Multi-Criteria Design Optimization of Delta Robot with Four Degrees of Freedom

A delta robot with three degrees of freedom, having been well studied over the past 40 years, is one of the most popular parallel mechanisms. Nowadays, an urgent task is to study the properties of various modifications of this mechanism. The article considers a delta robot with four degrees of freedom, in which one of the kinematic chains with a parallelogram is divided into two, allowing the output link to have an additional rotational degree of freedom. To maximize the working area and minimize the cost of modification the optimization of the robot design was performed. The problem of maximizing a cubic workspace has been solved.

Determining the effects of training duration on the behavioral expression of habitual control in humans: a multilaboratory investigation

It has been suggested that there are two distinct and parallel mechanisms for controlling instrumental behavior in mammals: goal-directed actions and habits. To gain an understanding of how these two systems interact to control behavior, it is essential to characterize the mechanisms by which the balance between these systems is influenced by experience. Studies in rodents have shown that the amount of training governs the relative expression of these two systems: Behavior is goal-directed following moderate training, but the more extensively an instrumental action is trained, the more it becomes habitual. It is less clear whether humans exhibit similar training effects on the expression of goal-directed and habitual behavior, as human studies have reported contradictory findings. To tackle these contradictory findings, we formed a consortium, where four laboratories undertook a preregistered experimental induction of habits by manipulating the amount of training. There was no statistical evidence for a main effect of the amount of training on the formation and expression of habits. However, exploratory analyses suggest a moderating effect of the affective component of stress on the impact of training over habit expression. Participants who were lower in affective stress appeared to be initially goal-directed, but became habitual with increased training, whereas participants who were high in affective stress were already habitual even after moderate training, thereby manifesting insensitivity to overtraining effects. Our findings highlight the importance of the role of moderating variables such as individual differences in stress and anxiety when studying the experimental induction of habits in humans.

Synthesis method of two translational compliant mechanisms with redundant actuation

In the fields of electronic packaging, micromanipulation, scanning, and two translational (2T) mechanisms are required, especially with high stiffness, for a large workspace, with good driving stability, and other occasions. Redundant actuators are required to improve the performance of the 2T compliant parallel mechanism. The novelty of the work is to propose a new method for the type synthesis of a 2T redundant actuated compliant parallel mechanism based on the freedom and constraint topology (FACT) approach and the atlas approach. The synthesis conditions are given, and the synthesis process is formulated. With this method, new 2T redundant actuated compliant parallel mechanisms are synthesized. Some new mechanisms have been synthesized, which enriches the compliant parallel mechanism configurations. Based on the atlas method, the synthesized mechanism is analyzed. The results verify the correctness and effective of the synthesis method. The method is also suitable for a type of synthesis of redundant actuated compliant parallel mechanisms with 3, 4, 5, and 6 degrees of freedom (DOF), respectively.