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A novel spherical parallel manipulator (SPM), named Riflex, is designed and studied in this paper. Compared with the traditional SPMs, this novel SPM is composed of one rigid supporting limb and three flexible limbs, this type SPM has a great potential application in medical equipment and rehabilitation robots. The kinematics analysis, the numerical simulation of the kinematic analysis and the potential...
This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried...
In this paper, a static catastrophe problem for submarines is considered, where the near-surface motion model is studied. At the equilibrium points, center manifold theory is used to reduce the motion equations to a lower layer system which contains all dynamic properties of the original system. Then, transcritical bifurcation and static catastrophe are determined. To suppress nonlinear phenomena,...
The paper presents the design and analysis of a novel compliant flexure-based totally decoupled XY micro-positioning stage which is driven by electromagnetic actuators. The stage is constructed with a very simple structure by employing double parallelogram flexures and four contactless electromagnetic force actuators. The kinematics and dynamic modeling of the mechanical system of the stage are conducted...
Micro-injection of DNA/mRNA/Morpholinos is a critical technology for biomedical engineering. When dealing with suspended cells, manual injection has a lot of defects such as low efficiency, poor reproducibility and tedious sample preparation procedure. The method of visual servo control has been adopted by more and more researchers, since its virtue of non-contact and low cost. However, the hard nuts...
The paper presents the design and analysis of a micro-gripper which has absolutely parallel movement of the gripping arms when it grasps or releases micro objects. By employing a compact displacement amplifier and several flexure supporting hinges, a novel gripper with simple symmetrical structure driven by piezoelectric actuators has been designed. The kinematics and dynamic modeling of the gripper...
This paper introduces a method and steps based on Pro / E parametric drive to forming involute modified spur gear, with the same way to tbdy automatically generate model of base circle larger and smaller than root circle, simplify the procedures, And it can be done automatic generation of pressure angle, the value of involute function and teeth thick at a radius and given radius of gear.
A novel 2-RRC+SPS parallel manipulator with three translational movements is proposed. The kinematics and dynamics of the manipulator is analyzed. According to its geometric model, a kinematic equation is derived, from which can obtain direct and inverse solution of position. The inverse solution of velocity and acceleration are also derived. The dynamic equation of the manipulator based on the Lagrange...
In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange...
Risk assessment is applied to the study of urban waterlogging. A series of methods which are suitable for the risk study of urban waterlogging are presented. Based on the hydraulic model built by InfoWorks Collection System software, the situation of normal state/ pump failure under special return period is simulated. Also, the seeper depth and recoverability theory are selected as the quantitative...
Dynamic control of the underactuated flexible robot in operational space is implemented with robot end variables directly used as the control objectives. Firstly, the dynamic equations in operational space are derived using the assumed modes method. Kinematics and dynamics of the system are analyzed. Secondly, position control method is proposed based on the dynamic model in operational space. Then,...
The aquatic environment is a complicated system with uncertainty. The study of uncertainty in water quality modeling can improve peoplepsilas understanding of the nature of the aquatic environment and it is important to the development of water quality modeling. The typology and sources of uncertainty is represented to improve the understanding and characterizing of the uncertainty in water quality...
System dynamics (SD) approach for developing zone water demand forecasting was developed based on the analysis of its water resources system which has multi-feedback and nonlinear interactions amongst system elements. As an example, Tianjin Binhai Linkong water resource system dynamic (SD) model was set up according its dual water supply feasibility and necessary and different quality water demand...
This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic formula of the manipulator is gotten by the...
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