Development of Wrist Interface Based on Fully Actuated Coaxial Spherical Parallel Mechanism for Force Interaction

To develop a wrist robotic exoskeleton-type interface (REI) for force interaction, it should have a suitable range of motion similar to human wrist activities of daily living, large torque output performance, and low moving parts inertia for dynamic motion response to cover the human behavior frequency. In this paper, a wrist REI based on a fully actuated coaxial spherical parallel mechanism (CSPM) is proposed to satisfy the aforementioned features. The fully actuated CSPM-based wrist REI (FC-WREI) has the characteristics of pure rotation similar to the human wrist, high torque output by parallel torque synthesis, and low moving parts inertia due to the base arrangement of the actuators. Due to the mechanical advantages and design optimization, the FC-WREI maximally provides torque as much as 56.49–130.43% of the maximum isometric torque of the human wrist, while providing a consistent range of motion to the human wrist without interference problem. Moreover, it is confirmed that the inertia of the FC-WREI is up to 5.35 times lower than similar devices. These advantages of the FC-WREI mean that the device is applicable to various fields of REIs for force interaction.

Research on Dynamic Characteristics of Constant Power Control of Plunger Pump Variable Regulator

This article takes K3VDT63 variable plunger pump original regulator as the research object, establishes its dynamic motion equation, uses matlab simulation software to establish its simulation model on the basis of this equation, and the dynamic characteristics of the simulation model under different physical parameters Experiment, and get the dynamic response curve and result of variable regulator constant power control under the influence of various factors.

Single-Crystal X-ray and Solid-State NMR Characterisation of AND-1184 and Its Hydrochloride Form

In this study, we report on a structural investigation of AND-1184, with the chemical name N-[3-[4-(6-fluoro-1,2-benzoxazol-3-yl)piperidin-1-yl]propyl]-3-methylbenzenesulfonamide (MBS), and its hydrochloride form (MBSHCl); AND-1184 is a potential API for the treatment of dementia. The single-crystal X-ray investigation of both forms results in monoclinic crystal systems with P21/c and C2/c symmetry for MBS and MBSHCl, respectively. This solid-state NMR study, combined with quantum-chemical calculations, allowed us to assign all 13C and most 1H signals. The MBS structure was defined as a completely rigid system without significant dynamic behaviours, whereas MBSHCl exhibited limited dynamic motion of the aromatic part of the molecule.

Establishing the conditions for the formation of a near-wall layer of solid granular fill of a rotating drum

This paper reports the assessment of the influence of dynamic motion parameters on the formation and disappearance at the cylindrical surface of the chamber of the rotating drum of the near-wall layer of non-loose granular fill. Based on the results of experimental visualization of the flow, the effect of solidity on the behavior of granular fill was revealed. The hydrodynamic effect of fill quasi-liquefaction under the action of solidity has been established, which involves the occurrence of a connecting interaction between adjacent layers and the surface of the chamber. Conversion of shear circulation flow to homogeneous dense clustered stream with slipping and rolling without relative movement of particles was detected. The hydrodynamic characteristics of circulation flow transition to the near-wall layer mode during rotation acceleration have been defined. Such a transition is implemented by smoothly increasing the thickness of the layer when the rest of the fill is circulated at the bottom of the chamber. The effect of the rheological hysteresis of the movement of the rotating chamber fill, caused by quasi-liquefaction of non-loose granular environment, has been established. The effect implies exceeding the speed limit ωfl in the formation of a near-wall layer, at rotation acceleration, above the boundary ωdl of the layer disappearance when the rotation slows down. The manifestation of hysteresis mainly increases with an increase in Reynolds number. The intensity of increased hysteresis manifestation increases with a decrease in the degree of filling the chamber. The value of the Froud number for the ωfl and ωdl boundaries increases with the increase in Re. It has been established that at the relative particle size of the dispersed fill ψdc≈(0.065–1.04)·10‑3 and Re=30–500, Fr=1–2.9, for the ωfl boundary, and Fr=0.5–1.4, for the ωdl boundary. The Fr value for the ωfl limit was found to exceed this value for the ωdl boundary by 1.6–2.1 times. The established effects make it possible to substantiate the rational parameters for the grinding process in drum-roll mills