Review of Technical Solutions for Parallel Mechanisms with Flexible Links (Cable-Driven Robots (CDR))

2022 ◽  
pp. 369-378
Author(s):  
Vyacheslav A. Borisov ◽  
Vladimir S. Ramzhaev ◽  
Sergey V. Levin ◽  
Natalia L. Kovaleva
Keyword(s):  
Parallel Mechanisms ◽  
Flexible Links ◽  
Technical Solutions

Dynamic Modeling and Simulation of Parallel Mechanisms Using the Virtual Spring Approach

2000 ◽  
Author(s):  
Jiegao Wang ◽  
Clément M. Gosselin ◽  
Li Cheng
Keyword(s):  
Closed Loop ◽  
Differential Algebraic Equations ◽  
Parallel Mechanisms ◽  
Algebraic Equations ◽  
New Approach ◽  
Flexible Links ◽  
Simulation Results ◽  
Loop Constraints ◽  
Virtual Springs ◽  
Good Agreement

Abstract A new approach for the dynamic simulation of parallel mechanisms or mechanical systems is presented in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Examples illustrating the approach are given and include the four-bar mechanism with both rigid and flexible links as well as the 6-dof Gough-Stewart platform. Simulation results are given for the four-bar linkages and the 6-dof manipulator. The results achieve a good agreement with the results obtained from other conventional approaches.

scholarly journals Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links

2018 ◽  
Vol 2018 ◽  
pp. 1-17 ◽  
Author(s):  
Chen Xiulong ◽  
Jia Yonghao ◽  
Deng Yu ◽  
Wang Qing
Keyword(s):  
Parallel Mechanism ◽  
Dynamic Responses ◽  
Joint Clearance ◽  
Parallel Mechanisms ◽  
Nonlinear Dynamic Model ◽  
Lagrange Method ◽  
Flexible Links ◽  
Spatial Parallel Mechanism ◽  
Collision Force ◽  
Motion Characteristics

In this study, the dynamics behaviors analysis of parallel mechanism considering joint clearance and flexible links are investigated using a computational methodology. The nonlinear dynamic model of 4-UPS-RPS spatial parallel mechanism with clearance in spherical joint and flexible links is established by combining KED method and Lagrange method. The dynamic responses including collision force and motion characteristics of the moving platform are obtained. Chaos and bifurcation are analyzed. The effects of different clearances on the dynamics behaviors of the parallel mechanism are studied. The results show that 4-UPS-RPS spatial parallel mechanism is very sensitive to joint clearance and flexible links, and small variations in the clearance value can cause the mechanism change from periodic motion to chaotic motion. This research provides a methodology for forecasting the dynamics behavior of parallel mechanisms with clearance and flexible links.

On-line image readout in CTEM

1994 ◽  
Vol 52 ◽  
pp. 400-401
Author(s):  
K.-H. Herrmann ◽  
W. D. Rau ◽  
R. Sikeler
Keyword(s):  
Primary Electron ◽  
Digital Information ◽  
Electron Hole ◽  
Detection Technology ◽  
Long Time ◽  
On Line ◽  
Electron Image ◽  
Optical Transfer ◽  
Detection Quantum Efficiency ◽  
Technical Solutions

Quantitative recording of electron patterns and their rapid conversion into digital information is an outstanding goal which the photoplate fails to solve satisfactorily. For a long time, LLL-TV cameras have been used for EM adjustment but due to their inferior pixel number they were never a real alternative to the photoplate. This situation has changed with the availability of scientific grade slow-scan charged coupled devices (CCD) with pixel numbers exceeding 106, photometric accuracy and, by Peltier cooling, both excellent storage and noise figures previously inaccessible in image detection technology. Again the electron image is converted into a photon image fed to the CCD by some light optical transfer link. Subsequently, some technical solutions are discussed using the detection quantum efficiency (DQE), resolution, pixel number and exposure range as figures of merit.A key quantity is the number of electron-hole pairs released in the CCD sensor by a single primary electron (PE) which can be estimated from the energy deposit ΔE in the scintillator,

