DYNAMICS ANALYSIS OF 2-DOF SPHERICAL PARALLEL MECHANISM

The analytical formulations of the velocity and the acceleration of a 2-DOF spherical parallel mechanism are derived by the screw theory. Based on building its dynamics model by the principle of virtual work and reciprocal product of the screw, the equation of the motor moment is obtained. Through the transformation of dynamics model, the configuration space method of the dynamics equation and the corresponding coefficients are presented. Finally, the result of an example shows that the inertia moment and the gravity play a more important role than the coriolis and centrifugal moment, and the former is ten times of the latter in the magnitude. So, the latter can be neglected only when the velocity of mechanism is very slow.

Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

A special form of the Stewart platform is presented in which the top platform and base platform are similar and corresponding vertices are connected by six prismatic joints.A closed-from solution for the forward displacement analysis of this mechanism is developed.When the six vertices of the top platform are in a quadratic curve,this mechanism becomes singular.This new theoretical result is confirmed with a numerical example.

Modelling of ultrasonic motor with dead-zone based on Hammerstein model structure

The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement be- tween the output of the proposed model and actual measured output.

Motion mechanism analysis of two contacting rollers

Two rollers contact each other under the normal load,and when the driving roller rotates,it drives the driven roller rotate by the tangential force on contact area.Finite Element Method analysis and experimental analysis are adopted to research the motion mechanism of two rollers which elasticity has big difference both on the condition of direct contact and indirect contact.From the analysis it is achieved that the relative sliding between the two rollers is due to the tangential force on the contact area and the radial compression deformation of the soft roller which has greater elasticity.For the condition of indirect contact in which a layer of inter-medium exists between the two rollers,the relative sliding is greater than that on the condition of direct contact,and the hardness of the intermedium layer affects the relative sliding between the two rollers.And for the condition of multiple rollers in the state of pressing contact,the number of contact areas on the soft roller also affects its motion characteristics.

Dynamics simulation of the belt conveyor possessing feedback loop during starting

Synthesizing the mechanical models of the belt, the driver and the take-up device, the dynamics model was established on the longitudinal vibration of the overall belt conveyor system with finite elemental method, and S-function simulation block of asynchronous motor owing feedback function was built in Matlab/Simulink software, the simulation block indicates that motor rotation speed and its output moment vary with load and time, and the motor is a dynamic feedback system in working process. The state space block was adopted to express model of the belt. Thus it created simulation model of established dynamic model of overall belt conveyor system with Mat- lab/Simulink software, and simulates the course of starting by properly setting simulation parameters, and processes data for visualization.

Mechanism of electro-hydraulic exciter for new tamping device

A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibration.A new spin valve was designed in order to fulfill dynamic state requirements of the oscillation cylinder.Parametric analysis was carried out by establishing mathematic model.Then,the relationships among the structure of valve port and the frequency,amplitude,output shock force of the cylinder were researched.An experimental device of the electrohydraulic exciter was established to validate the theoretical results.The signals were acquired by AVANT dynamic signal analyser of vibration.The results show that new tamping device can satisfy all kinds of complex working conditions with the flexible adjustment of frequency and amplitude.

Practice of Project Management Methodology for Commercial Aero engines Based on Integrative Project Architectures

To collect and share information of projects or products and make it consistent and correct so that the quality and costs of projects can be effectively controlled,an integrative project architecture integrating different types of breakdown structures is necessary.In this paper,the international research status on work breakdown structure(WBS)was analyzed,and an integrative project architecture for commercial aero-engines was designed,where product breakdown structure(PBS),WBS,organization breakdown structure(OBS)and cost breakdown structure(CBS)were integrated and built.And the architecture was applied in information systems.A transfer from technological views of complex products through their lifecycles to management views has been realized with this standardized architecture,thus development tasks and costs can be controlled.

Finite element analysis of dynamic response and structure borne noise of gearbox

A dynamic finite element method combined with finite element mixed formula for contact problem is used to analyze the dynamic characteristics of gear system. Considering the stiffness excitation, error excitation and meshing shock excitation, the dynamic finite element model is established for the entire gear system which includes gears, shafts, bearings and gearbox housing. By the software of I-DEAS, the natural frequency, normal mode, dynamic time-domain response, frequency-domain response and one-third octave velocity grade structure borne noise of gear system are studied by the method of theoretical modal analysis and dynamic response analysis. The maximum values of vibration and structure borne noise are occurred at the mesh frequency of output grade gearing.

Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator

Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.

Decentralized Mobile SNS Architecture and Its Personal Information Management Mechanism

Mobile SNS popular topics of mobile is one of the most Internet. In order to fulfill the user demand for self-maintained independent social network and ensure the privacy of their personal information and resources, the paper proposes system architecture of decentralized mobile SNS.In the temporary scenarios, the system makes use of the existent specification of FOAF （Friend- of-a-Friend） to describe users＇ personal information and act as a certificate to be identified by SNS sites. Ticket-based Access Authorization System （TAAS） is provided to grant permission to acquire resources on personal portal. Meanwhile, the mechanism and algorithm are devised for user profile complete deletion when users are going to quit the service for the temporary scenarios.

