scholarly journals Simulation Assessment of the Performance of a Redundant SCARA

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 45 ◽  
Author(s):  
Roberto Bussola ◽  
Giovanni Legnani ◽  
Massimo Callegari ◽  
Giacomo Palmieri ◽  
Matteo-Claudio Palpacelli
Keyword(s):  
Dynamic Behaviour ◽  
Dynamic Performance ◽  
Robot Kinematics ◽  
Functional Design ◽  
Scara Robot ◽  
Cycle Times ◽  
Pick And Place ◽  
Redundant Structure ◽  
And Control ◽  
First Time

The present paper analyses the potential dynamic performance of a novel redundant SCARA robot, currently at the stage of a functional design proposed by a renowned robot manufacturer. The static and dynamic manipulability of the new concept is compared with the conventional model of the same manufacturer by means of computer simulation in typical pick and place tasks arising from industry. The introduction of a further revolute joint in the SCARA robot kinematics leads to some improvements in the kinematic and dynamic behaviour at the expense of a greater complexity. In this paper, the potential of a redundant SCARA architecture in cutting cycle-times is investigated for the first time in performing several tasks. It is shown that, in order to exploit the possible enhancements of the redundant structure, the whole manipulator, mechanics and control must be redesigned according to specific tasks aiming at the optimization of their cycle-time.

scholarly journals Trajectory Generation for High Speed Pick and Place Robots

2012 ◽  
Author(s):  
Cornelius J. Barnard ◽  
Sébastien Briot ◽  
Stéphane Caro
Keyword(s):  
High Speed ◽  
Natural Frequencies ◽  
Dynamic Performance ◽  
Vibration Reduction ◽  
Parallel Robots ◽  
Short Cycle ◽  
Cycle Times ◽  
Smooth Motion ◽  
Pick And Place

Currently parallel robots are finding more and more acceptance in high-speed pick-and-place operations. As for all high-speed mechanisms, vibratory phenomena appear and deteriorate accuracy and dynamic performance at the terminal positions of the pick-and-place path. This paper aims to evaluate the effectiveness of several pick-and-place trajectories in terms of vibration reduction. To address this problem, an elastodynamic model of a five bar mechanism is developed and its behaviour is simulated as it traverses each trajectory. Spectral analysis of the vibrations allows the quality of the vibration reduction to be quantified. The results show that the first and second natural frequencies of the system are excited. It is also shown that long cycle times with smooth motion profiles improve residual error norms, but are outperformed by their discontinuous counterparts when short cycle times are imposed.

A Robotic Framework for Simulation and Control of SCARA Robot Based on ROS

2019 ◽  
Author(s):  
Ujwal Shirode ◽  
Aishwarya Aher ◽  
Pallavi Bale ◽  
Aishwarya Kadam
Keyword(s):  
Scara Robot ◽  
Simulation And Control ◽  
And Control

The Effects of Corporate Ownership on Public Accountants' Professionalism and Ethics

2002 ◽  
Vol 16 (2) ◽  
pp. 109-124 ◽  
Author(s):  
William E. Shafer ◽  
D. Jordan Lowe ◽  
Timothy J. Fogarty
Keyword(s):  
Current Trend ◽  
Auditor Independence ◽  
Corporate Ownership ◽  
Negative Effects ◽  
Public Accounting ◽  
Corporate Acquisitions ◽  
Accounting Professionals ◽  
Research Questions ◽  
And Control ◽  
First Time

The current trend toward corporate acquisitions of CPA firms poses potential threats to the autonomy and ethical standards of public accounting professionals. This recent consolidation movement suggests that for the first time a significant number of public accounting professionals are subject to the supervision and control of nonprofessionals. In addition to acknowledging the potential threats to auditor independence and objectivity, this paper suggests that these new organizational arrangements for the provision of public accounting services have other negative effects on professionalism and ethics such as desensitizing CPAs to traditional professional values, and subverting professional institutions to the goals of corporate employers. This paper develops a framework that identifies several specific research questions related to the effects of corporate ownership on professionalism and ethics in public accounting.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Bleispezies PbX und PbX2 als Brückenliganden in übergangsmetallorganisch geschützten Koordinationsverbindungen/ Leadspecies PbX and PbX2 as Bridging Ligands in Organometallic Protected Coordination Compounds

2002 ◽  
Vol 57 (1) ◽  
pp. 25-42 ◽  
Author(s):  
Peter Rutsch ◽  
Gottfried Huttner
Keyword(s):  
Coordination Compounds ◽  
Dynamic Behaviour ◽  
Disodium Salt ◽  
3D Nmr ◽  
Spectroscopic Techniques ◽  
The Novel ◽  
Bridging Ligands ◽  
X Ray ◽  
Nmr Data ◽  
First Time

