Torque Transmission Analysis and Design of a 3-DOF Spherical Parallel Manipulator

2009 ◽  
Vol 69-70 ◽  
pp. 575-579
Author(s):  
Y.B. Li ◽  
Shi Ming Ji ◽  
Qiao Ling Yuan ◽  
Li Zhang ◽  
Ming Sheng Jin
Keyword(s):  
Integrated Design ◽  
Evaluation Index ◽  
Analysis And Design ◽  
Torque Transmission ◽  
Technological Efficiency ◽  
Ultra Precision ◽  
Relationship Of ◽  
The Relationship ◽  
Model Technique ◽  
Spherical Parallel Manipulator

Static analysis plays an important role on the design and applications of manipulator. In this paper, The torque balance equations of the spherical 3-DOF manipulator was derived in closed forms by analyzing the relationship of its input and output torques, then the torque transmission evaluation index and the global torque transmission evaluation index were defined based on the torque balance equation and discussed in detail, at last, by using the physical model technique, the parameters of the spherical 3-DOF manipulator were optimized based upon the global torque transmission evaluation index. Moreover, an integrated design scheme of the spherical 3-DOF manipulator was confirmed when satisfied the assembly conditions, which can provide theoretical base for the applications of the spherical 3-DOF manipulator. The spherical 3-DOF manipulator can be used as the waist, wrist and the ultra-precision machine in which the requirements for high stiffness, high accuracy and good technological efficiency.

Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint

2009 ◽  
Vol 69-70 ◽  
pp. 585-589 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Elbow Joint ◽  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Smooth Boundary ◽  
Evaluation Index ◽  
Vector Method ◽  
Input And Output ◽  
Spherical Parallel Mechanism ◽  
Relationship Of ◽  
The Relationship

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

scholarly journals Envelopes and exteriority

2019 ◽  
Vol 12 (2) ◽  
Author(s):  
Sareh Saeidi
Keyword(s):  
Systematic Approach ◽  
Design Thinking ◽  
Integrated Design ◽  
Design Criterion ◽  
Exterior Space ◽  
Research Through Design ◽  
Surrounding Environment ◽  
Integrated Design Approach ◽  
Relationship Of ◽  
The Relationship

This article discusses the relationship of architecture to its surrounding environment. The objective of the article is i) to reposition the relationship of architecture and its surrounding exterior by expanding the understanding of architectural envelopes, and ii) to systematically define exterior space as design input. The notion of the envelope encompasses a spatial recognition defined by interactions between interior and exterior environments that affects an inhabitant’s experience of architectural space. This research is organised in three sections: a) a literature review to systematically examine the terminologies of this research, b) selected case studies that consider exteriority as a design criterion, and c) research through design inquiry to combine a systematic approach with design thinking. The study applies both conceptual and method-oriented approaches to develop an integrated design approach focused on the climatic and atmospheric performances of architectural envelopes.

Study on Eccentricity and Minimum Geometrical Center Distance of the Eccentric Involute Gears Transmission

2006 ◽  
Vol 505-507 ◽  
pp. 985-990 ◽  
Author(s):  
Ji Guang Han ◽  
Gui Cheng Wang
Keyword(s):  
Analysis Method ◽  
Analysis And Design ◽  
Geometrical Center ◽  
Traditional Design ◽  
Involute Gears ◽  
Relationship Of ◽  
The Relationship ◽  
Geometrical Relationship ◽  
Center Distance ◽  
Maximum Transmission

The traditional design and analysis method for the eccentric involutes gears transmission has model error. Some important parameters, such as minimum geometrical center distance and eccentricity, are not calculated accurately. The differential equation of eccentric involute gears transmission is established on account of the geometrical relationship of eccentric involute gears transmission. A calculating method of the geometrical center distance and eccentricity are derived. The relationship between the minimum geometrical center distance or maximum transmission ratio and initial meshing angle and eccentricity are analyzed. The minimum geometrical center distance and eccentricity are fitted by polynomial. The analysis and design can be completed fast and accurately by using polynomial fitting formals, so the process of analysis and design are simplified.

