Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation

2013 ◽  
Vol 228 (11) ◽  
pp. 2018-2035 ◽  
Author(s):  
Kyoosik Shin ◽  
Byung-Ju Yi ◽  
Wheekuk Kim
Keyword(s):  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Line Geometry ◽  
Kinematic Coupling ◽  
Different Types ◽  
Grassmann Line Geometry ◽  
Minimum Number ◽  
Redundant Actuators ◽  
Grassmann Cayley Algebra

Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are derived. After briefly addressing conditions for their constraint singularities, Grassmann–Cayley algebra is employed to identify parallel singularities. Then, employing Grassmann line geometry, the locations and the minimum number of redundant actuators are identified for the parallel mechanisms to have parallel singularity-free workspace. Three different types of 3-degree-of-freedom parallel mechanisms such as planar, spherical, and spatial parallel mechanisms are given as exemplary devices.

Combinatorial Method for Characterizing Singular Configurations in Parallel Mechanisms

2015 ◽  
Author(s):  
Avshalom Sheffer ◽  
Offer Shai
Keyword(s):  
Singularity Analysis ◽  
Parallel Mechanisms ◽  
Line Geometry ◽  
Combinatorial Method ◽  
Combinatorial Characterization ◽  
Singular Configurations ◽  
Grassmann Line Geometry ◽  
2D And 3D ◽  
Grassmann Cayley Algebra

The paper presents a method for finding the different singular configurations of several types of parallel mechanisms/robots using the combinatorial method. The main topics of the combinatorial method being used are: equimomental line/screw, self-stresses, Dual Kennedy theorem and circle, and various types of 2D and 3D Assur Graphs such as: triad, tetrad and double triad. The paper introduces combinatorial characterization of 3/6 SP and compares it to singularity analysis of 3/6 SP using Grassmann Line Geometry and Grassmann-Cayley Algebra. Finally, the proposed method is applied for characterizing the singular configurations of more complex parallel mechanisms such as 3D tetrad and 3D double-triad.

Singularity Analysis of 5-RPRRR Parallel Mechanisms via Grassmann Line Geometry

2009 ◽  
Author(s):  
Mehdi Tale Masouleh ◽  
Cle´ment Gosselin
Keyword(s):  
Jacobian Matrix ◽  
Singularity Analysis ◽  
Degree Of Freedom ◽  
General Mechanism ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Line Geometry ◽  
Singular Configurations ◽  
Highly Nonlinear ◽  
Grassmann Line Geometry

This paper investigates the singular configurations of five-degree-of-freedom parallel mechanisms generating the 3T2R motion and comprising five identical legs of the RPUR type. The general mechanism was recently revealed by performing the type synthesis for symmetrical 5-DOF parallel mechanisms. In this study, some simplified designs are proposed for which the singular configurations can be predicted by means of the so-called Grassmann line geometry. This technique can be regarded as a powerful tool for analyzing the degeneration of the Plu¨cker screw set. The main focus of this contribution is to predict the actuation singularity, for a general and simplified design, without expanding the determinant of the inverse Jacobian matrix (actuated constraints system) which is highly nonlinear and difficult to analyze.

scholarly journals A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Yongquan Li ◽  
Yang Zhang ◽  
Lijie Zhang
Keyword(s):  
Closed Loop ◽  
Screw Theory ◽  
Line Graph ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Allocation Criteria ◽  
Grassmann Line Geometry ◽  
Moving Platform ◽  
Atlas Method

Abstract The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multiple getting intersection and union to complete type synthesis. The number of redundant parallel mechanisms obtained by these two methods is limited. In this paper, based on Grassmann line geometry and Atlas method, a novel and effective method for type synthesis of redundant actuated parallel mechanisms (PMs) with closed-loop units is proposed. Firstly, the degree of freedom (DOF) and constraint line graph of the moving platform are determined successively, and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph, and a branch constraint allocation scheme is formulated based on the allocation criteria. Secondly, a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units. Finally, the branch chains that meet the requirements of branch chains configuration criteria and F&C (degree of freedom & constraint) line graph are assembled. In this paper, two types of 2 rotational and 1 translational (2R1T) redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational (2T1R) redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples, and 238, 92 and 15 new configurations were synthesized. All the mechanisms contain closed-loop units, and the mechanisms and the actuators both have good symmetry. Therefore, all the mechanisms have excellent comprehensive performance, in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled. The instantaneous analysis shows that all mechanisms are not instantaneous, which proves the feasibility and practicability of the method.

On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry

2012 ◽  
Author(s):  
Yu Zou ◽  
Yuru Zhang ◽  
Yaojun Zhang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Singularity Analysis ◽  
Geometric Meaning ◽  
Parallel Mechanisms ◽  
Line Geometry ◽  
Singular Configurations ◽  
Negative Effect ◽  
Grassmann Line Geometry ◽  
Grassmann Geometry

This paper deals with the design of singularity-free cable-driven parallel mechanism. Due to the negative effect on the performance, singularities should be avoided in the design. The singular configurations of mechanisms can be numerically determined by calculating the rank of its Jacobian matrix. However, this method is inefficient and non-intuitive. In this paper, we investigate the singularities of planar and spatial cable-driven parallel mechanisms using Grassmann line geometry. Considering cables as line vectors in projective space, the singularity conditions are identified with clear geometric meaning which results in useful method for singularity analysis of the cable-driven parallel mechanisms. The method is applied to 3-DOF planar and 6-DOF spatial cable-driven mechanisms to determine their singular configurations. The results show that the singularities of both mechanisms can be eliminated by changing the dimensions of the mechanisms or adding extra cables.

