scholarly journals Force sensitivity analysis and scale design of Stewart parallel manipulator

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110359
Author(s):  
Yuheng Wang ◽  
Xiaoqiang Tang ◽  
Chengyuan Xiang ◽  
Senhao Hou
Keyword(s):  
Parallel Manipulator ◽  
Optimization Design ◽  
Parallel Robots ◽  
Sensitivity Index ◽  
Force Transmission ◽  
Force Sensitivity ◽  
Experimental Values ◽  
Static Conditions ◽  
Scale Design ◽  
The Relationship

There are many indices for evaluating the operational performance of parallel robots, but most of them start from kinematics and rarely pay special attention to the force transmission process. After studying the relationship and characteristics of the forward and reverse force transmission of the Stewart parallel manipulator under quasi-static conditions, three new indices are proposed in this paper, which are forward force sensitivity, reverse force sensitivity, and overall force sensitivity. Subsequently, the influences of six parameters on the overall force sensitivity index are analyzed. Furthermore, this paper propose three new structural optimization design schemes based on the three newly proposed indices. Finally, it is verified experimentally that the unit reverse force sensitivity of a single joint is consistent with the theory and the error between the theoretical and experimental values is obtained.

Multi-Center Calibration of the Second Reference Material for Thromboplastin, Rabbit, Plain, Coded CRM 149R

1991 ◽  
Vol 65 (03) ◽  
pp. 263-267 ◽  
Author(s):  
A M H P van den Besselaar ◽  
R M Bertina
Keyword(s):  
Reference Material ◽  
Standard Error ◽  
Standard Errors ◽  
Sensitivity Index ◽  
Long Term Stability ◽  
Significant Bias ◽  
The Mean ◽  
The Relationship ◽  
International Sensitivity Index

SummaryIn a collaborative trial of eleven laboratories which was performed mainly within the framework of the European Community Bureau of Reference (BCR), a second reference material for thromboplastin, rabbit, plain, was calibrated against its predecessor RBT/79. This second reference material (coded CRM 149R) has a mean International Sensitivity Index (ISI) of 1.343 with a standard error of the mean of 0.035. The standard error of the ISI was determined by combination of the standard errors of the ISI of RBT/79 and the slope of the calibration line in this trial.The BCR reference material for thromboplastin, human, plain (coded BCT/099) was also included in this trial for assessment of the long-term stability of the relationship with RBT/79. The results indicated that this relationship has not changed over a period of 8 years. The interlaboratory variation of the slope of the relationship between CRM 149R and RBT/79 was significantly lower than the variation of the slope of the relationship between BCT/099 and RBT/79. In addition to the manual technique, a semi-automatic coagulometer according to Schnitger & Gross was used to determine prothrombin times with CRM 149R. The mean ISI of CRM 149R was not affected by replacement of the manual technique by this particular coagulometer.Two lyophilized plasmas were included in this trial. The mean slope of relationship between RBT/79 and CRM 149R based on the two lyophilized plasmas was the same as the corresponding slope based on fresh plasmas. Tlowever, the mean slope of relationship between RBT/79 and BCT/099 based on the two lyophilized plasmas was 4.9% higher than the mean slope based on fresh plasmas. Thus, the use of these lyophilized plasmas induced a small but significant bias in the slope of relationship between these thromboplastins of different species.

Transverse Young's Moduli and Cell Shapes in Coniferous Early Wood

Holzforschung ◽  
2002 ◽  
Vol 56 (1) ◽  
pp. 1-6 ◽  
Author(s):  
Ugai Watanabe ◽  
Minoru Fujita ◽  
Misato Norimoto
Keyword(s):  
Young’S Modulus ◽  
Young's Modulus ◽  
Bending Moment ◽  
Cell Models ◽  
Young’S Moduli ◽  
Cell Shapes ◽  
The Difference ◽  
Square Cells ◽  
Experimental Values ◽  
The Relationship

Summary The relationship between transverse Young's moduli and cell shapes in coniferous early wood was investigated using cell models constructed by two dimensional power spectrum analysis. The calculated values of tangential Young's modulus qualitatively explained the relationship between experimental values and density as well as the difference in experimental values among species. The calculated values of radial Young's modulus for the species having hexagonal cells agreed well with the experimental values, whereas, for the species having square cells, the calculated values were much larger than the experimental values. This result was ascribed to the fact that the bending moment on the radial cell wall of square cell models was calculated to be small. It is suggested that the asymmetrical shape of real wood cells or the behavior of nodes during ell deformation is an important factor in the mechanism of linear elastic deformation of wood cells.

Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST

2011 ◽  
Vol 133 (11) ◽  
Author(s):  
Xiaoqiang Tang ◽  
Rui Yao
Keyword(s):  
Radio Telescope ◽  
Parallel Manipulator ◽  
Optimization Design ◽  
Design Method ◽  
Guizhou Province ◽  
Large Span ◽  
Similarity Model ◽  
Dimensional Parameters ◽  
Set Up ◽  
Design Result

China is now building the world’s largest single dish radio telescope in Guizhou province, which is called Five-hundred meter Aperture Spherical radio Telescope (FAST). The main purpose of this paper is to present an effective dimensional design method on the six-cable driven parallel manipulator of FAST. Sensitivity design method is adopted for the six-cable driven parallel manipulator of FAST. Cable has the capability to bear tension but not compression, so that cable driven parallel manipulator may not be controlled as expected if tension of one cable is small or zero. Therefore, for dimensional design of the six-cable driven parallel manipulator, three functions to evaluate tension performance were proposed. The tension performance functions can reflect the uniformity of cable tension and controllability of the six-cable driven parallel manipulator. According to the sensitivity design method and tension performance evaluating functions, a set of optimized dimensional parameters is calculated for constructing the six-cable driven parallel manipulator of FAST. In order to verify the optimization design result, a similarity model of the six-cable driven parallel manipulator was set up in Beijing. A serial of experiments shows that tension performance of the six-cable driven parallel manipulator satisfies the system’s requirement. More importantly, it provides a theoretical reference for further study on dimensional design of a cable driven parallel manipulator with large span.

Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics

2017 ◽  
Vol 44 (6) ◽  
pp. 776-787 ◽  
Author(s):  
Chunxia Zhu ◽  
Jay Katupitiya ◽  
Jing Wang
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Beam Theory ◽  
Parallel Manipulators ◽  
Dynamic Responses ◽  
Axial Deformation ◽  
Content Type ◽  
High Performing ◽  
Coupling Equations ◽  
The Relationship

Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results. Findings The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation. Practical implications Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses. Originality/value This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.

Optimal Design of a 2-UPR-RPU Parallel Manipulator

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Feibo Wang ◽  
Qiaohong Chen ◽  
Qinchuan Li
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Parameter Design ◽  
Optimal Parameters ◽  
Force Transmission ◽  
Universal Joint ◽  
Practical Applications ◽  
Optimum Region ◽  
Dimensional Optimization

This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.

scholarly journals Understanding Human Scale and the Importance of its Relationship with Enclosure

2021 ◽  
Author(s):  
◽  
Austin H. Mackesy-Buckley
Keyword(s):  
Urban Design ◽  
Middle Ages ◽  
Urban Environments ◽  
Design Practice ◽  
Human Scale ◽  
Design Case Study ◽  
Sphere Of Influence ◽  
Scale Design ◽  
The Relationship

<p>The main objective of the research is to better understand the concept of human scale and the role that it has to play in the design of our urban environments. The need for a clearer, less ambiguous understanding of human scale is identified as a result of its poor definition and numerous manifestations across a multitude of literature. Human scale is an important part of design that flourished particularly in the middle ages, but has largely been neglected in the industrial and technological ages. Its remergence comes with the return of consideration for the comfort of people. Yet we cannot successfully apply a concept we do not wholly understand. Human scale is therefore redefined as a collective concept that embodies the multitude of existing definitions and treats them as aspects of a larger theory. As a broader but more comprehensive definition it better facilitates the identification and exploration of relationships with what are currently treated as separate urban design objectives, such as enclosure, in an endeavour to better understand the influence of human scale. The design case study proposes a design that tests the relationship between enclosure and human scale. A large site is chosen to display how human scale operates at urban, as well as architectural and detailed levels. Through aspiring to achieve a thorough human scale design, without any exclusive emphasis on enclosure, the process and the outcome still reveal that the theoretical relationship identified in the research (that aspects of human scale foster the formation of enclosure) is unavoidable in design practice. Enclosure simply results as a consequence of thorough human scale design. The research suggests that many urban design objectives may fall under human scale's sphere of influence meaning it is not a singular concept, but an ethic of design that has many desireable consequences. While the idealistic nature of the design may be unrealistic to achieve at present, it highlights the incompatibilities with contemporary approaches and succeeds in generating discussion.</p>

