Stiffness Optimization of redundant mechanism based on elastic coupling and inertial coupling characteristics

Aiming to redundant parallel mechanism, on the basis of the kinetic energy method, virtual work principle and perturbation method, the generalized mass matrix and generalized stiffness matrix are obtained, respectively. Two indices on inertial coupling and elastic coupling are defined to measure the decoupling level of the redundant parallel mechanism in terms of two generalized matrices. Furthermore, an algebraic solution method for natural frequency equation of the mechanism is utilized to obtain the natural frequency by means of the Cholesky decomposition method. And then, in order to minimize inertial coupling and elastic coupling, and maximize the natural frequency of the mechanism, two indices and natural frequency are taken as objective functions to optimize the structural parameters of the redundant mechanism, so that optimal dynamic performance of the mechanism is acquired. In the optimization of natural frequency, two optimal solutions are selected. One is to consider inertial coupling and elastic coupling and the other is to ignore inertial coupling and elastic coupling. Finally, the dynamic performance of the two indexes is better by comparing the dexterity of the two solutions

Comprehensive nucleosome interactome screen establishes fundamental principles of nucleosome binding

Nuclear proteins bind chromatin to execute and regulate genome-templated processes. While studies of individual nucleosome interactions have suggested that an acidic patch on the nucleosome disk may be a common site for recruitment to chromatin, the pervasiveness of acidic patch binding and whether other nucleosome binding hot-spots exist remain unclear. Here, we use nucleosome affinity proteomics with a library of nucleosomes that disrupts all exposed histone surfaces to comprehensively assess how proteins recognize nucleosomes. We find that the acidic patch and two adjacent surfaces are the primary hot-spots for nucleosome disk interactions, whereas nearly half of the nucleosome disk participates only minimally in protein binding. Our screen defines nucleosome surface requirements of nearly 300 nucleosome interacting proteins implicated in diverse nuclear processes including transcription, DNA damage repair, cell cycle regulation and nuclear architecture. Building from our screen, we demonstrate that the Anaphase-Promoting Complex/Cyclosome directly engages the acidic patch, and we elucidate a redundant mechanism of acidic patch binding by nuclear pore protein ELYS. Overall, our interactome screen illuminates a highly competitive nucleosome binding hub and establishes universal principles of nucleosome recognition.

Singularity analysis and dexterity performance on a novel parallel mechanism with kinematic redundancy

This article presents a novel spatial parallel mechanism with kinematic redundancy. The design strategy and evolution of the proposed mechanism is introduced, and kinematic model of the mechanism is established. To simplify singularity analysis of this kind of mechanism, the virtual plane method which can separate the whole parallel mechanism into two parts is presented. The relative Jacobian matrices are established and illustrated with singularity configurations of three types. Kinematic performance is obtained to see redundancy effects on the mechanism. The orientational workspace is obtained by the regions of orientational angles with varied platform position. It shows the orientational workspace of the redundant mechanism is significantly larger. Evaluation of condition number demonstrates the proposed mechanism can clearly stay away from singularities with a large range of rotational angles. A trajectory example is conducted to further prove the proposed mechanism can produce a large range of rotational angles without meeting with singularities.

A Redundant Mechanism of Recruitment Underlies the Remarkable Plasticity of the Requirement of Poliovirus Replication for the Cellular ArfGEF GBF1

ABSTRACT The replication of many positive-strand RNA viruses [(+)RNA viruses] depends on the cellular protein GBF1, but its role in the replication process is not clear. In uninfected cells, GBF1 activates small GTPases of the Arf family and coordinates multiple steps of membrane metabolism, including functioning of the cellular secretory pathway. The nonstructural protein 3A of poliovirus and related viruses has been shown to directly interact with GBF1, likely mediating its recruitment to the replication complexes. Surprisingly, viral mutants with a severely reduced level of 3A-GBF1 interaction demonstrate minimal replication defects in cell culture. Here, we systematically investigated the conserved elements of GBF1 to understand which determinants are important to support poliovirus replication. We demonstrate that multiple GBF1 mutants inactive in cellular metabolism could still be fully functional in the replication complexes. Our results show that the Arf-activating property, but not the primary structure of the Sec7 domain, is indispensable for viral replication. They also suggest a redundant mechanism of recruitment of GBF1 to the replication sites, which is dependent not only on direct interaction of the protein with the viral protein 3A but also on determinants located in the noncatalytic C-terminal domains of GBF1. Such a double-targeting mechanism explains the previous observations of the remarkable tolerance of different levels of GBF1-3A interaction by the virus and likely constitutes an important element of the resilience of viral replication. IMPORTANCE Enteroviruses are a vast group of viruses associated with diverse human diseases, but only two of them could be controlled with vaccines, and effective antiviral therapeutics are lacking. Here, we investigated in detail the contribution of a cellular protein, GBF1, in the replication of poliovirus, a representative enterovirus. GBF1 supports the functioning of cellular membrane metabolism and is recruited to viral replication complexes upon infection. Our results demonstrate that the virus requires a limited subset of the normal GBF1 functions and reveal the elements of GBF1 essential to support viral replication under different conditions. Since diverse viruses often rely on the same cellular proteins for replication, understanding the mechanisms by which these proteins support infection is essential for the development of broad-spectrum antiviral therapeutics.

