103.128（4）°, V= 868.3（5） A3, Mr = 195.24, Dc = 1.493 Mg.m-3, μ = 0.33 mm-1, F（000） = 408, Z = 4, R= 0.0314 and wR= 0.0628. Compound 30 （C17H15NO4S） crystallizes in the triclinic system, space group P1 with a = 8.028（2）, b = 9.300（2）, c = 10.430（3）A, V= 752.1（3）A3, Mr = 329.36, D,= 1.454 Mg.m-3, p = 0.24 mm-1, F（000） = 344, Z = 2, R = 0.0377 and wR = 0.0904. The preliminary biological test indicated that the title compounds show better growth inhibitory activity against the gram-positive bacteria than the gram-negative bacteria.