Participatory Mapping in Browns Canyon National Monument, Colorado (USA)

2017 ◽  
Vol 1 (1) ◽  
pp. 1-16
Author(s):  
John Harner ◽  
Lee Cerveny ◽  
Rebecca Gronewold
Keyword(s):  
Land Management ◽  
Planning Process ◽  
Management Plan ◽  
Bureau Of Land Management ◽  
National Monument ◽  
Resource Managers ◽  
Different Types ◽  
Us Forest Service ◽  
Natural Resource Managers

Natural resource managers need up-to-date information about how people interact with public lands and the meanings these places hold for use in planning and decision-making. This case study explains the use of public participatory Geographic Information System (GIS) to generate and analyze spatial patterns of the uses and values people hold for the Browns Canyon National Monument in Colorado. Participants drew on maps and answered questions at both live community meetings and online sessions to develop a series of maps showing detailed responses to different types of resource uses and landscape values. Results can be disaggregated by interaction types, different meaningful values, respondent characteristics, seasonality, or frequency of visit. The study was a test for the Bureau of Land Management and US Forest Service, who jointly manage the monument as they prepare their land management plan. If the information generated is as helpful throughout the entire planning process as initial responses seem, this protocol could become a component of the Bureau’s planning tool kit.

Effective Altruism

2019 ◽  
Keyword(s):  
Animal Welfare ◽  
Poverty Alleviation ◽  
Future Generations ◽  
Global Poverty ◽  
Global Community ◽  
Helping Others ◽  
The World ◽  
Different Types ◽  
Effective Altruism

The effective altruism movement consists of a growing global community of people who organize significant parts of their lives around two key ideas, represented in its name. Altruism: If we use a significant portion of the resources in our possession—whether money, time, or talents—with a view to helping others, we can improve the world considerably. Effectiveness: When we do put such resources to altruistic use, it is crucial to focus on how much good this or that intervention is reasonably expected to do per unit of resource expended (for example, per dollar donated). While global poverty is a widely used case study in introducing and motivating effective altruism, if the ultimate aim is to do the most good one can with the resources expended, it is far from obvious that global poverty alleviation is highest priority cause area. In addition to ranking possible poverty-alleviation interventions against one another, we can also try to rank interventions aimed at very different types of outcome against one another. This includes, for example, interventions focusing on animal welfare or future generations. The scale and organization of the effective altruism movement encourage careful dialogue on questions that have perhaps long been there, throwing them into new and sharper relief, and giving rise to previously unnoticed questions. In the present volume, the first of its kind, a group of internationally recognized philosophers, economists, and political theorists contribute in-depth explorations of issues that arise once one takes seriously the twin ideas of altruistic commitment and effectiveness.

Transdiagnostic Approaches With Children

2018 ◽  
Author(s):  
Andrea B. Temkin ◽  
Mina Yadegar ◽  
Christine Cho ◽  
Brian C. Chu
Keyword(s):  
Mental Disorders ◽  
Externalizing Symptoms ◽  
Case Conceptualization ◽  
Common Elements ◽  
Transdiagnostic Treatment ◽  
Treatment Models ◽  
Different Types ◽  
Internalizing And Externalizing ◽  
Internalizing And Externalizing Symptoms

In recent years, the field of clinical psychology has seen a growing movement toward the research and development of transdiagnostic treatments. Transdiagnostic approaches have the potential to address numerous issues related to the development and treatment of mental disorders. Among these are the high rates of comorbidity across disorders, the increasing need for efficient protocols, and the call for treatments that can be more easily disseminated. This chapter provides a review of the current transdiagnostic treatment approaches for the treatment of youth mental disorders. Three different types of transdiagnostic protocols are examined: mechanism-based protocols, common elements treatments, and general treatment models that originated from single-disorder approaches to have broader reach. A case study illuminates how a mechanism-based approach would inform case conceptualization for a client presenting with internalizing and externalizing symptoms and how a transdiagnostic framework translates into practice.

scholarly journals Model-Based Probabilistic Inversion Using Magnetic Data: A Case Study on the Kevitsa Deposit

Geosciences ◽  
2021 ◽  
Vol 11 (4) ◽  
pp. 150
Author(s):  
Nilgün Güdük ◽  
Miguel de la Varga ◽  
Janne Kaukolinna ◽  
Florian Wellmann
Keyword(s):  
Structural Parameters ◽  
Rock Properties ◽  
Magnetic Data ◽  
Geological Model ◽  
Borehole Data ◽  
Likelihood Functions ◽  
Different Types ◽  
Geophysical Information ◽  
Different Sources

Structural geological models are widely used to represent relevant geological interfaces and property distributions in the subsurface. Considering the inherent uncertainty of these models, the non-uniqueness of geophysical inverse problems, and the growing availability of data, there is a need for methods that integrate different types of data consistently and consider the uncertainties quantitatively. Probabilistic inference provides a suitable tool for this purpose. Using a Bayesian framework, geological modeling can be considered as an integral part of the inversion and thereby naturally constrain geophysical inversion procedures. This integration prevents geologically unrealistic results and provides the opportunity to include geological and geophysical information in the inversion. This information can be from different sources and is added to the framework through likelihood functions. We applied this methodology to the structurally complex Kevitsa deposit in Finland. We started with an interpretation-based 3D geological model and defined the uncertainties in our geological model through probability density functions. Airborne magnetic data and geological interpretations of borehole data were used to define geophysical and geological likelihoods, respectively. The geophysical data were linked to the uncertain structural parameters through the rock properties. The result of the inverse problem was an ensemble of realized models. These structural models and their uncertainties are visualized using information entropy, which allows for quantitative analysis. Our results show that with our methodology, we can use well-defined likelihood functions to add meaningful information to our initial model without requiring a computationally-heavy full grid inversion, discrepancies between model and data are spotted more easily, and the complementary strength of different types of data can be integrated into one framework.

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