Optimal-Regularity for Serial Redundant Robots

A configuration of a mechanical linkage is defined as regular if there exists a subset of actuators with their corresponding Jacobian columns spans the gripper's velocity space. All other configurations are defined in the literature as singular configurations. Consider mechanisms with grippers' velocity space ℝm. We focus our attention on the case where m Jacobian columns of such mechanism span ℝm, while all the rest are linearly dependent. These are obviously an undesirable configuration, although formally they are defined as regular. We define an optimal-regular configuration as such that any subset of m actuators spans an m-dimensional velocity space. Since this densely constraints the work space, a more relaxed definition is needed. We therefore introduce the notion of k-singularity of a redundant mechanism which means that rigidifying k actuators will result in an optimal-regularity. We introduce an efficient algorithm to detect a k-singularity, give some examples for cases where m = 2, 3, and demonstrate our algorithm efficiency.

Kinematically Redundant Planar Parallel Mechanisms for Optimal Singularity Avoidance

A parallel mechanism possesses several advantages compared to a similar-sized serial mechanism, including the potential for higher accuracy and reduced moving mass, the latter enabling increased load capacity and higher acceleration. One of the most important issues affecting a parallel mechanism is the potential of parallel singularities. Such configurations strongly affect the performance of a parallel mechanism, both in the actual singularity and in its vicinity. For example, both the stiffness of a mechanism and the efficiency of the power transmission to the tool platform are related to the closeness to singular configurations. A mechanism with a mobility larger than the mobility of its tool platform is referred to as a kinematically redundant mechanism. It is well known that introducing kinematic redundancy enables a mechanism to avoid singular configurations. In this paper, three novel kinematically redundant planar parallel mechanisms are proposed. All three mechanisms provide planar translations of the tool platform in two degrees-of-freedom, in addition to infinite rotation of the platform around an axis normal to the plane of the translations. The unique feature of the proposed mechanisms is that, with the appropriate inverse kinematics solutions, all configurations in the entire workspace feature optimal singularity avoidance. It is demonstrated how it is sufficient to employ five actuators to achieve this purpose. In addition, it is shown how including more than five actuators significantly reduces the required actuator motions for identical motions of the tool platform, thereby reducing the cycle times for typical applications.

Synthesis of Point Planar Elastic Behaviors Using Three-Joint Serial Mechanisms of Specified Construction

This paper presents methods for the realization of 2 × 2 translational compliance matrices using serial mechanisms having three joints, each either revolute or prismatic and each with selectable compliance. The geometry of the mechanism and the location of the compliance frame relative to the mechanism base are each arbitrary but specified. Necessary and sufficient conditions for the realization of a given compliance with a given mechanism are obtained. We show that, for an appropriately constructed serial mechanism having at least one revolute joint, any single 2 × 2 compliance matrix can be realized by properly choosing the joint compliances and the mechanism configuration. For each type of three-joint combination, requirements on the redundant mechanism geometry are identified for the realization of every point planar elastic behavior at a given location, just by changing the mechanism configuration and the joint compliances.

A Novel Mechanism Model of Actual Precision Transmission Devices

A mechanism approach is presented in this paper to deal with machining errors and model the accuracy of a precision transmission device in connection with kinematic geometry. The 3D motion of a rotor with six DOFs is perfectly represented by a redundant mechanism [1]. Positions and orientations of two rotors are determined by solving the vector equations of the redundant mechanisms at different instants. The geometric properties of loci traced by the characteristic points and lines of the rotors are analyzed. The invariants of the discrete line-trajectories, the image spherical curve and striction curve, are introduced into the accuracy evaluation for the precision transmission device. The rotary table of a machine tool is used as an example to test the proposed model. The results show that the kinematic geometry is advantageous in modeling effects of errors in multiple body mechanical systems.