scholarly journals Kinematic analysis of a hyper-redundant robot with application in vertical farming

2021 ◽  
Vol 1190 (1) ◽  
pp. 012014
Author(s):  
Ciprian Lapusan ◽  
Ciprian Rad ◽  
Olimpiu Hancu
2003 ◽  
Vol 2003.4 (0) ◽  
pp. 163-164
Author(s):  
Norifumi Nishizaka ◽  
Nobuyuki Iwatsuki ◽  
Kouichi Morikawa ◽  
Koji Kondo

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin

This paper introduces a new architecture of spherical parallel robot which significantly extends the workspace when compared to existing architectures. To this end, the singularity locus is studied and the design parameters are chosen so as to confine the singularities to areas already limited by other constraints such as mechanical interferences. First, the architecture of the spherical redundant robot is presented and the Jacobian matrices are derived. Afterwards, the analysis of the singularities is addressed from a geometric point of view, which yields a description of the singularity locus expressed as a function of the architectural parameters. Then, the results are applied to an example set of architectural parameters, which are chosen in order to illustrate the advantages of the redundant architecture over current designs in terms of workspace.


Author(s):  
L. -M. Peng ◽  
M. J. Whelan

In recent years there has been a trend in the structure determination of reconstructed surfaces to use high energy electron diffraction techniques, and to employ a kinematic approximation in analyzing the intensities of surface superlattice reflections. Experimentally this is motivated by the great success of the determination of the dimer adatom stacking fault (DAS) structure of the Si(111) 7 × 7 reconstructed surface.While in the case of transmission electron diffraction (TED) the validity of the kinematic approximation has been examined by using multislice calculations for Si and certain incident beam directions, far less has been done in the reflection high energy electron diffraction (RHEED) case. In this paper we aim to provide a thorough Bloch wave analysis of the various diffraction processes involved, and to set criteria on the validity for the kinematic analysis of the intensities of the surface superlattice reflections.The validity of the kinematic analysis, being common to both the TED and RHEED case, relies primarily on two underlying observations, namely (l)the surface superlattice scattering in the selvedge is kinematically dominating, and (2)the superlattice diffracted beams are uncoupled from the fundamental diffracted beams within the bulk.


2008 ◽  
Author(s):  
Connie E. Myerson ◽  
Eniko K. Toth ◽  
Joseph M. Wasserman ◽  
W.D. Dietrich ◽  
Edward J. Green

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