Building of Fine-Tuning Mechanism Posture and Kinematics Model for Shield Segment Erector

2013 ◽  
Vol 634-638 ◽  
pp. 3737-3740
Author(s):  
Ying Chao Yuan ◽  
Yu Zhang
Keyword(s):  
Parallel Mechanism ◽  
Fine Tuning ◽  
Kinematics Analysis ◽  
Lie Groupoids ◽  
Kinematic Synthesis ◽  
Kinematics Model ◽  
Tuning Mechanism ◽  
And Performance ◽  
Segment Erector

The fine-tuning posture 3-SPS-1-S-type mechanism’s kinematics model and position mechanism for segment erector is built by creating general stiffness motion and revolution motion’s posture parameterized representations based on the Lie groupoids theory’s kinematic synthesis, the duality between parallel mechanism structure and performance and PRY angle coordination system’s kinematics analysis.

Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism

2013 ◽  
Vol 228 (7) ◽  
pp. 1235-1247 ◽  
Author(s):  
Zhen-Cai Zhu ◽  
Peter CY Chen ◽  
Xing-Guo Shao ◽  
Qing-Guo Wang ◽  
Guo-An Chen
Keyword(s):  
Parallel Mechanism ◽  
Experimental Validation ◽  
Experimental Results ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Tension Distribution ◽  
Traversal Algorithm

Taking the sinking winch mechanism as prototype, this paper studies the forward kinematics problem of a four-cable-driven under-constrained parallel mechanism. The tension states (slackness and tautness) and properties of the cables are incorporated into the forward kinematics model. We propose a new algorithm (named traversal algorithm) to solve the tensions in cables and the pose of platform, under the condition that only the lengths of four cables are known. The simulation and experimental results on forward kinematics demonstrate the effectiveness and correctness of the model and the traversal algorithm. The results of this paper can be used to evaluate the effect of the unequal cables’ lengths to the tension distribution of cables and pose of the platform for sinking winch mechanism.

Design, Modeling and Kinematics Analysis of a Novel Serial/Parallel Pole Climbing and Manipulating Robot

Volume 2 ◽  
2004 ◽  
Author(s):  
G. R. Vossoughi ◽  
S. Bagheri ◽  
M. Tavakoli ◽  
M. R. Zakerzadeh ◽  
M. Hosseinzadeh
Keyword(s):  
Cross Section ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Main Part ◽  
Target Point ◽  
Tubular Structures ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Workspace Analysis ◽  
Forward And Inverse Kinematics

This paper introduces a multi-task 4 DOF pole climbing/manipulating robotic mechanism. A hybrid serial/parallel mechanism, providing 2 translations and 2 rotations, have been designed as the main part of the mechanism. This robotic mechanism can travel along tubular structures with bends, branches and step changes in cross section. It is also able to perform manipulation, repair and maintenance tasks after reaching the target point on the structure. After introducing the mechanism, a kinematics model and the forward and inverse kinematics as well as the workspace analysis of the mechanism are presented.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

DOF and kinematics analysis of a 3-UPU parallel mechanism for telescope secondary mirror support

2021 ◽  
Author(s):  
Shuai Wang ◽  
Kunyao Zheng ◽  
Yi Chen ◽  
Mingming Xu ◽  
Dazhi Wang
Keyword(s):  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Secondary Mirror

Functional analysis of the SUMOylation pathway in Drosophila

2008 ◽  
Vol 36 (5) ◽  
pp. 868-873 ◽  
Author(s):  
Ana Talamillo ◽  
Jonatan Sánchez ◽  
Rosa Barrio
Keyword(s):  
Functional Analysis ◽  
Fine Tuning ◽  
Model Systems ◽  
Post Translational Modification ◽  
Reversible Process ◽  
Cellular Processes ◽  
Tuning Mechanism ◽  
Sumo Conjugation

SUMOylation, a reversible process used as a ‘fine-tuning’ mechanism to regulate the role of multiple proteins, is conserved throughout evolution. This post-translational modification affects several cellular processes by the modulation of subcellular localization, activity or stability of a variety of substrates. A growing number of proteins have been identified as targets for SUMOylation, although, for many of them, the role of SUMO conjugation on their function is unknown. The use of model systems might facilitate the study of SUMOylation implications in vivo. In the present paper, we have compiled what is known about SUMOylation in Drosophila melanogaster, where the use of genetics provides new insights on SUMOylation's biological roles.

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