Finite Element Analysis and Design of Monolithic Multilayer Piezoelectric Micromanipulator

2008 ◽  
Vol 368-372 ◽  
pp. 218-220
Author(s):  
Xiang Cheng Chu ◽  
Jin Ding Huang ◽  
Long Tu Li ◽  
Zhi Lun Gui
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Single Layer ◽  
Analysis Method ◽  
Element Analysis ◽  
Analysis And Design ◽  
Distribution Of Stress ◽  
Relationship Of ◽  
The Relationship ◽  
Novel Model

A novel model of 3-DOF multilayer PZT micromanipulator is promoted and simulated with finite element analysis method. States under different applied voltages were discussed, including the motion along axis Z and the rotation along axis X and the bisector between X-Y. After analyzing the distribution of stress, we propose some method, which helps to improve the performance of the micromanipulator. We also do some quantificational analysis about the micromanipulator, discovering that the relationship between the displacements of the probe and applied voltages is almost perfectly linear. By comparing the constant D defining the relationship of the displacements of probe tip and applied voltages, the simulation is proved to be correct. Comparing the performance between the single-layer and multi-layer PZT, it shows that the multi-layer PZT can reduce input voltages, whereas can produce the same displacement. Ceramic sample is prepared for further experiment.

A Deterministic Method to Predict Geometrical Interference between Grinding Wheel and Workpiece for Ultra-Precision Aspherical Grinding

2010 ◽  
Vol 135 ◽  
pp. 325-330
Author(s):  
Shao Hui Yin ◽  
Ze Biao Wang ◽  
Yu Wang ◽  
Feng Jun Chen ◽  
Jian Wu Yu
Keyword(s):  
Maximum Diameter ◽  
Grinding Wheel ◽  
Grinding Process ◽  
Aspheric Surface ◽  
Precision Grinding ◽  
Deterministic Method ◽  
Aspherical Lens ◽  
Ultra Precision ◽  
Relationship Of ◽  
The Relationship

This paper reported a deterministic method to predict geometrical interferences between grinding wheel and workpiece on ultra-precision grinding for micro aspherical lens mould. An inclined axis grinding mode controlled by B axis is considered and investigated. For avoiding the interference between the grinding wheel and the workpiece, the relationship of the radius of the grinding wheel should be analyzed in the grinding process. In this paper, a geometrical mathematical model for avoiding interferences between grinding wheel and workpiece is built up, and three interference conditions are analyzed. The maximum diameter of the cylindrical grinding wheel is computed and obtained for grinding axisymmetric aspheric surface.

The relationship of the scleractinian corals to the rugose corals

Paleobiology ◽  
1980 ◽  
Vol 6 (02) ◽  
pp. 146-160 ◽  
Author(s):  
William A. Oliver
Keyword(s):  
Critical Points ◽  
Scleractinian Corals ◽  
Convincing Evidence ◽  
Early Triassic ◽  
Rugose Corals ◽  
History Of ◽  
The Subject ◽  
Relationship Of ◽  
The Relationship ◽  
Biologic Factors

The Mesozoic-Cenozoic coral Order Scleractinia has been suggested to have originated or evolved (1) by direct descent from the Paleozoic Order Rugosa or (2) by the development of a skeleton in members of one of the anemone groups that probably have existed throughout Phanerozoic time. In spite of much work on the subject, advocates of the direct descent hypothesis have failed to find convincing evidence of this relationship. Critical points are:(1) Rugosan septal insertion is serial; Scleractinian insertion is cyclic; no intermediate stages have been demonstrated. Apparent intermediates are Scleractinia having bilateral cyclic insertion or teratological Rugosa.(2) There is convincing evidence that the skeletons of many Rugosa were calcitic and none are known to be or to have been aragonitic. In contrast, the skeletons of all living Scleractinia are aragonitic and there is evidence that fossil Scleractinia were aragonitic also. The mineralogic difference is almost certainly due to intrinsic biologic factors.(3) No early Triassic corals of either group are known. This fact is not compelling (by itself) but is important in connection with points 1 and 2, because, given direct descent, both changes took place during this only stage in the history of the two groups in which there are no known corals.

