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 obtaini...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.展开更多
In order to validate the simulation model and develop heave compensation control strategy,heave compensation model tests were performed.The model test installation includes themining ship motion simulator,the heave co...In order to validate the simulation model and develop heave compensation control strategy,heave compensation model tests were performed.The model test installation includes themining ship motion simulator,the heave compensation system,the lifting pipe simulator,the buffer simulator and the water pool.The tests ofmining ship motion simulator show that it is able to perform under the predetermined attitude path smoothly and can meet the requirements of themining ship motions.The heave compensation effect is more than 60% under random wave and the goal is set to be 50%.The model test results indicate that this heave compensation system is effective and feasible.展开更多
This paper designs a mechanical swing of placementing mobile phone, which is inspired by the mechanical watch automatic winding process. The use of the kinetic energy generated by human body motion drives the wheel sw...This paper designs a mechanical swing of placementing mobile phone, which is inspired by the mechanical watch automatic winding process. The use of the kinetic energy generated by human body motion drives the wheel swing and the generator, it can carry out mobile phone additional charge through the electronic components rectifier and DC/DC converter regulator, the use of human motion and light energy can extend a fixed charge mobile phone standby time. The human motion power uses electromagnetic coupling technique and collects energy by using foot swing, solar power generation uses DSP chip in TMS320F28927 control a plurality of charging circuit, inverter circuit and solar maximum power point tracking by sampling and multiple output PWM wave. Finally, charging process has the basic constant current process discovered by device testing, the design of human motion and light energy mobile phone charger can satisfy the need of mobile phone rechargeable lithium batteries.展开更多
基金Project 2006AA04Z208 supported by the Hi-tech Research and Development Program of China
文摘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.
基金Project(50675226) supported by the National Natural Science Foundation of China Project(DYXM-115-04-02-01) supported by the Eleventh Five-Year Plan of China
文摘In order to validate the simulation model and develop heave compensation control strategy,heave compensation model tests were performed.The model test installation includes themining ship motion simulator,the heave compensation system,the lifting pipe simulator,the buffer simulator and the water pool.The tests ofmining ship motion simulator show that it is able to perform under the predetermined attitude path smoothly and can meet the requirements of themining ship motions.The heave compensation effect is more than 60% under random wave and the goal is set to be 50%.The model test results indicate that this heave compensation system is effective and feasible.
文摘This paper designs a mechanical swing of placementing mobile phone, which is inspired by the mechanical watch automatic winding process. The use of the kinetic energy generated by human body motion drives the wheel swing and the generator, it can carry out mobile phone additional charge through the electronic components rectifier and DC/DC converter regulator, the use of human motion and light energy can extend a fixed charge mobile phone standby time. The human motion power uses electromagnetic coupling technique and collects energy by using foot swing, solar power generation uses DSP chip in TMS320F28927 control a plurality of charging circuit, inverter circuit and solar maximum power point tracking by sampling and multiple output PWM wave. Finally, charging process has the basic constant current process discovered by device testing, the design of human motion and light energy mobile phone charger can satisfy the need of mobile phone rechargeable lithium batteries.
