A Multi-mode Mobile Parallel Mechanism Based on Planar 6R

Purpose This study aims to make the mobile robot better adapt to the patrol and monitoring in industrial field substation area, a multi-mode mobile carrying mechanism which can carrying data collector, camera and other equipment is designed. Design/methodology/approach Based on the geometric axis analysis and interference analysis, the multi-mode mobile carrying mechanism is designed. The screw constraint topological theory and zero-moment point (ZMP) theory is used to kinematic analysis in mechanism mobile process. Findings The mobile carrying mechanism can realize the folding movement, hexagonal rolling and quadrilateral rolling movement. A series of simulation and prototype experiment results verify the feasibility and actual error of the design analysis. Originality/value The work of this paper provides a mobile carrying mechanism for carrying different data acquisition equipment and surveillance camera in industrial field substation zone. It has excellent folding performance and mobile capabilities. The mobile carrying mechanism reduces the workload of human being and injuries suffered by workers in industrial substation area.

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Type Synthesis of Multi-mode Mobile Parallel Mechanism Based on Planar 4R Single-loop Kinematic Chains

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering - CACRE2019 ◽

10.1145/3351917.3351920 ◽

2019 ◽

Author(s):

Xiangyu Liu ◽

Chunyan Zhang ◽

Cong Ni

Keyword(s):

Parallel Mechanism ◽

Type Synthesis ◽

Single Loop ◽

Kinematic Chains ◽

Multi Mode

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A Multi-mode Parallel Mechanism with Kinematically Bifurcated Closed-chains

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence - RICAI 2019 ◽

10.1145/3366194.3366227 ◽

2019 ◽

Author(s):

Wang Yan ◽

Xu Yong ◽

Dong Fei

Keyword(s):

Parallel Mechanism ◽

Multi Mode

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Multi-mode light microscopy of microtubule assembly dynamics and chromosome movement in vivo and In vitro

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100166117 ◽

1996 ◽

Vol 54 ◽

pp. 730-731

Author(s):

E. D. Salmon ◽

J. C. Waters ◽

C. Waterman-Storer

Keyword(s):

Imaging System ◽

Ccd Camera ◽

Transmitted Light ◽

Microtubule Assembly ◽

Live Cells ◽

Optical Efficiency ◽

Multiple Band ◽

Multi Mode

We have developed a multi-mode digital imaging system which acquires images with a cooled CCD camera (Figure 1). A multiple band pass dichromatic mirror and robotically controlled filter wheels provide wavelength selection for epi-fluorescence. Shutters select illumination either by epi-fluorescence or by transmitted light for phase contrast or DIC. Many of our experiments involve investigations of spindle assembly dynamics and chromosome movements in live cells or unfixed reconstituted preparations in vitro in which photodamage and phototoxicity are major concerns. As a consequence, a major factor in the design was optical efficiency: achieving the highest image quality with the least number of illumination photons. This principle applies to both epi-fluorescence and transmitted light imaging modes. In living cells and extracts, microtubules are visualized using X-rhodamine labeled tubulin. Photoactivation of C2CF-fluorescein labeled tubulin is used to locally mark microtubules in studies of microtubule dynamics and translocation. Chromosomes are labeled with DAPI or Hoechst DNA intercalating dyes.

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