Recent advances in cobalt phosphide-based materials for electrocatalytic water splitting:From catalytic mechanism and synthesis method to optimization design

Electrochemical water splitting has long been considered an effective energy conversion technology for trans-ferring intermittent renewable electricity into hydrogen fuel,and the exploration of cost-effective and high-performance electrocatalysts is crucial in making electrolyzed water technology commercially viable.Cobalt phosphide(Co-P)has emerged as a catalyst of high potential owing to its high catalytic activity and durability in water splitting.This paper systematically reviews the latest advances in the development of Co-P-based materials for use in water splitting.The essential effects of P in enhancing the catalytic performance of the hydrogen evolution reaction and oxygen evolution reaction are first outlined.Then,versatile synthesis techniques for Co-P electrocatalysts are summarized,followed by advanced strategies to enhance the electrocatalytic performance of Co-P materials,including heteroatom doping,composite construction,integration with well-conductive sub-strates,and structure control from the viewpoint of experiment.Along with these optimization strategies,the understanding of the inherent mechanism of enhanced catalytic performance is also discussed.Finally,some existing challenges in the development of highly active and stable Co-P-based materials are clarified,and pro-spective directions for prompting the wide commercialization of water electrolysis technology are proposed.

Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of torpedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

Study on trifluoromethanesulfonic acid-promoted synthesis of daidzein: Process optimization and reaction mechanism

Daidzein has been widely used in pharmaceuticals,nutraceuticals,cosmetics,feed additives,etc.Its preparation process and related reaction mechanism need to be further investigated.A cost-effective process for synthesizing daidzein was developed in this work.In this article,a two-step synthesis of daidzein(Friedel–Crafts acylation and[5+1]cyclization)was developed via the employment of trifluoromethanesulfonic acid(TfOH)as an effective promoting reagent.The effect of reaction conditions such as solvent,the amount of TfOH,reaction temperature,and reactant ratio on the conversion rate and the yield of the reaction,respectively,was systematically investigated,and daidzein was obtained in 74.0%isolated yield under optimal conditions.Due to the facilitating effect of TfOH,the Friedel–Crafts acylation was completed within 10 min at 90℃ and the[5+1]cyclization was completed within 180 min at 25℃.In addition,a possible reaction mechanism for this process was proposed.The results of the study may provide useful guidance for industrial production of daidzein on a large scale.

Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

Design of Silkworm Cocoon Picking Mechanical System Based on ADAMS

This project to state cocoon to pick up object,by studying the cocoon stress performance and structure characteristics.On the basis of the picking up work process,vig virtual prototype technology to design and study a kind of mechanical used to cocoon picking,by using ADAMS,Soliworks software to complete the whole process of mechanical system design,simulation,can meet the premise of stable,reliable cocoon picking,and cocoon picking mechanical system design,low cost and simple structure.

Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable mechanism.Firstly,the basic unit folding principle and expansion method is proposed.The configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic unit.Then,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling method.Next,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried out.Based on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in detail.Finally,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the pyramid.The proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and lightweight.It has a good application prospect in the aerospace field.

PERFORMANCE ANALYSIS AND KINEMATIC DESIGN OF PURE TRANSLATIONAL PARALLEL MECHANISM WITH VERTICAL GUIDE-WAYS

Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section area of workspace, are defined; The expressions of two other indices, i.e. the global dexterity and global force transfer ratio are revised based on the main section of workspace. Using these indices, performance changes versus the varieties of dimensional parameters of mechanism are investigated in detail and the graphic descriptions of change tendencies of the performance indices are illustrated. By means of these obtained graphic descriptions, kinematic parameters for the 3-PUU pure translational parallel mechanism with better characteristics can be directly acquired.

FORWARD KINEMATICS ANALYSIS FOR A NOVEL 5-DOF PARALLEL MECHANISM USING TETRAHEDRON CONFIGURATIONS

Forward kinematics analysis of a novel 5-DOF parallel mechanism using tetrahedron configurations is presented. Such mechanism is suitable to many tasks requiring less than 6 DOFs. It consists of a movable platform connected to the base by five identical 6-DOF active limbs plus one active limb with its DOF being exactly the same as the specified DOF of the movable platform, which leads to its legs＇ topology 4-UPS/UPU. Based on the tetmhedron geometry, both closed-form solution with an extra sensor and numerical method using iterative algorithm are employed to obtain the forward kinematics solutions of the mechanism. Compared with the conventional methods, the proposed closed-form solution has the advantages in automatically avoiding unnecessary complex roots and getting a unique solution for the forward kinematics. Finally, an example shows that the proposed numerical algorithm is so effective that it enables a real-time forward kinematics solution to be achieved and the initial value can be chosen easily.

MECHANISM DESIGN AND MOTION ANALYSIS OF A SPHERICAL MOBILE ROBOT

A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.

Analysis and Design of the Globoidal Indexing Cam Mechanism

We first design and analyze the contour surface of the globoidal indexing cam with the aid of computer, and then do optimum design according to the requirements of dynamics. Finally, we discuss the problem of the pressure angle of the globoidal indexing cam mechanism in detail and put forward a new concept of equivalent pressure angle.

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.

Large Deformation Analysis and Synthesis of Elastic Closed-loop Mechanism Made of a Certain Spring Wire Described by Free Curves

Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model（SCM） with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.

Configuration and kinematics analysis of locking-releasing mechanism for side-loaded lunar rover

In order to save space for storing precision equipments,lower the center of mass of Lander and reduce lunar rover's dimension constraint limited by mechanism of Lander,the locking-releasing mechanism of side-loaded lunar rover loaded outside Lander is presented,which is a kind of metamorphic mechanism.To ensure the working of this mechanism as the metamorphic process designed,configuration analysis of the locking-releasing mechanism is carried out,and topological structures are described by Huston lower numbered arrays.A kinematic mathematical model of the mechanism is established through homogeneous transformation matrix.The kinematic simulation validates the feasibility of the locking-releasing mechanism when the configurations are shifted from one to the other.

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.

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism.In this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are analyzed.Firstly,the kinematics model of the PM-KR is established.The inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are solved.Secondly,the influence of redundancy on the PM-KR is analyzed.Since there exists kinematic redundancy,the PM-KR possesses fault-tolerant performance.By locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is obtained.When the position of the redundant part is changed,the workspace and singularity will be changed.The results show that kinematic redundancy can be used to avoid singularity.Finally,the simulations are performed to prove the theoretical analysis.

The Kinematics Analysis of Heald Selecting Mechanism of Rotary Electronic Dobby

In order to improve the reliability of the mechanical movement of the rotary electronic dobby, the kinematics analysis of the heald selection mechanism is carried out and the simulation is carried out with Matlab. Firstly, the operation mechanism of the heald selection mechanism is analyzed in detail. The conjugate cam is mapped. The cam profile curve is fitted with cubic spline interpolation. Secondly, based on the overall analysis method and the complex vector method, the kinematics analysis of the key components after the high pair low generation is performed, and the angular displacement and angular velocity of each component are calculated with the rotation of the active cam. Finally, the movement curve diagram is drawn with Matlab, which lays the foundation for the dynamic analysis and in-depth study of the selection mechanism in the future.

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.

INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF A 3-DOF PARALLEL MECHANISM

According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.

Type Synthesis of 4-DOF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method

Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.