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To overcome the weakness of the present methods of singularity avoidance for 3-RRR planar parallel manipulator (PPM), a new method of avoiding singular points on planed paths in workspace via orientation perturbation to moving platforms is proposed. First, an inverse kinematics model of 3-RRR PPM is built. A discriminant matrix of type II singularity is specified and the mapping between determinant...
Backward erosion piping is an important failure mechanism in both dikes and dams where sandy layers are covered by a cohesive layer. Shallow pipes are formed at the interface of the sandy or silty layer and the cohesive cover layer. As a pipe is formed, a zone of disturbed sand grains forms around it, which may have an effect on the equilibrium of forces on the grains at the tip and walls of the pipe...
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