The disodium salt Na2[{(CO)5Cr}2Pb(NO3)2], Na2·1, which contains a lead center in a (4+2) coordination mode, reacts with tetraphenylphosphonium halides [Ph4P]X to give the tetrahedral compounds [Ph4P]2[{(CO)5Cr}2PbX2] (X = Cl: 2a; X = Br: 2b; X = I: 2c). Substitution of the nitrate groups of Na2·1 by alcoxides leads to binuclear compounds of the type [{(CO)5Crg2Pb(μ2-OR)2Pb{Cr(CO)5}2]2- (R = Et: 3a; R = n -Pr: 3b; R = i-Pr: 3c; R = Allyl: 3d). NMR experiments show that these dimeric compounds are in equilibrium with the monomeric species [{(CO)5Cr}2PbR]- .Trialkylphosphanes react with Na2·1 to give the neutral phosphane complexes [{(CO)5Cr}2Pb(PR3)2] (R=Me: 4a; R=Et: 4b; R = n-Bu: 4c), which show dynamic behaviour in solution. All of the novel compounds have been characterized by X-ray analysis, as well as by the usual analytic and spectroscopic techniques. 207Pb-NMR data of Cr(CO)5- bound lead species are reported for the first time.

scholarly journals Giving Birth With Epidural Analgesia: The Experience of First-Time Mothers

2012 ◽  
Vol 21 (1) ◽  
pp. 24-35 ◽  
Author(s):  
Ryoko Hidaka ◽  
Lynn Clark Callister
Keyword(s):  
Pain Management ◽  
Epidural Analgesia ◽  
Epidural Administration ◽  
Birth Experience ◽  
Management Options ◽  
Key Factor ◽  
Qualitative Descriptive ◽  
And Control ◽  
First Time ◽  
Experiences Of Women

The purpose of our qualitative descriptive study was to describe the birth experiences of women using epidural analgesia for pain management. We interviewed nine primiparas who experienced vaginal births. Five themes emerged: (a) coping with pain, (b) finding epidural administration uneventful, (c) feeling relief having an epidural, (d) experiencing joy, and (e) having unsettled feelings of ambivalence. Although epidural analgesia was found to be effective for pain relief and may contribute to some women’s satisfaction with the birth experience, it does not guarantee a quality birth experience. In order to support and promote childbearing women’s decision making, we recommend improved education on the variety of available pain management options, including their risks and benefits. Fostering a sense of caring, connection, and control in women is a key factor to ensure positive birth experiences, regardless of pain management method.

scholarly journals Induction and control of the autolytic system of Escherichia coli

1982 ◽  
Vol 152 (1) ◽  
pp. 26-34
Author(s):  
M Leduc ◽  
R Kasra ◽  
J van Heijenoort
Keyword(s):  
Escherichia Coli ◽  
Fatty Acid ◽  
Acid Synthesis ◽  
Induction Method ◽  
E Coli ◽  
Escherichia Coli Cells ◽  
Carbonyl Cyanide ◽  
And Control ◽  
First Time ◽  
Induced Autolysis

Various methods of inducing autolysis of Escherichia coli cells were investigated, some being described here for the first time. For the autolysis of growing cells only induction methods interfering with the biosynthesis of peptidoglycan were taken into consideration, whereas with harvested cells autolysis was induced by rapid osmotic or EDTA shock treatments. The highest rates of autolysis were observed after induction by moenomycin, EDTA, or cephaloridine. The different autolyses examined shared certain common properties. In particular, regardless of the induction method used, more or less extensive peptidoglycan degradation was observed, and 10(-2) M Mg2+ efficiently inhibited the autolytic process. However, for other properties a distinction was made between methods used for growing cells and those used for harvested cells. Autolysis of growing cells required RNA, protein, and fatty acid synthesis. No such requirements were observed with shock-induced autolysis performed with harvested cells. Thus, the effects of Mg2+, rifampicin, chloramphenicol, and cerulenin clearly suggest that distinct factors are involved in the control of the autolytic system of E. Coli. Uncoupling agents such as sodium azide, 2,4-dinitrophenol, and carbonyl-cyanide-m-chlorophenyl hydrazone used at their usual inhibiting concentration had no effect on the cephaloridine or shock-induced autolysis.

Sign in / Sign up

Export Citation Format

Share Document