To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is pro...To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is proposed in this paper for structure synthesis of a 6-DOF spatial compliant mechanism.By using the differential approximation method,the Jacobian matrix of the Stewart prototype platform is calculated as the isomorphic mapping matrix,and its eigenvalues and eigenvectors are considered.Combining the isomorphic mapping matrix with the solid isotropic material with the penalization topology optimization method,the topological model of the 6-DOF spatial compliant mechanism is constructed,and a topological structure of the 6-DOF spatial compliant mechanism is derived which has the same differential kinematic characteristics as the Gough-Stewart prototype platform.Piezoelectric actuators are mounted inside the topological structure during the three-dimensional printing manufacturing process,and its driver directions are in accordance with the driver configuration directions of the Gough-Stewart prototype platform.The effectiveness of the proposed method for topological structure synthesis of the 6-DOF spatial compliant mechanism is demonstrated through several numerical examples and experimental studies.展开更多
Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are...Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.展开更多
Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also ...Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also occur in roll.From the results of the experiments,the unstable roll motion plays a dominant role in the motion of a spar platform which is much stronger than that of pitch.The objective of this paper is to study 3-DOF coupling response performance of spar platform under wave and vortex-induced force.The nonlinear coupled equations in heave,roll and pitch are established by considering time-varying wet surface and coupling.The first order steady-state response is solved by multi-scales method when the incident wave frequency approaches the heave natural frequency.Numerical integration of the motion equations has been performed to verify the first-order perturbation solution.The results are confirmed by model test.There is a saturation phenomenon associated with heave mode in 3-DOF systems and all extra energy is transferred to roll and pitch.It is observed that sub-harmonic response occurs in roll and pitch when the wave force exceeds a certain value.The energy distribution in roll and pitch is determined by the initial value and damping characteristics of roll and pitch.The energy transfers from heave to pitch and then transfers from pitch to roll.Due to the influence of the low-frequency vortex-excited force,the response of roll is more complicated than that of pitch.展开更多
Through engineering projects, we have integrated software engineering, geographical information systems and HL7 standard to propose a model of an eHealth management platform for Down’s syndrome screening, replicable ...Through engineering projects, we have integrated software engineering, geographical information systems and HL7 standard to propose a model of an eHealth management platform for Down’s syndrome screening, replicable in all the country. It will use real time sample information acquired from the local population and will geographically reference this information in the territory of Panama for future research.展开更多
Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the exp...Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator System.However,finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult.This study proposes a high-precision,semi-analytical inverse method for EMMs.Firstly,the analytical inverse kinematic solution is established based on joint angle parameterization.Secondly,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle parameterization.The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator.Thirdly,the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization.After selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle parameterization.Lastly,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.展开更多
基金This research was supported by the National Natural Science Foundation of China(Grant 51165009)the Innovation School Project of Education Department of Guangdong Province,China(Grant 2017KZDXM060).
文摘To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is proposed in this paper for structure synthesis of a 6-DOF spatial compliant mechanism.By using the differential approximation method,the Jacobian matrix of the Stewart prototype platform is calculated as the isomorphic mapping matrix,and its eigenvalues and eigenvectors are considered.Combining the isomorphic mapping matrix with the solid isotropic material with the penalization topology optimization method,the topological model of the 6-DOF spatial compliant mechanism is constructed,and a topological structure of the 6-DOF spatial compliant mechanism is derived which has the same differential kinematic characteristics as the Gough-Stewart prototype platform.Piezoelectric actuators are mounted inside the topological structure during the three-dimensional printing manufacturing process,and its driver directions are in accordance with the driver configuration directions of the Gough-Stewart prototype platform.The effectiveness of the proposed method for topological structure synthesis of the 6-DOF spatial compliant mechanism is demonstrated through several numerical examples and experimental studies.
基金This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China(No. 97J465JW0408).
文摘Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.
基金supported by the National Natural Science Foundation of China(Grant No.51279130)
文摘Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also occur in roll.From the results of the experiments,the unstable roll motion plays a dominant role in the motion of a spar platform which is much stronger than that of pitch.The objective of this paper is to study 3-DOF coupling response performance of spar platform under wave and vortex-induced force.The nonlinear coupled equations in heave,roll and pitch are established by considering time-varying wet surface and coupling.The first order steady-state response is solved by multi-scales method when the incident wave frequency approaches the heave natural frequency.Numerical integration of the motion equations has been performed to verify the first-order perturbation solution.The results are confirmed by model test.There is a saturation phenomenon associated with heave mode in 3-DOF systems and all extra energy is transferred to roll and pitch.It is observed that sub-harmonic response occurs in roll and pitch when the wave force exceeds a certain value.The energy distribution in roll and pitch is determined by the initial value and damping characteristics of roll and pitch.The energy transfers from heave to pitch and then transfers from pitch to roll.Due to the influence of the low-frequency vortex-excited force,the response of roll is more complicated than that of pitch.
文摘Through engineering projects, we have integrated software engineering, geographical information systems and HL7 standard to propose a model of an eHealth management platform for Down’s syndrome screening, replicable in all the country. It will use real time sample information acquired from the local population and will geographically reference this information in the territory of Panama for future research.
基金This work was supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003)the Major Research Plan of National Natural Science Foundation of China(Grant No.91848202).
文摘Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator System.However,finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult.This study proposes a high-precision,semi-analytical inverse method for EMMs.Firstly,the analytical inverse kinematic solution is established based on joint angle parameterization.Secondly,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle parameterization.The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator.Thirdly,the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization.After selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle parameterization.Lastly,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.