An experience of elaboration and implementation of systems of slag-forming mixtures mechanized feeding into CCM moulds

2020 ◽  
Vol 76 (10) ◽  
pp. 994-1003
Author(s):  
S. P. Eron’ko ◽  
M. Yu. Tkachev ◽  
E. V. Oshovskaya ◽  
B. I. Starodubtsev ◽  
S. V. Mechik
Keyword(s):  
Economic Effect ◽  
Three Dimensional ◽  
Movable Part ◽  
High Quality ◽  
Working Zone ◽  
Fine Material ◽  
Mixing Chamber ◽  
Field Samples ◽  
Technical Solutions ◽  
Feeding Systems

Effective application of slag-forming mixtures (SFM), being fed into continuous castingg machine (CCM) moulds, depends on their even distribution on the melt surface. Manual feeding of the SFM which is widely usedd does not provide this condition, resulting in the necessity to actualize the work to elaborate systems of SFM mechanized feedingg into moulds of various types CCM. A concept of the designing of a system of SFM feeding into CCM moulds presented with the ratte strictly correspondent to the casting speed and providing formation of an even layer of fine material of given thickness on the whoole surface of liquid steel. The proposed methods of designing of the SFM mechanized feeding systems based on three-dimensional computer simulation with the subsequent verification of the correctness of the adopted technical solutions on field samples. Informattion is presented on the design features of the adjusted facilities intended for continuous supply of finely granulated and powder mixtuures on metal mirror in moulds at the production of high-quality billets, blooms and slabs. Variants of mechanical and pneumo-mechaanical SFM supply elaborated. At the mechanical supply the fine material from the feeding hopper is moved at a adjusted distance bby a rigid horizontally located screw. At the pneumo-mechanical supply the metered doze of the granular mixture is delivered by a sshort vertical screw, the lower part of which is located in the mixing chamber attached from below to the hopper and equipped with ann ejector serving for pneumatic supply of the SFM in a stream of transporting gas. It was proposed to use flexible spiral screws in the ffuture facilities of mechanical SFM feeding. It will enable to eliminate the restrictions stipulated by the lack of free surface for locatiion of the facility in the working zone of the tundish, as well as to decrease significantly the mass of its movable part and to decreaase the necessary power of the carriage moving mechanism driver. The novelty of the proposed technical solutions is protected by thhree patents. The reduction of 10–15% in the consumption of slag-forming mixtures during the transition from manual to mechanizeed feeding confirmed. The resulting economic effect from the implementation of technical development enables to recoup the costs inncurred within 8–10 months.

Increase of resistance of piercing mill mandrels at seamless pipes production of 13Cr grade martensite class stainless steel at line ТПА 159‒426 of JSC VTZ

2020 ◽  
Vol 76 (12) ◽  
pp. 1259-1264
Author(s):  
I. I. Lube ◽  
N. V. Trutnev ◽  
S. V. Tumashev ◽  
A. V. Krasikov ◽  
A. G. Ul’yanov ◽  
...  
Keyword(s):  
Chemical Composition ◽  
Oil And Gas ◽  
Cobalt Content ◽  
Pipe Plant ◽  
Piercing Mill ◽  
Steel Strength ◽  
New Material ◽  
Chemical Composition Of Steel ◽  
Technical Solutions ◽  
Grade Steel

