Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. In this study, first, according to the kinematics analysis of serial mechanisms, the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors. Then, based on the standard ideas of Lie operations, the method for kinematics analysis of parallel mechanisms is derived, and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form. Then, according to the mapping relationship between the parallel joints and corresponding equivalent series joints, a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined. A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example. The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.

Frictional Binaries: Hybridity, Civil Society, and Liberal-Local Peacebuilding in Mindanao

International and local civil society organisations have usually been identified amongst the key actors for the conceptual and practical development of liberal and post-liberal peace approaches. The concept of hybrid peacebuilding, for example, has highlighted the need to empower local civil society groups. Critics of the ‘local turn’ in peacebuilding, however, argue against the conceptual idealisation of hybridity. Using examples from Mindanao, this chapter contends that the debates on liberal-local hybridity can most meaningfully gain from asking questions not only about the processes of internationalisation and localisation, but also about the ways in which hybrid mechanisms are able to produce more or less stable outcomes. By turning into the agency of civil society actors, it suggests that the concept of hybridity, which is often represented using dichotomised categories (e.g. ‘liberal-international’ and ‘illiberal-local’), tends to oversimplify the conceptual intricacies and dynamic processes between top-down and bottom-up approaches. The analysis in the chapter aims to contribute to the discussions on hybridity by illustrating the manner civil society actors are able to negotiate their complexities within the frictional binaries of liberal ideas, institutions and resources vis-à-vis local practices, power relations and norms.

The hybrid models, containing hydrolytic and electron-driven processes, in theoretical study of oxaliplatin biotransformation

The results of theoretical simulations of reaction paths for oxaliplatin from pro-drug into its active form responsible for cytostatic effect are presented. The studies based on the quantum-chemical density functional theory approach were performed considering environmental influence resulting from the aquation or electron donation. The hybrid mechanisms: hydrolytic mixed with electron driven were found to be the energetically favourable.

A Dexterity Comparison for 6 DOF Hybrid Robots

In this paper, new hybrid robots are suggested which divided the task into a position and orientation tasks. The position mechanism controls the position whereas the orientation one manipulates the orientation of the end effector. These robots consist of a translational parallel manipulator and a rotational serial or parallel mechanism. The 3UPU or Tricept parallel manipulator and a three-axis gimbaled system or parallel shoulder manipulator are chosen for translational and rotational movements, respectively. The main goal of this paper is analyzing the development and combination of serial and parallel manipulators in order to increase their features. According to this purpose, serial and parallel mechanisms with three DOF are combined in a way to encompass six DOF space. It is shown hybrid mechanisms with less coupling between their subsystems are capable of increasing robot characteristics.

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

The advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. First, according to the kinematics analysis of serial mechanisms, the basic principles of Lie groups Lie algebras in dealing with the spatial switching and differential operations of screw vectors are briefly explained. Then, based on the standard ideas of Lie operations, the method for kinematics analysis of parallel mechanisms is derived, and Jacobian matrix and Hessian matrix are formulated both recursively and in closed form. After that, according to the mapping relationship between the parallel joints and the corresponding equivalent series joints, a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are studied. A case study is performed to verify the calculated matrices, in which a humanoid hybrid robotic arm with the parallel-series-parallel configuration is taken as an example. Simulation experiment results show that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practicable.

Correction: A high tap density perovskite NaTaO3 nanocrystal anode driven by pseudocapacitive conversion/intercalation hybrid mechanisms for advanced Li-ion/dual-ion storage

Correction for ‘A high tap density perovskite NaTaO3 nanocrystal anode driven by pseudocapacitive conversion/intercalation hybrid mechanisms for advanced Li-ion/dual-ion storage’ by Tong Yan et al., J. Mater. Chem. A, 2020, DOI: 10.1039/c9ta12205b.