Singularity robust inverse dynamics of planar 2-RPR parallel manipulators

2004 ◽  
Vol 218 (7) ◽  
pp. 721-730 ◽  
Author(s):  
S Kemal Ider
Keyword(s):  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Full Rank ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dynamic Equations ◽  
Revolute Joints ◽  
Planar Parallel Manipulator ◽  
Pass Through ◽  
Full Utilization

In planar parallel robots, limitations occur in the functional workspace because of interference of the legs with each other and because of drive singularities where the actuators lose control of the moving platform and the actuator forces grow without bounds. A 2-RPR (revolute, prismatic, revolute joints) planar parallel manipulator with two legs that minimizes the interference of the mechanical components is considered. Avoidance of the drive singularities is in general not desirable since it reduces the functional workspace. An inverse dynamics algorithm with singularity robustness is formulated allowing full utilization of the workspace. It is shown that if the trajectory is planned to satisfy certain conditions related to the consistency of the dynamic equations, the manipulator can pass through the drive singularities while the actuator forces remain stable. Furthermore, for finding the actuator forces in the vicinity of the singular positions a full rank modification of the dynamic equations is developed. A deployment motion is analysed to illustrate the proposed approach.

Musculotendinous stiffness: its relationship to eccentric, isometric, and concentric performance

1994 ◽  
Vol 76 (6) ◽  
pp. 2714-2719 ◽  
Author(s):  
G. J. Wilson ◽  
A. J. Murphy ◽  
J. F. Pryor
Keyword(s):  
Bench Press ◽  
Force Production ◽  
Force Transmission ◽  
Trained Subjects ◽  
Damped Oscillations ◽  
And Performance ◽  
Initial Force ◽  
The Relationship ◽  
Maximal Effort ◽  
Musculotendinous Stiffness

The purpose of this study was to quantify the relationship between musculotendinous stiffness and performance in eccentric, isometric, and concentric activities. Thirteen trained subjects performed a series of maximal effort eccentric, concentric, and isometric muscular contractions in a bench press-type movement. Additionally, subjects performed a series of quasi-static muscular contractions in a bench press movement. A brief perturbation was applied to the bar while these isometric efforts were maintained, and the resulting damped oscillations provided data pertaining to each subject's musculotendinous stiffness. Musculotendinous stiffness was significantly related to isometric and concentric performance (r = 0.57–0.78) but not to eccentric performance. These results are interpreted as demonstrating that the optimal musculotendinous stiffness for maximum concentric and isometric activities was toward the stiff end of the elasticity continuum. A stiffer musculotendinous unit may facilitate such performances by improving the force production capabilities of the contractile component, due to a combination of improved length and rate of shortening, and additionally by enhancing initial force transmission.

scholarly journals Influence of Temperature on Mechanical Properties of P(BAMO-r-THF) Elastomer

Polymers ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 2507
Author(s):  
Jinxian Zhai ◽  
Hanpeng Zhao ◽  
Xiaoyan Guo ◽  
Xiaodong Li ◽  
Tinglu Song
Keyword(s):  
Mechanical Properties ◽  
X Ray Diffraction ◽  
Polymeric Chains ◽  
Different Temperatures ◽  
Influence Of Temperature On ◽  
Strain Induced Crystallization ◽  
Thermal Histories ◽  
Static Conditions ◽  
The Relationship ◽  
Induced Crystallization

The relationship between temperature and the mechanical properties of an end cross-linked equal molar random copolyether elastomer of 3,3-bis(azidomethyl)oxetane and tetrahydrofuran (P(BAMO-r-THF)) was investigated. During this investigation, the performances of two P(BAMO-r-THF) elastomers with different thermal histories were compared at different temperatures. The elastomer as prepared at 20 °C (denoted as S0) exhibited semi-crystallization morphology. Wide angle X-ray diffraction analysis indicated that the crystal grains within elastomer S0 result from the crystallization of BAMO micro-blocks embedded in P(BAMO-r-THF) polymeric chains, and the crystallinity is temperature irreversible under static conditions. After undergoing a heating-cooling cycle, this elastomer became an amorphous elastomer (denoted as S1). Regarding mechanical properties, at 20 °C, break strains and stresses of 315 ± 22% and 0.46 ± 0.01 MPa were obtained for elastomer S0; corresponding values of 294 ± 6% and 0.32 ± 0.02 MPa were obtained for elastomer S1. At −40 °C, these strains and stresses simultaneously increased to 1085 ± 21% and 8.90 ± 0.72 MPa (S0) and 1181 ± 25% and 10.23 ± 0.44 MPa (S1), respectively, owing to the strain-induced crystallization of BAMO micro-blocks within the P(BAMO-r-THF) polymeric chains.

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