At production of pipes of type 13Cr grade steel used at development of oil and gas deposits in areas with aggressive environment, intensive wear of instrument takes place, first of all, piercing mill mandrels. Factors, influencing the resistivity of the piercing mandrels considered, including chemical composition of the material, the mandrel is made of and its design. Based on industrial experience it was shown, that chrome content in the mandrel material practically does not affect on the increase of its resistivity, since the formed thin protective oxides having high melting temperature, are quickly failed and practically are not restored in the process of piercing. To increase the resistivity of piercing mandrels at production of casing tubes of type 13Cr grade steel, a work was accomplished to select a new material for their manufacturing. The chemical composition of steel presented, which was traditionally used for piercing mandrels manufacturing, as well as a steel grade proposed to increase their resistivity. First, molybdenum content was increased, which increases the characteristics of steel strength and ductility at high temperatures and results in grain refining. Second, tungsten content was also increased, which forms carbides in the steel resulting in an increase of its hardness and “red resistivity”, as well as in preventing grains growth during heating. Third, cobalt content was also increased, which increases heat resistivity and shock loads resistivity. The three elements increase enabled to increase the mandrels resistivity by two times. Results of mandrel test of steel 20ХН2МВ3КБ presented, the mandrel having corrugation on the working cone surface, which enabled to reach the resistivity growth to 12 passes without significant change of instrument cost. Microstructure of mandrels made of steels 20Х2Н4МФА and 20ХН2МВ3КБ shown. Application of the centering pin of special design was tested, which provided forming of a rounding edge on the front billet ends, eliminated undercut of mandrel external surface in the process of secondary billet grip and increase the service life of the piercing mill mandrels. At production of seamless pipes of martensite class type 13Cr stainless steels having L80 group of strength, an increase of piercing mandrel resistivity was reached by more than four times, which together with other technical solutions enabled to increase the hourly productivity of the hot rolling section of Volzhsky pipe plant ТПА 159-426 line by more than two times.

Status and development prospects of standard means for reproducing units of volumetric activity of radon and thoron and radon flux density from the soil surface

2020 ◽  
pp. 69-73
Author(s):  
S.G. Birjukov ◽  
O.I. Kovalenko ◽  
A.A. Orlov
Keyword(s):  
Flux Density ◽  
Soil Surface ◽  
National Standards ◽  
Measuring Instruments ◽  
Volumetric Activity ◽  
Standard Means ◽  
Radon Flux ◽  
Technical Solutions ◽  
Development Prospects ◽  
Physical Principles

The approach to creating standard means for reproducing units of volumetric activity of radon and thoron and flux density of radon from the soil surface is described based on the physical principles of reproducing these units of quantities and using as technical means for reproducing bubblers with a radioactive solution of radium salt, reference capacities of known volume, emanation chambers for generation of a toron, a gamma spectrometer with a semiconductor detector from highly pure germanium and radon radiometers. Reproduction consists in the physical realization of units in accordance with their definition as applied to the formation of radon and thoron in the radioactive rows of radium and thorium. The proposed approach will allow to determine the structural, structural and other technical solutions of standard measuring instruments, as well as specific techniques and methods of working with them. The creation of standard tools and technologies for reproducing units of volumetric activity of radon and thoron and the density of radon flux from the soil surface will ensure the unity and reliability of measurements in the field of ionizing radiation, traceability of units and bringing the characteristics of national standards in line with world achievements.

Energy Management of Electromechanical Systems on the Board of a Ship

2020 ◽  
Vol 26 (3) ◽  
pp. 14-19
Author(s):  
Laurențiu Bogdan Asalomia ◽  
Gheorghe Samoilescu
Keyword(s):  
Energy Management ◽  
Management System ◽  
Integrated Management ◽  
Integrated Management System ◽  
Management Actions ◽  
Energy Flows ◽  
Reduce Emissions ◽  
Technical Solutions ◽  
Productive Time

AbstractThe paper analyzes, starting from the Integrated Management System, the role of automation, the role of the officer and the role of the Energy Management System on board the ship. The implementation of an EnMS establishes the structure and discipline of identifying energy flows, implementing management actions and, finally, applying technical solutions, which significantly reduce energy costs, reduce non-productive time in production, and reduce emissions. of Greenhouse Gases in the environment. The steps to be highlighted in the realization of energy management are analyzed.

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