DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR PARALLEL MANIPULATOR

Parallel manipulators have many advantages over serial manipulators in termsof high load/weight ratio, velocity, stiffness and precision. A dimensional design theory andmethodology of six degrees of freedom scissor parallel manipulator (SPM) is investigated. The SPMkinematics inverse equation is given. Based on the formulation of the local dexterity and thedefinition about the indexes of workspace incircle radius, the effects of the design parameters onthe dexterity and workspace are discussed. Moreover the incircle radius change ratio about workspaceare defined and used as the evaluated indicator to analyze the effects of the design parameters onthe performances. A dimensional design theory that could satisfy the requirement of dexterity andworkspace is proposed. The dimensional design theory and methodology can be of help in the design,trajectory planning and control of parallel manipulator.

INVERSE DYNAMIC FORMULATION OF A NOVEL HYBRID MACHINE TOOL

In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool underconsideration consists of parallel and serial structures, which is based on a new 2-DOF parallelplatform and serial orientations. The kinematics and the dynamic equations are studied first for theparallel structure through Newton-Euler approach. And then, the dynamic analysis for serialstructures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using someelimination techniques. Some simulation results are also given.

EXPERIMENTAL STUDY ON THE LOAD DECAY AND ITS EFFECT ON LEAK RATE OFO-RING

Experimental studies on load decay and leak rate of O-rings made of two kindsof silicone rubber are conducted. The results show that the characteristic of load decay isrelative to the material and temperature of O-rings; the rate of load decay increases with the riseof temperature; the effects of load decay on leak rate of O-rings are negligible at roomtemperature, but they are notable at high temperature, and they are related to the material ofO-rings. On the basis of study on the theory of load decay and analysis to the results ofexperiments, a theoretical model is developed to describe the load decay characteristic of O-rings,and it matches the experimental data very well. By the study of time-temperature equivalence of loaddecay, the interconvertting equation of test data of load decay at different temperatures isobtained.

DISPERSION OF NANODIAMOND IN AQUEOUS SYSTEM

The effect of Chemical Mechanical Modification (CMM) and dispersants on the ζ potential of nanodiamond particles in aqueous system and the influence of the ultrasonic or shearing techniques on its size distribution were studied CMM and the addition of dispersants AD 2 and AD 8 improve the stability of its suspension With ultrasonic time prolonged, the mean average size of nanodiamond decreases, while with the prolongation of shearing time, its mean size decreases first, then increases a little In the speed range used, the mean size decreases with the rising speed If the whole ultrasonic time kept constant, it is better to add the dispersants before

Analysis of Maneuvering Flight of an Insect

Wing motion of a dragonfly in the maneuvering flight, which was measured by Wang et al. [1]was investigated. Equations of motion for a maneuvering flight of an insect were derived. These equations were applied for analyzing the maneuvering flight. Inertial forces and moments acting on a body and wings were estimated by using these equations and the measured motions of the body and the wings. The results indicated the following characteristics of this flight: (1)The phase difference in flapping motion between the two fore wings and two hind wings, and the phase difference between the flapping motion and the feathering motion of the four wings are equal to those in a steady forward flight with the maximum efficiency. (2)The camber change and the feathering motion were mainly controlled by muscles at the wing bases.

On a New Class of Self-Referencing, 1/τ Atomic Clocks

The merit of a modern atomic clock is measured by its phase stability. A clock＇s absolute time-keeping uncertainty typically worsens over its operating time τ as Δτα√τ, with an Allan deviation of sy σy（τ）=Δτ/τατ^-1/2. Here we analyze a new class of self-referencing clocks, whose phase is locked to itself after a certain time delay. We show that the Allan deviation of such clocks decreases as 1/τ over a long and controllable operating time. This class of clocks can maintain synchronization over a prolonged period with only a fixed, almost non-increasing, absolute uncertainty, forming an ideal time-piece.

A Study of the Fitting Accuracy of the Active Reflector for a Large Spherical Radio Telescope

We propose a spatial three-degree-of-freedom (DOF) parallel mechanism combining two degrees of rotations and one degree of translation to support the active reflector units of a large spherical radio telescope. The kinematics, workspace and accuracy of the mechanism are analyzed. One-dimensional and two-dimensional fitting errors to the working region of active reflector are investigated. Dimensional parameters of the mechanism and active reflector unit are examined with respect to the requirement of fitting accuracy. The result of accuracy analysis shows the effectiveness and feasibility of the proposed mechanism, and gives a design rule to guarantee the highest working frequency required by large radio telescope.