scholarly journals Topological Synthesis and Structural Analysis of Planar Parallel Mechanisms

Author(s):  
P. Vijay et al., P. Vijay et al., ◽  
Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2467-2485 ◽  
Author(s):  
Wen-ao Cao ◽  
Huafeng Ding ◽  
Ziming Chen ◽  
Shipei Zhao

SUMMARYThis paper presents a systematic method for dealing with mobility analysis and structural synthesis of a class of important spatial mechanisms with coupling chains, which involve more complex coupling relations than spatial parallel mechanisms. First, an approach to the establishment of the motion screw equation of the class of mechanisms is derived. Then, a general methodology for mobility analysis along with detection of rigid substructures is proposed based on the motion screw equation. Third, the principle of structural synthesis of the class of mechanisms is established on the basis of the method of mobility analysis. Finally, some novel spatial mechanisms with coupling chains are synthesized, illustrating the effectiveness of the method. The study of the paper will benefit structural analysis and synthesis of more complex spatial mechanisms with coupling chains.


2011 ◽  
Vol 189-193 ◽  
pp. 1409-1412
Author(s):  
Fan Zhang ◽  
Ze Bin Zhou ◽  
Jian Guo Yang

A family of spherical parallel mechanisms which have fully decoupled motions is presented in this paper. The condition required for synthesizing the fully decoupled parallel mechanism is derived from the screw formulation of Jacobian matrix. According to this condition, several novel decoupled spherical parallel mechanisms are obtained. The decoupled motions are validated by the simulation of the prototype of spherical parallel mechanism.


Author(s):  
W. H. Wu ◽  
R. M. Glaeser

Spirillum serpens possesses a surface layer protein which exhibits a regular hexagonal packing of the morphological subunits. A morphological model of the structure of the protein has been proposed at a resolution of about 25 Å, in which the morphological unit might be described as having the appearance of a flared-out, hollow cylinder with six ÅspokesÅ at the flared end. In order to understand the detailed association of the macromolecules, it is necessary to do a high resolution structural analysis. Large, single layered arrays of the surface layer protein have been obtained for this purpose by means of extensive heating in high CaCl2, a procedure derived from that of Buckmire and Murray. Low dose, low temperature electron microscopy has been applied to the large arrays.As a first step, the samples were negatively stained with neutralized phosphotungstic acid, and the specimens were imaged at 40,000 magnification by use of a high resolution cold stage on a JE0L 100B. Low dose images were recorded with exposures of 7-9 electrons/Å2. The micrographs obtained (Fig. 1) were examined by use of optical diffraction (Fig. 2) to tell what areas were especially well ordered.


Author(s):  
E. Loren Buhle ◽  
Pamela Rew ◽  
Ueli Aebi

While DNA-dependent RNA polymerase represents one of the key enzymes involved in transcription and ultimately in gene expression in procaryotic and eucaryotic cells, little progress has been made towards elucidation of its 3-D structure at the molecular level over the past few years. This is mainly because to date no 3-D crystals suitable for X-ray diffraction analysis have been obtained with this rather large (MW ~500 kd) multi-subunit (α2ββ'ζ). As an alternative, we have been trying to form ordered arrays of RNA polymerase from E. coli suitable for structural analysis in the electron microscope combined with image processing. Here we report about helical polymers induced from holoenzyme (α2ββ'ζ) at low ionic strength with 5-7 mM MnCl2 (see Fig. 1a). The presence of the ζ-subunit (MW 86 kd) is required to form these polymers, since the core enzyme (α2ββ') does fail to assemble into such structures under these conditions.


Author(s):  
Paul DeCosta ◽  
Kyugon Cho ◽  
Stephen Shemlon ◽  
Heesung Jun ◽  
Stanley M. Dunn

Introduction: The analysis and interpretation of electron micrographs of cells and tissues, often requires the accurate extraction of structural networks, which either provide immediate 2D or 3D information, or from which the desired information can be inferred. The images of these structures contain lines and/or curves whose orientation, lengths, and intersections characterize the overall network.Some examples exist of studies that have been done in the analysis of networks of natural structures. In, Sebok and Roemer determine the complexity of nerve structures in an EM formed slide. Here the number of nodes that exist in the image describes how dense nerve fibers are in a particular region of the skin. Hildith proposes a network structural analysis algorithm for the automatic classification of chromosome spreads (type, relative size and orientation).


1985 ◽  
Vol 46 (2) ◽  
pp. 235-241 ◽  
Author(s):  
F. Lançon ◽  
L. Billard ◽  
J. Laugier ◽  
A. Chamberod

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