Nuclear entry of active caspase-3 is facilitated by its p3-recognition-based specific cleavage activity

As a critical apoptosis executioner, caspase-3 becomes activated and then enters into the nucleus to exert its function. However, the molecular mechanism of this nuclear entry of active caspase-3 is still unknown. In this study, we revealed that easpase-3 harbors a crm-l-independent nuclear export signal （NES） in its small subunit. Using reversecaspase-3 as the study model, we found that the function of the NES in caspase-3 was not disturbed by the conformational changes during induced caspase-3 activation. Mutations disrupting the cleavage activity or p3-recognition site resulted in a defect in the nuclear entry of active caspase-3. We provide evidence that the p3-mediated specific cleavage activity of active caspase-3 abrogated the function of the NES. In conclusion, our results demonstrate that during caspase-3 activation, NES is constitutively present, p3-mediated specific cleavage activity abrogates the NES function in caspase-3, thus facilitating the nuclear entry of active caspase-3.

Refrigerant Distribution Characteristics in Vertical Header of Flat-Tube Heat Exchanger without Internal Protrusion

A heat exchanger that arranges flat tubes horizontally has a vertical header that distributes the refrigerant to each tube. When the heat exchanger works as an evaporator, differences in flow conditions at each branch, such as the ratio and distribution of vapor and liquid, due to the differences in densities and momentums of vapor and liquid in the two-phase flow make equal distribution difficult. This paper describes the distribution characteristics of a four-branch header that has a rectangular cross-section without the internal protrusion of flat tubes in the case of the inflow of the refrigerant R32 from the bottom of the header by using an equipment that can estimate the distribution ratio of the liquid and vapor phase to each branch. This paper also discusses the distribution characteristics on the basis of the flow visualization in the header. The flow visualization shows that a liquid level that contains vapor phase exists in the header and affects the distribution greatly.

The research of the staggered lamination linear pulse launcher

This paper proposes a new type of pulse launcher that applies the principle of linear motors. The stator, viz. gun barrel, of the launcher has a new structure of one segment of iron core consisting of 3 staggered laminations. This structure is helpful in advancing the thrust force per volume. Based on introducing the structure and the working principles, this paper resolves the electromagnetic thrusting force and performs mechanical analysis and experiments on the sample launcher. The research shows that this launcher is simple and brushless structure with brief controlling.

Analysis of characteristics of a pneumatic miniature robotic system

This paper described the structure of a flexible miniature robotic system which can move in human cavities, and then analyzed the characteristics of the robotic system in detail. The mobile mechanism of the miniature robotic system is soft; it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers. The driving characteristic models in axial and bending directions of the actuator were set up and the kinemics equations of the robotic system were set up. Experiments had been done through an electro-pressure control system, by which the pneumatic robotic system can be controlled with high accuracy. It is suitable for moving in human cavities for medical inspection.

Mobility and constant-orientation workspace analysis of 4UPS-UPU parallel mechanism

One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.

Software Tools for Some Natural Language Texts Computer Processing

Software tools are developed for computer realization of syntactic, semantic, and morphological models of natural language texts, using rule based programming. The tools are efficient for a language, which has free order of words and developed morphological structure like Georgian. For instance, a Georgian verb has several thousand verb-forms. It is very difficult to express rules of morphological analysis by finite automaton and it will be inefficient as well. Resolution of some problems of full morphological analysis of Georgian words is impossible by finite automaton. Splitting of some Georgian verb-forms into morphemes requires non-deterministic search algorithm, which needs many backtrackings. To minimize backtrackings, it is necessary to put constraints, which exist among morphemes and verify them as soon as possible to avoid false directions of search. Software tool for syntactic analysis has means to reduce rules, which have the same members in different order. The authors used the tool for semantic analysis as well. Thus, proposed software tools have many means to construct efficient parser, test and correct it. The authors realized morphological and syntactic analysis of Georgian texts by these tools. In the presented paper, the authors describe the software tools and its application for Georgian language.

Cooperative Dynamics in Lattice-Embedded Scale-Free Networks

We investigate cooperative behaviors of lattice-embedded scale-free networking agents in the prisoner'sdilemma game model by employing two initial strategy distribution mechanisms,which are specific distribution to themost connected sites (hubs) and random distribution.Our study indicates that the game dynamics crucially dependson the underlying spatial network structure with different strategy distribution mechanism.The cooperators' specificdistribution contributes to an enhanced level of cooperation in the system compared with random one,and cooperationis robust to cooperators' specific distribution but fragile to defectors' specific distribution.Especially,unlike the specificcase,increasing heterogeneity of network does not always favor the emergence of cooperation under random mechanism.Furthermore,we study the geographical effects and find that the graphically constrained network structure tends toimprove the evolution of cooperation in random case and in specific one for a large temptation to defect.

A Kinematic Analysis of Joint Synergy of the Lower Limb in Human Locomotion

This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.