Skeletal elements of crinoid echinoderms: High-resolution structural and microanalytical results

1983 ◽  
Vol 41 ◽  
pp. 194-195
Author(s):  
D. F. Blake ◽  
L. F. Allard ◽  
D. R. Peacor
Keyword(s):  
High Resolution ◽  
Marine Invertebrates ◽  
Sea Urchins ◽  
Structural Features ◽  
Sea Stars ◽  
High Resolution Tem ◽  
Relationship Of ◽  
The Relationship ◽  
Insight Into

Echinodermata is a phylum of marine invertebrates which has been extant since Cambrian time (c.a. 500 m.y. before the present). Modern examples of echinoderms include sea urchins, sea stars, and sea lilies (crinoids). The endoskeletons of echinoderms are composed of plates or ossicles (Fig. 1) which are with few exceptions, porous, single crystals of high-magnesian calcite. Despite their single crystal nature, fracture surfaces do not exhibit the near-perfect {10.4} cleavage characteristic of inorganic calcite. This paradoxical mix of biogenic and inorganic features has prompted much recent work on echinoderm skeletal crystallography. Furthermore, fossil echinoderm hard parts comprise a volumetrically significant portion of some marine limestones sequences. The ultrastructural and microchemical characterization of modern skeletal material should lend insight into: 1). The nature of the biogenic processes involved, for example, the relationship of Mg heterogeneity to morphological and structural features in modern echinoderm material, and 2). The nature of the diagenetic changes undergone by their ancient, fossilized counterparts. In this study, high resolution TEM (HRTEM), high voltage TEM (HVTEM), and STEM microanalysis are used to characterize tha ultrastructural and microchemical composition of skeletal elements of the modern crinoid Neocrinus blakei.

Studies on Leukemogenic and Sarcomagenic Viruses

1970 ◽  
Vol 28 ◽  
pp. 156-157
Author(s):  
Leon Dmochowski
Keyword(s):  
Electron Microscopy ◽  
Electron Microscope ◽  
Morphological Properties ◽  
Mode Of Development ◽  
Relationship Of ◽  
The Relationship

Electron microscopy has proved to be an invaluable discipline in studies on the relationship of viruses to the origin of leukemia, sarcoma, and other types of tumors in animals and man. The successful cell-free transmission of leukemia and sarcoma in mice, rats, hamsters, and cats, interpreted as due to a virus or viruses, was proved to be due to a virus on the basis of electron microscope studies. These studies demonstrated that all the types of neoplasia in animals of the species examined are produced by a virus of certain characteristic morphological properties similar, if not identical, in the mode of development in all types of neoplasia in animals, as shown in Fig. 1.

The relationship of IGE receptor topography to signaling activity in RBL-2H3 mast cells

1991 ◽  
Vol 49 ◽  
pp. 236-237
Author(s):  
J.R. Pfeiffer ◽  
J.C. Seagrave ◽  
C. Wofsy ◽  
J.M. Oliver
Keyword(s):  
Mast Cells ◽  
Protein A ◽  
Scattered Electron ◽  
Ige Receptor ◽  
Receptor Complexes ◽  
Ige Binding ◽  
Electron Imaging ◽  
Small Clusters ◽  
Relationship Of ◽  
The Relationship

In RBL-2H3 rat leukemic mast cells, crosslinking IgE-receptor complexes with anti-IgE antibody leads to degranulation. Receptor crosslinking also stimulates the redistribution of receptors on the cell surface, a process that can be observed by labeling the anti-IgE with 15 nm protein A-gold particles as described in Stump et al. (1989), followed by back-scattered electron imaging (BEI) in the scanning electron microscope. We report that anti-IgE binding stimulates the redistribution of IgE-receptor complexes at 37“C from a dispersed topography (singlets and doublets; S/D) to distributions dominated sequentially by short chains, small clusters and large aggregates of crosslinked receptors. These patterns can be observed (Figure 1), quantified (Figure 2) and analyzed statistically. Cells incubated with 1 μg/ml anti-IgE, a concentration that stimulates maximum net secretion, redistribute receptors as far as chains and small clusters during a 15 min incubation period. At 3 and 10 μg/ml anti-IgE, net secretion is reduced and the majority of receptors redistribute rapidly into clusters and large aggregates.

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